| 摘要 |
PURPOSE: A vehicle and a controlling method thereof are provided to prevent collision with obstacles when moving forth and back and parking. CONSTITUTION: A parking assistant system for a vehicle senses obstacles through a front sensor and a rear sensor when moving forth and back, and cornering. The parking assistant system comprises a yaw rate sensor(12), a steering angle sensor(14), and a control part(100). The steering angle sensor detects a steering angle of the steering handle. The control part judges whether or not executing a safe driving control based on a steering angle and a steering angular speed. The controller operates at least one of the front sensor and the rear sensor when executing the safe driving control in order to sense the obstacles. [Reference numerals] (102) Sensor operation part; (104) Steering calculation part; (106) Control part; (112) Actuator part; (114) Warning signal-generating part; (116) Speed-sensing part; (118) Gear-sensing part; (12) Yaw rate sensor; (14) Steering angle sensor; (Bs_1) First back sensor; (Bs_2) Second back sensor; (Bs_3) Third back sensor; (Bs_4) Fourth back sensor; (Fs_1) First front sensor; (Fs_2) Second front sensor; (Fs_3) Third front sensor; (Fs_4) Fourth front sensor
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