METHOD FOR DETERMINATING COLLISION AVOIDING PATH OF VEHICLE

摘要

Disclosed is a method for setting a collision avoidance path of a vehicle. The method for setting a collision avoidance path of a vehicle comprises the steps of: generating a displacement map from a stereo image; separating an obstacle region and a road region by using information acquirable from the displacement map; classifying the separated obstacle region into a fixed obstacle region including an immovable obstacle and a dynamic obstacle region including a movable obstacle; setting a global collision avoidance region in which the fixed obstacle region is removed from the road region; setting a local collision avoidance region in which the dynamic obstacle region is removed from the global collision avoidance region; and setting a final collision avoidance path in the set local collision avoidance region.