Vehicle and control method thereof

Disclosed are a vehicle and a control method thereof configured for performing a vehicle control to detect lighting irradiated from a lamp at the time of vehicle parking and park the vehicle safely and accurately. The vehicle includes a lamp configured to irradiate lighting to a ground, a camera configured to photograph the lighting irradiated to the ground to obtain information on a form of the lighting of the lamp, and a controller configured to determine at least one of the form of the ground to which the lighting is irradiated and whether or not an obstacle exists on the ground to which the lighting is irradiated, based on the information on the obtained form of the lighting of the lamp.

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims priority to Korean Patent Application No. 10-2019-0082046, filed on Jul. 8, 2019, in the Korean Intellectual Property Office, the entire contents of which is incorporated herein for all purposes by this reference.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle and a control method thereof capable of performing a vehicle control to detect lighting irradiated from a puddle lamp at the time of vehicle parking and park the vehicle safely and accurately.

Description of Related Art

A vehicle refers to a device capable of carrying a person or a thing to a destination while driving on a road or rails. The vehicle may be moved to various positions mainly using one or more wheels mounted on a vehicle body. Such a vehicle may include a three-wheeled or four-wheeled vehicle, a two-wheeled vehicle such as a motorcycle, a construction machine, a bicycle, a train running on rails, and the like.

In general, when parking a vehicle in a dark place, it is difficult for passengers to check the surroundings of the vehicle, which causes a great inconvenience for the passengers when getting on or off.

To the present end, when a driver and a passenger are to get on or off, a puddle lamp is used to solve the inconvenience of the driver and the passenger by illuminating the surroundings of the vehicle in advance. The puddle lamp mounted on a side mirror of the vehicle allows the driver and the passenger to ensure the view thereof when getting on or off by illuminating the ground on a driver's seat side and a passenger's seat side.

In recent years, autonomous parking of vehicles has become common, and a control for preventing a collision with another vehicle using an ultrasonic sensor, front and rear cameras, and the like during parallel parking is used. However, there is no a clear technology of how to recognize a drain way, a cliff, curb or an obstacle located on sides of the vehicle, which are most important in parallel parking.

Therefore, in recent years, the necessity of the method which may park a vehicle safely by detecting a drain way, a cliff, curb or an obstacle located on sides of the vehicle using lighting emitted from the puddle lamp during parking of the vehicle, has been increasing.

BRIEF SUMMARY

Various aspects of the present invention are directed to providing a vehicle and a control method thereof capable of parking safely and accurately by detecting the surroundings of the vehicle and warning a driver or controlling the behavior of the vehicle using the light emitted from a puddle lamp when parking the vehicle.

In accordance with an aspect of the present invention, a vehicle includes a lamp configured to irradiate lighting to a ground, a camera configured to photograph the lighting irradiated to the ground to obtain information on a form of the lighting of the lamp, and a controller configured to determine at least one of the form of the ground to which the lighting is irradiated and whether or not an obstacle exists on the ground to which the lighting is irradiated, based on the information on the obtained form of the lighting of the lamp.

The lamp may irradiate the lighting to the ground in a predetermined form, and the controller may be configured to determine that the form of the ground to which the lighting of a region which is not obtained is irradiated is at least one of a drain way and a cliff when the form of the obtained lighting of the lamp is a portion of a region of the predetermined form and the form of the remaining lighting region of the lighting other than the portion of the region is not obtained.

When an area of the obtained lighting of the lamp is less than or equal to a predetermined area, the controller may be configured to determine that the form of the lighting of the lamp is the portion of the region of the predetermined form.

When the form of the obtained lighting of the lamp is distorted, the controller may be configured to determine that a ground form of a distorted lighting region is at least one of curb and the obstacle and a position of the at least one of the curb and the obstacle is higher than the ground to which the lighting is irradiated.

When the form of the obtained lighting of the lamp is divided by the at least one of the curb and the obstacle and lengths of points at which the divided regions of the lighting intersect the curb or the obstacle are different from each other, the controller may be configured to determine that some regions of the lighting irradiated from the lamp are irradiated to the ground and remaining regions other than the some regions are irradiated to the curb or the obstacle so that the form of the lighting is distorted.

The controller may divide the lighting region irradiated to the ground into a predetermined number and determine a relative position of the vehicle with respect to at least one of the drain way and the cliff based on a position of a region where the form of the lighting region is not obtained among the divided regions.

The controller may divide the lighting region irradiated to the ground into a predetermined number and determine a relative position of the vehicle with respect to at least one of the curb and the obstacle based on a position of a region where the form of the lighting region is distorted among the divided regions.

When the form of the obtained lighting of the lamp coincides with the predetermined form, the controller may be configured to determine that the form of the ground to which the lighting is irradiated is a general road.

The lamp and the camera may be provided on a side mirror of the vehicle.

In accordance with another aspect of the present invention, a vehicle control method includes irradiating lighting of a lamp to a ground, photographing the lighting irradiated to the ground to obtain information on a form of the lighting of the lamp, and determining at least one of the form of the ground to which the lighting is irradiated and whether or not an obstacle exists on the ground to which the lighting is irradiated, based on the information on the obtained form of the lighting of the lamp.

The irradiating of the lighting to the ground may include irradiating the lighting to the ground in a predetermined form, and the determining of the form of the ground to which the lighting is irradiated may include determining that the form of the ground to which the lighting of a region which is not obtained is irradiated is at least one of a drain way and a cliff when the form of the obtained lighting of the lamp is a portion of a region of the predetermined form and the form of the remaining lighting region of the lighting other than the portion of the region is not obtained.

When an area of the obtained lighting of the lamp is less than or equal to a predetermined area, it may be determined that the form of the lighting of the lamp is the portion of the region of the predetermined form.

The determining of whether or not an obstacle exists on the ground to which the lighting is irradiated may include determining that when the form of the obtained lighting of the lamp is distorted, a ground form of a distorted lighting region is at least one of curb and the obstacle and a position of the at least one of the curb and the obstacle is higher than the ground to which the lighting is irradiated.

The determining that the form of the lighting is distorted may include determining that when the form of the obtained lighting of the lamp is divided by the at least one of the curb and the obstacle and lengths of points at which the divided regions of the lighting intersect the curb or the obstacle are different from each other, some regions of the lighting irradiated from the lamp are irradiated to the ground and remaining regions other than the some regions are irradiated to the curb or the obstacle so that the form of the lighting is distorted.

The vehicle control method may further include dividing the lighting region irradiated to the ground into a predetermined number, wherein a relative position of a vehicle with respect to at least one of the drain way and the cliff may be determined based on a position of a region where the form of the lighting region is not obtained among the divided regions.

The vehicle control method may further include dividing the lighting region irradiated to the ground into a predetermined number, wherein a relative position of a vehicle with respect to at least one of the drain way and the cliff may be determined based on a position of a region where the form of the lighting region may be distorted among the divided regions.

When the form of the obtained lighting of the lamp coincides with the predetermined form, it may be determined that the form of the ground to which the lighting is irradiated is a general road.

DETAILED DESCRIPTION

Like reference numerals refer to like elements throughout the specification. The present specification does not describe all the elements of the embodiments, and duplicative contents between general contents or embodiments in the technical field of the present invention of the present invention will be omitted. The terms ‘part,’ ‘module,’ ‘member,’ and ‘block’ used in the exemplary embodiment may be embodied as software or hardware, and it is also possible for a plurality of ‘parts,’ ‘modules,’ ‘members,’ and ‘blocks’ to be embodied as one component, or one ‘part,’ ‘module,’ ‘member,’ and ‘block’ to include a plurality of components according to the embodiments.

Throughout the specification, when a part is referred to as being “connected” to another part, it includes not only a direct connection but also an indirect connection, and the indirect connection includes connecting through a wireless network.

Further, when it is described that a part “includes” an element, it means that the element may further include other elements, not excluding the other elements unless specifically stated otherwise.

The terms ‘first,’ ‘second,’ etc. Are used to distinguish one element from another element, and the elements are not limited by the above-mentioned terms.

In each step, an identification sign is used for the convenience of explanation, and the identification sign does not describe the order of each step, and each step may be performed differently from the stated order unless clearly specified in the context.

Hereinafter the operating principle and embodiments of the present invention will be described with reference to the accompanying drawings.

FIG.1is a perspective view schematically illustrating the exterior of a vehicle provided with a puddle lamp and a camera according to an exemplary embodiment of the present invention.

Referring toFIG.1, a side mirror10of a vehicle1may be provided with a puddle lamp11. The puddle lamp11is configured to solve the inconvenience of a passenger by brightening the surroundings of the vehicle1in advance when the passenger of the vehicle1gets on or off. As illustrated inFIG.1, the puddle lamp11allows a driver and a passenger to ensure the view thereof when getting on or off by irradiating a lighting10ato the ground on a driver's seat side and a passenger's seat side.

The puddle lamp11may be provided on both a side mirror10of the driver's seat side and the side mirror10of the passenger's seat side, and there is no limitation on the number and installation positions of the puddle lamp11. Furthermore, the form of a lighting10airradiated to the ground from the puddle lamp11and the area of an irradiated region may be variously implemented.

The configuration of the puddle lamp11includes a light source body including a light emitting diode (LED) that emits light, and an objective lens that enlarges and irradiates the light of the light source body onto the ground. The objective lens is based on irradiating light to a region as wide as possible with respect to the ground.

To contribute to the improvement of an advanced image of the vehicle1and the improvement of the merchandise, a logo indicating the unique product of the vehicle1may also be displayed on the ground when the lighting is irradiated to the ground from the puddle lamp11.

As illustrated inFIG.1, the side mirror10may be provided with a camera12, and the camera12may obtain information on the form of the lighting10airradiated from the puddle lamp11by photographing the lighting10airradiated to the ground from the puddle lamp11.

The camera12may be provided on both the side mirror10of the driver's seat side and the side mirror10of the passenger's seat side, and there is no limitation on the number and installation positions of the camera12. Furthermore, the position at which the camera12is provided is not limited to the side mirror10, and the camera12may be mounted at any position as long as image information may be obtained by photographing the lighting irradiated from the puddle lamp11.

The camera12may include a3D spatial recognition sensor, a radar sensor, an ultrasonic sensor, and the like. As the3D spatial recognition sensor, a KINECT (RGB-D sensor), a structured light sensor (TOF), a stereo camera, etc. may be used, but is not limited thereto, and other devices which may function similar to the3D spatial recognition sensor may also be included.

The camera12may obtain information on the form of lighting10airradiated to the ground by photographing the lighting10airradiated from the puddle lamp11and performing image information.

FIG.2is a control block diagram of the vehicle according to an exemplary embodiment andFIG.3is a flowchart illustrating a control flow of the vehicle according to an exemplary embodiment of the present invention.

Referring toFIG.2, the vehicle1according to an exemplary embodiment of the present invention may include an input50for inputting various commands related to the vehicle1. The input50may be implemented by use of a physical button, a knob, a touch pad, a touch screen, a stick type manipulation device, or a track ball. The driver or passenger may control various operations of the vehicle1by manipulating the input50.

The driver or passenger of the vehicle1according to an exemplary embodiment of the present invention may input control commands of the puddle lamp11and the camera12through the input50, and the puddle lamp11and the camera12may operate according to the received control commands.

The vehicle1may include a storage90for storing data related to control of the vehicle1, a controller100for controlling each component of the vehicle1, an informer110for providing the driver with information or danger warnings related to the operation of the vehicle1, and a detection sensor200for detecting an obstacle or other vehicle around the vehicle1.

The storage90may store data on a control method of the vehicle1according to an exemplary embodiment of the present invention Information related to the form of lighting and the area of a lighting region irradiated by the puddle lamp11may be preset and stored in the storage90.

The storage90may further store data related to an equation and a control algorithm for controlling the vehicle1including the puddle lamp11and the camera12according to an exemplary embodiment of the present invention, and the controller100may transmit a control signal for controlling the vehicle1according to the equation and the control algorithm.

The storage90may be implemented as at least one of a non-volatile memory device such as a cache, a ROM (Read Only Memory), a PROM (Programmable ROM), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), and a flash memory, a volatile memory device such as a RAM (Random Access Memory), and a storage medium such as a HDD (hard disk drive) and a CD-ROM, but is not limited thereto.

The detection sensor200may detect a surrounding environment of the vehicle1or an obstacle around the vehicle1, and detect a parking available position by use of an ultrasonic detecting function during parking of the vehicle1.

That is, during parking of the vehicle1, the detection sensor200may recognize obstacles in the front, rear, and rear sides of the vehicle1and detect a collision risk. The detection sensor200may determine whether other vehicles or obstacles exist in the left, right, front, rear, left front side, right front side, left rear side, or right rear side by use of electromagnetic waves or laser light. For example, the detection sensor200may emit electromagnetic waves such as microwaves or millimeter waves, pulsed laser light, ultrasonic waves or infrared rays to the left, right, front, rear, left front side, right front side, left rear side, or right rear side, and may determine whether or not an object exists by receiving pulsed laser light, ultrasonic waves or infrared rays reflected or scattered from the object located in these directions. In the instant case, the detection sensor200may further determine the distance between the vehicle1and the obstacle, or the speed and position of another object moving by use of the time when the emitted electromagnetic wave, pulse laser light, ultrasonic wave or infrared light returns.

The related art adopts a method of detecting the position of the end portion of the driver's seat of another vehicle parked in a parking region during the autonomous parking of the vehicle1and parking the vehicle1according to the position of the driver's seat.

In the instant case, there is no problem when the size of the vehicle1to be parked is the same or similar to that of another vehicle which is already parked, but when the size of another vehicle is smaller than the size of the vehicle1to be parked, the vehicle1may collide with an obstacle or curb around the vehicle1during parking, and the wheels of the vehicle1may fall into a drain way, or the vehicle1may tilt or fall toward a cliff.

That is, the related art has adopted methods of avoiding collision with other vehicles around the parking region by use of an ultrasonic sensor, an external camera, etc. during the autonomous parking of the vehicle1, but has not implemented a method of preventing collision by detecting obstacles such as a drain way, a cliff, curb, and the like located at the sides of the vehicle1when parallel parking is performed.

Hereinafter a technology for safely and accurately performing autonomous parking of the vehicle1by detecting lighting irradiated from the puddle lamp11provided in the vehicle1according to the vehicle1and a control method thereof according to an exemplary embodiment of the present invention will be described.

FIG.4illustrates lighting region irradiated to the ground from the puddle lamp according to an exemplary embodiment of the present invention, andFIG.5illustrates that the lighting region changes when the ground to which lighting is irradiated from the puddle lamp changes according to an exemplary embodiment of the present invention.FIG.6illustrates the lighting region when lighting is irradiated to a drain way or a cliff from the puddle lamp according to an exemplary embodiment of the present invention, andFIG.7illustrates the lighting region when lighting is irradiated to curb or an obstacle from the puddle lamp according to an exemplary embodiment of the present invention.

Referring toFIG.3andFIG.4, the puddle lamp11provided on the side mirror10may irradiate the lighting10ato the ground (1000), and the camera12may obtain information on the form of the lighting10aby photographing the lighting10airradiated to the ground from the puddle lamp11(1100).

The puddle lamp11may irradiate the lighting10ain a predetermined form to the ground based on the data stored in the storage90, and the camera12may obtain the form of the lighting10aand area information related to the ground to which the lighting10ais irradiated through image recognition by photographing the lighting10a.

As illustrated inFIG.4, the lighting10airradiated from the puddle lamp11may be circular, or may be other than circular. There is no restriction on the form of the lighting10a, but for convenience of explanation, the following description will be provided taking the case where the form of the lighting10ais circular.

As illustrated inFIG.4, when an obstacle, a drain way, or the like does not exist around the vehicle1, the lighting10airradiated from the puddle lamp11may be displayed on the ground in a preset form.

The form of the lighting10amay be changed differently from the predetermined form according to the form of the ground to which the lighting10ais irradiated from the puddle lamp11. That is, when the lighting10airradiated from the puddle lamp11is irradiated to a drain way or a cliff lower than the ground, the form of the lighting10airradiated to the drain way or the cliff may be displayed in a larger area than the predetermined form.

On the other hand, when the lighting10airradiated from the puddle lamp11is irradiated to curb or an obstacle higher than the ground, the form of the lighting10airradiated to the curb or the obstacle may be displayed in a smaller area than the predetermined form.

That is, referring toFIG.5, when a height of the puddle lamp11provided on the side mirror10of the vehicle1is H, a distance from the puddle lamp11to the lighting10airradiated to the ground is also H and a radius of the lighting10abecomes R.

On the other hand, as described above, when the lighting10airradiated from the puddle lamp11is irradiated to a drain way or a cliff, the distance from the puddle lamp11to the lighting10abecomes H″ which is greater than H, and thus the radius of the lighting10abecomes R″ which is greater than R.

Furthermore, when the lighting10airradiated from the puddle lamp11is irradiated to curb or an obstacle, the distance from the puddle lamp11to the lighting10abecomes H′ which is smaller than H. and thus the radius of the lighting10abecomes R″ which is smaller than R.

Referring back toFIG.3, the camera12may obtain information on the form of the lighting10airradiated from the puddle lamp11by photographing the lighting10airradiated from the puddle lamp11, and the controller100may, based on information on the form of the lighting10aobtained by the camera12, determine at least one of the form of the ground to which the lighting10ais irradiated and whether or not an obstacle exists on the ground to which the lighting10ais irradiated.

The controller100may determine whether the form of the obtained lighting10ais a portion of a region of the predetermined form by comparing the form of the lighting10aobtained by the camera12with the predetermined form (1200).

When the form of the lighting10aof the puddle lamp11obtained by the camera12is a portion of a region of the predetermined form and the form of the remaining lighting region of the lighting10aother than the portion of the region is not obtained, the controller100may determine that the form of the ground to which the lighting of the region which is not obtained is irradiated is at least one of a drain way and a cliff (1300).

As illustrated inFIG.6, when a portion of the region of the lighting10airradiated from the puddle lamp11is irradiated to the ground and the remaining portion of the region is irradiated to a drain way A or a cliff A, the region of the lighting10aobtained by the camera12may be only the region which is irradiated to the ground.

That is, the lighting10airradiated from the puddle lamp11to the drain way or the cliff is not obtained by the camera12or may be obtained as a region wider than the region of the lighting10airradiated to the ground.

When only a portion of the region of the lighting10airradiated from the puddle lamp11is obtained, the controller100may determine that the area of the region of the lighting10airradiated from the puddle lamp11is less than or equal to a predetermined area, and thus may determine that the form of the ground to which the lighting10ais irradiated is at least one of the drain way A and the cliff A.

Accordingly, as the lighting10airradiated from the puddle lamp11is irradiated to the drain way A or the cliff A, the controller100may detect a lighting region which is not obtained by the camera12to detect the form of the ground around the vehicle1.

As illustrated inFIG.6, when at least one of the drain way A or the cliff A is positioned in the place where the vehicle1is to be parked, the controller100may prevent the wheel of the vehicle1from falling into at least one of the drain way A and the cliff A by warning the driver of the vehicle1via the informer110or controlling the braking of the vehicle1(1600).

Referring back toFIG.3, the controller100may determine whether the form of the obtained lighting10ais distorted by comparing the form of the lighting10aobtained by the camera12with the predetermined form (1400).

When the form of the lighting10aof the puddle lamp11obtained by the camera12is distorted, the controller100may determine that the form of the ground of the distorted region of lighting10ais at least one of curb and the obstacle (1500) and may determine that the curb or the obstacle is higher than the ground.

As illustrated inFIG.7, when some regions10aof the lighting irradiated from the puddle lamp11are irradiated to the ground and the remaining region10bis irradiated to curb B or an obstacle B, because the curb B or the obstacle B to which the remaining region10bof the lighting is irradiated is higher than the height of the ground to which the some regions10aof the lighting irradiated, the area of the remaining region10bof the lighting is obtained to be smaller than that of the some regions10aof the lighting obtained by the camera12.

As illustrated inFIG.7, when the form of the lighting irradiated from the puddle lamp11is divided by at least one of the curb B and the obstacle B, the lengths of the points at which the divided regions10aand10bof the lighting intersect the curb B or the obstacle B become different from each other.

That is, because the height of the regions10aof a lighting irradiated to the ground from the puddle lamp11is different from that of the region10bof the lighting irradiated to the curb B or the obstacle B, the controller100may determine that the form of the lighting of the puddle lamp11obtained by the camera12is distorted.

Accordingly, when the form of a region of the lighting obtained by the camera12is distorted as the lighting irradiated from the puddle lamp11is irradiated to the curb B or the obstacle B, the controller100may determine that the form of the ground to which the lighting is irradiated is the curb B or the obstacle B and thus may detect the form of the ground around the vehicle1.

As illustrated inFIG.7, when at least one of the curb B and the obstacle B is positioned in the place where the vehicle1is to be parked, the controller100may prevent the vehicle1from colliding with the curb B or the obstacle B by warning the driver of the vehicle1via the informer110or controlling the braking of the vehicle1(1600).

The controller100may determine whether the form of the lighting of the puddle lamp11obtained by the camera12coincides with the predetermined form (1700) and may, when the form of the lighting coincides with the predetermined form, determine that the form of the ground to which the lighting is irradiated is a general road.

That is, when the form of the lighting10airradiated to the ground from the puddle lamp11is the predetermined form as illustrated inFIG.4and the lighting region obtained by the camera12is a portion of the entire region10aor the lighting form is not distorted, the controller100may determine that a drain way, a cliff, curb, or an obstacle does not exist around the vehicle1.

Therefore, in the instant case, because there is no danger due to the surrounding environment when the vehicle1is to be parked, a warning to the driver and a braking control for the vehicle1are not performed.

FIG.8andFIG.9illustrate that a relative position of the vehicle is determined according to the lighting region of the puddle lamp.

Referring toFIG.8, the controller100may divide the lighting region10airradiated to the ground from the puddle lamp11into a predetermined number and may determine a relative position of the vehicle1with respect to at least one of the drain way A and the cliff A based on a position of a region where the form of the lighting region is not obtained by the camera12among the divided regions.

As illustrated inFIG.8, the controller100may divide the lighting region10airradiated from the puddle lamp11into four of regions10a-1,10a-2,10a-3, and10a-4, and may determine a relative position of the vehicle1with respect to the drain way A or the cliff A according to a position of a region where the form of the lighting region is not obtained by the camera12among four of the divided regions10a-1,10a-2,10a-3, and10a-4.

Referring toFIG.8, the camera12may obtain lighting regions of the second region10a-2and the third region10a-3among four of the divided regions10a-1,10a-2,10a-3, and10a-4, and may not obtain lighting regions of the first region10a-1and the fourth region10a-4.

Furthermore, the camera12may obtain only some lighting regions for the second region10a-2and the third region10a-3.

That is, in the lighting irradiated from the puddle lamp11, the lighting of the first region10a-1, a portion of the second region10a-2, a portion of the third region10a-3, and the fourth region10a-4is irradiated to the drain way A or the cliff A, and thus the camera12may obtain only some lighting regions of the second region10a-2and the third region10a-3.

Therefore, in the instant case, the controller100may determine that a front portion of the vehicle1is closely adjacent to the drain way A or the cliff A based on the position of the lighting region10aobtained by the camera12.

As the position of the lighting region obtained by the camera12changes with respect to the lighting region10airradiated from the puddle lamp11, the controller100may differently determine the relative position of the vehicle1with respect to at least one of the drain way A and the cliff A.

Referring toFIG.9, the controller100may divide the lighting region10airradiated to the ground from the puddle lamp11into the predetermined number and may determine a relative position of the vehicle1with respect to at least one of the curb B and the obstacle B based on a position of a region where the form of the lighting region obtained by the camera12is distorted among the divided regions.

As illustrated inFIG.9, the controller100may divide the lighting region10airradiated from the puddle lamp11into four of the regions10a-1,10a-2,10a-3, and10a-4, and may determine a relative position of the vehicle1with respect to the curb B or the obstacle B according to the position at which the form of the lighting region obtained by the camera12is distorted among four of the divided regions10a-1,10a-2,10a-3, and10a-4.

Referring toFIG.9, the camera12may obtain lighting regions of the first region10a-1and the fourth region10a-4which are obtained smaller than the areas of the second region10a-2and the third region10a-3among four of the divided regions10a-1,10a-2,10a-3, and10a-4.

That is, because the lighting of the first region10a-1and the fourth region10a-4among four of the lighting regions10a-1,10a-2,10a-3, and10a-4which are irradiated from the puddle lamp11is irradiated to the curb B or the obstacle B, the camera12may obtain the lighting regions of the first region10a-1and the fourth region10a-4which are distorted smaller than the areas of the second region10a-2and the third region10a-3.

Therefore, in the instant case, the controller100may determine that a rear portion of the vehicle1is closely adjacent to the curb B or the obstacle B based on the position of the distorted lighting region10aobtained by the camera12.

That is, as the position of the distorted lighting region obtained by the camera12changes with respect to the lighting region10airradiated from the puddle lamp11, the controller100may differently determine the relative position of the vehicle1with respect to at least one of the curb B and the obstacle B.

FIG.10illustrates that the lighting regions irradiated from the puddle lamp are differently obtained when snow is accumulated according to an exemplary embodiment of the present invention.

Referring toFIG.10, when snow is accumulated at a position where the vehicle1is to be parked, the area of the lighting region of the puddle lamp11obtained by the camera12may be obtained with an area smaller than the predetermined area.

That is, as described with reference toFIG.5, when the lighting irradiated from the puddle lamp11is irradiated on curb or an obstacle higher than the ground, the lighting irradiated to the curb or the obstacle may be displayed as a form with a smaller area than the predetermined form.

Likewise, when snow accumulates at a position where the lighting is irradiated from the puddle lamp11, because the position where snow is accumulated is higher than the ground, the lighting irradiated to the place where snow is accumulated may be displayed as a form with a smaller area than the predetermined form.

Referring toFIG.10, when the height of the puddle lamp11provided on the side mirror10of the vehicle1is H, the distance from the puddle lamp11to the lighting10airradiated to the ground is also H and the radius of the lighting10abecomes R, and when the lighting10airradiated from the puddle lamp11is irradiated to the place where snow is accumulated, the distance from the puddle lamp11to the lighting10abecomes H′ and closer to H, so that the radius of the lighting10abecomes R′ which is smaller than R.

Accordingly, the controller100may determine the form of the ground to which the lighting10ais irradiated based on the area or information on the form of the region of the lighting10aof the puddle lamp11obtained by the camera12.

As described above, according to the vehicle1and the control method thereof according to an exemplary embodiment of the present invention, when the vehicle1is to be parked, a drain way, a cliff, curb or an obstacle on the side of the vehicle1may be detected using lighting irradiated from the puddle lamp11to warn the driver or to control the behavior of the vehicle1, so that the vehicle1may be parked safely and accurately.

The disclosed exemplary embodiments may be implemented in a form of a recording medium storing instructions executable by a computer. The instructions may be stored in a form of program code, and when executed by a processor, a program module may be generated to perform the operations of the included exemplary embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes various types of recording media in which instructions which may be decrypted by a computer are stored. For example, there may be a ROM (Read Only Memory), a RAM (Random Access Memory), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

As is apparent from the above, the present invention has an effect of parking a vehicle safely and accurately by detecting a drain way, a cliff, curb or an obstacle on the side of the vehicle to warn a driver or to control the behavior of the vehicle using lighting irradiated from a puddle lamp during parking the vehicle.