| 摘要 |
PURPOSE: A method of controlling avoiding collision of a vehicle is provided to control steering and braking according to the intension of a user, thereby being capable of reducing incongruity of a driver. CONSTITUTION: A method of controlling avoiding collision comprises: a step(S30) of judging whether or not collision can be avoided in collision circumstance with obstacle; a step of detecting a steering column torque of a steering wheel in case judged that collision can be avoided; and a step of assisting to change lanes in a rotating direction according to a steering column torque of a steering wheel. When judging whether or not collision can be avoided, the judgment can be judged by using one or more of the height and the width of the obstacle, relative distance and relative speed. When detecting the steering column torque, if the steering column torque is torque set value or more then lane change into the rotating direction is assisted. [Reference numerals] (AA) Start; (BB) End; (S10) Detecting obstacle; (S20) Is it collision condition?; (S30) Is it possible to avoid collision; (S40) Is steering column torque preset torque value or above?; (S50) Generating steering sub-torque in steering direction and generating driving force in inner rotating wheel; (S60) Is lateral displacement of vehicle is preset lateral displacement value or above?; (S70) Generating steering sub-torque in direction which can help counter steering; (S80) Controlling rotation outer rate |
