Patent Publication Number: US-2023158832-A1

Title: Vehicle and Method of Controlling the Same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of Korean Patent Application No. 10-2021-0163135, filed on Nov. 24, 2021, which application is hereby incorporated herein by reference. 
     TECHNICAL FIELD 
     The disclosure relates to a vehicle and method of controlling the same. 
     BACKGROUND 
     When driving, there are cases where a vehicle needs to parallel park inevitably near a boundary stone (also referred to as a curb), such as by a side of a road or next to a flowerbed. Since such parking cases are mostly insufficient in parking spaces, it is necessary to park as close as possible to the boundary stone. 
     In such parking environments, a driver tries to park a vehicle as close as possible to a boundary stone, but in this process, a wheel of the vehicle may come into contact with the boundary stone, so that a surface of the wheel may be damaged. 
     SUMMARY 
     The disclosure relates to a vehicle and method of controlling the same. Particular embodiments relate to a wheel structure of the vehicle and parking control using the same. 
     An embodiment of the disclosure provides a vehicle capable of preventing damage due to contact between a roadside structure and a wheel by varying a width of the wheel, in particular by varying so as to decrease the width of the wheel in parallel parking conditions, and a method of controlling the same. 
     Additional embodiments of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure. 
     In accordance with an embodiment of the disclosure, a vehicle includes a wheel configured to have a variable width thereof and a controller configured to generate a control signal for varying the width of the wheel, wherein the wheel includes an inner wheel connected to an axle of the vehicle, an outer wheel connected to the inner wheel, and a driver configured to move the outer wheel along a longitudinal direction of the axle of the vehicle to vary the width of the wheel by generating power in response to the control signal. 
     The driver may be interposed between the inner wheel and the outer wheel, and the outer wheel moves toward or away from the inner wheel along the longitudinal direction of the axle of the vehicle by the power of the driver. 
     A coupling member may be provided on each of the inner wheel and the outer wheel, and the inner wheel and the outer wheel may be coupled to each other through the coupling member, and the outer wheel is provided to move along the longitudinal direction of the axle of the vehicle through the coupling member. 
     The driver may be a hydraulic driver for generating the power in a hydraulic manner. 
     In accordance with another embodiment of the disclosure, a method of controlling a vehicle is provided. The vehicle includes a wheel configured to have a variable width thereof and a controller configured to generate a control signal for varying the width of the wheel, and the wheel includes an inner wheel connected to an axle of the vehicle, an outer wheel connected to the inner wheel, and a driver configured to vary the width of the wheel by generating power in response to the control signal so that the outer wheel moves along a longitudinal direction of the axle of the vehicle. The method comprises determining whether a condition for varying the width of the wheel is satisfied and generating the control signal in response to the condition for varying the width of the wheel being satisfied. 
     The varying of the width of the wheel may include moving the outer wheel in a direction of the inner wheel to decrease the overall width of the wheel. 
     In accordance with another embodiment of the disclosure, a method of controlling a vehicle is provided. The vehicle includes a wheel configured to have a variable width thereof and a controller configured to generate a control signal for varying the width of the wheel, and the wheel includes an inner wheel connected to an axle of the vehicle, an outer wheel connected to the inner wheel, and a driver configured to vary the width of the wheel by generating power in response to the control signal so that the outer wheel moves along a longitudinal direction of the axle of the vehicle. The method comprises determining whether the vehicle is in a parallel parking situation and generating the control signal so that the width of the wheel decreases in response to the vehicle being in the parallel parking situation. 
     The parallel parking situation may include parking the vehicle in parallel on a roadside. 
     The controller may be further configured to determine that the vehicle is in a parallel parking situation on the roadside when the vehicle is in a stationary state and a direction of the vehicle matches a direction of the road on which the vehicle is located. 
     The controller may be configured to determine that the vehicle is in a parallel parking situation on the roadside when the vehicle is in a stationary state and a location of the vehicle is on a road in a navigation of the vehicle. 
     The controller may be configured to determine that the vehicle is in a parallel parking situation on the roadside when the vehicle is in a stationary state and a boundary stone separating a road and a sidewalk is detected in an image of a certain area of a side of the vehicle. 
     In accordance with another embodiment of the disclosure, a vehicle includes a distance sensor installed on a side of the vehicle to detect a distance between the vehicle and a structure existing in a side direction of the vehicle, a wheel configured to have a variable width, and a controller configured to generate a control signal to decrease the width of the wheel in order to prevent contact between the structure and the wheel, wherein the wheel includes an inner wheel connected to an axle of the vehicle, an outer wheel connected to the inner wheel, and a driver configured to move the outer wheel along a longitudinal direction of the axle of the vehicle to reduce the width of the wheel by generating power in response to the control signal. 
     A plurality of distance sensors may be installed on one side of the vehicle. 
     The distance sensor may be installed at the lowest position of one side of the vehicle. 
     The distance sensor may be installed so that a direction for measuring the distance has a directivity that is directed downward more than an installation height of the distance sensor. 
     The driver may be interposed between the inner wheel and the outer wheel, and the outer wheel may move toward or away from the inner wheel along the longitudinal direction of the axle of the vehicle by the power of the driver. 
     A coupling member may be provided on each of the inner wheel and the outer wheel, and the inner wheel and the outer wheel are coupled to each other through the coupling member, and the outer wheel is provided to move along the longitudinal direction of the axle of the vehicle through the coupling member. 
     The driver may be a hydraulic driver for generating the power in a hydraulic manner. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and/or other aspects of embodiments of the disclosure will become apparent and more readily appreciated from the following description of the exemplary embodiments, taken in conjunction with the accompanying drawings, in which: 
         FIG.  1    is a view illustrating a control system of a vehicle according to an embodiment of the disclosure; 
         FIG.  2    is a view illustrating a wheel structure of a vehicle according to an embodiment of the disclosure; 
         FIGS.  3 A and  3 B  are views illustrating a method of controlling parking of a vehicle according to an embodiment of the disclosure; 
         FIG.  4    is a view illustrating securing a parking space in a parking assistance control according to an embodiment of the disclosure; 
         FIG.  5    is a view illustrating a boundary stone identification by image analysis of a vehicle according to an embodiment of the disclosure; and 
         FIGS.  6 A to  6 F  are views illustrating a parking assistance control of a vehicle according to an embodiment of the disclosure. 
     
    
    
     DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS 
     Like reference numerals refer to like elements throughout. The disclosure does not describe all elements of the embodiments or overlaps between the general contents or the embodiments in the technical field to which the disclosure belongs. This specification does not describe all elements of the exemplary embodiments of the disclosure and detailed descriptions on what are well known in the art or redundant descriptions on substantially the same configurations may be omitted. The terms ‘part, module, member, block’ used in the specification may be implemented in software or hardware, and a plurality of ‘parts, modules, members, blocks’ may be embodied as one component. It is also possible that one ‘part, module, member, block’ includes a plurality of components. 
     Throughout the specification, when an element is referred to as being “connected to” another element, it may be directly or indirectly connected to the other element and the “indirectly connected to” includes being connected to the other element via a wireless communication network. 
     Furthermore, when a part is said to “include” a certain component, this means that it may further include other components, not to exclude other components unless otherwise stated. 
     Throughout the specification, when a member is located “on” another member, this includes not only when one member is in contact with another member but also when another member exists between the two members. 
     The terms first, second, etc. are used to distinguish one component from another component, and the component is not limited by the terms described above. 
     Singular expressions include plural expressions unless the context clearly indicates an exception. 
     In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step. Each of the steps may be performed out of the stated order unless the context clearly dictates the specific order. 
     Hereinafter, with reference to the accompanying drawings will be described the working principle and embodiments of the disclosure. 
       FIG.  1    is a view illustrating a control system of a vehicle according to an embodiment of the disclosure. 
     Referring to  FIG.  1   , a controller  102  is communicatively connected to a surround view monitoring (SVM) camera  122 , a dead reckoning (DR) sensor  124 , a map database  126 , a distance sensor  128 , a vehicle speed sensor  13   o , an illuminance sensor  132 , a parking assistance system  134 , a user interface  136 , an audio, video and navigation (AVN)  152 , and a hydraulic driver  154 . 
     The surround view monitoring camera  122  may be a plurality of cameras provided to photograph surroundings of a vehicle  100 . The surround view monitoring cameras  122  may be provided with one camera on front, rear, left, and right sides of the vehicle  100 , respectively. The left camera may be installed in a left outside mirror, and the right camera may be installed in a right outside mirror. The surround view monitoring cameras  122  are also referred to as around view monitoring cameras. The controller  102  may identify whether a boundary stone (also referred to as a curb) exists in the surroundings of the vehicle wo through an image captured by the surround view monitoring cameras  122 . 
     The dead reckoning sensor  124  is provided to detect a heading direction of the vehicle  100 . The controller  102  may detect the heading direction of the vehicle wo through the dead reckoning sensor  124  and compare road information of the map database  126  with the heading direction to identify whether the heading direction of the vehicle  100  matches a road direction. 
     The map database  126  is provided to store map information to support a navigation function of the AVN  152 . As described above, the controller  102  may utilize the map information of the map database  126  to identify whether the heading direction of the vehicle  100  matches the road direction. 
     A plurality of distance sensors  128  are installed on a side of the vehicle  100 . The distance sensors  128  are provided to measure a distance to an object placed on the side of the vehicle  100 . For example, if a boundary stone exists at the side of the vehicle  100 , the distance from the side of the vehicle  100  to the boundary stone may be measured by the distance sensors  128 . One of the distance sensors  128  may be provided on the right side of each of front and rear bumpers of the vehicle  100 , and one or two of the distance sensors  128  may be provided on a lower side of the door between a front wheel and a rear wheel. The distance sensor  128  may be an ultrasonic sensor. To measure a distance to a low-height boundary stone located on the side of the vehicle  100 , the distance sensors  128  are preferably installed at a low position if possible. 
     Furthermore, when it is difficult to install the distance sensor  128  at a sufficiently low position on the side of the vehicle  100  due to a structural limitation of the vehicle  100 , the distance sensor  128  may be installed at a higher position. However, in this case, it is preferable to allow the distance sensor to measure a structure in a low position, such as a boundary stone (curb) on a roadside by installing such that a direction for measuring the distance of the distance sensor  128  has a directivity that is directed downward more than an installation height of the distance sensor. Furthermore, based on a lateral direction of the vehicle  100 , since the distance sensor  128  is installed more inside than a side surface of a tire (see  212  of  FIG.  2    to be described later), application of a correction value to correct the error between the distance sensor  128  and the side surface of the tire  212  is required. Through such correction, the distance between the side surface of the tire  212  and the boundary stone may be accurately measured. 
     The vehicle speed sensor  130  is provided to measure the speed of the vehicle  100 . In an exemplary embodiment of the disclosure, when the vehicle  100  is in a stationary state, that is, when the vehicle speed is 0 km/h, a wheel protection parking mode is switched. The controller  102  may determine whether the vehicle  100  is in the stationary state (o km/h) through the vehicle speed sensor  130 . 
     The illuminance sensor  132  is provided to detect illuminance (brightness) around the vehicle  100 . In an exemplary embodiment of the disclosure, the surroundings of the vehicle  100  are captured through the surround view monitoring cameras  122 , and a boundary stone is identified through analysis of the captured one or more images. However, if the surroundings of the vehicle  100  are too dark to accurately identify the boundary stone through image analysis, it is desirable that the illuminance sensor  132  detects the illuminance around the vehicle  100  and then performs photographing at a predetermined illuminance or higher. 
     The parking assistance system  134  is provided to automatically park the vehicle  100  without a driver&#39;s intervention. To this end, the parking assistance system  134  obtains control rights of an engine, a transmission, and a steering wheel in a parking assistance control mode, and controls the vehicle  100  so that the vehicle  100  is parked at a target location with reference to information on surrounding situations provided from the surround view monitoring cameras  122  and the distance sensor  128 , and the like. 
     The user interface  136  is provided to receive a setting (input) of a user. The user interface  136  may be a graphical user interface displayed on a display of the AVN  152 . Alternatively, the user interface  136  may be provided in the form of a button or a dial in the vehicle  100 . The user may select (activate) the wheel protection parking mode through the user interface  136  or select (activate) the parking assistance control mode through the user interface  136 . 
     The AVN (also referred to as a multimedia device)  152  is configured to provide an audio/video/navigation function. The map database  126  and the user interface  136  described above may be provided through the AVN  152 . 
     The hydraulic driver  154  is provided on the wheel of the vehicle wo according to an embodiment of the disclosure so that the width of the wheel may be variably controlled. Variable control of the width of the wheel by action of the hydraulic driver  154  will be described in more detail with reference to  FIG.  2    to be described later. 
     The controller  102  controls variably the width of the wheels  214  and  216  to be narrowed by generating a control signal and driving the hydraulic driver  154  in order to prevent the wheels (see  214  and  216  of  FIG.  2   ) of the vehicle wo from being damaged by contact with a roadside boundary stone in a parallel parking situation of the vehicle  100 . 
       FIG.  2    is a view illustrating a wheel structure of a vehicle according to an embodiment of the disclosure. A wheel refers to a ring-shaped object connected to an axle (rotation shaft) of a vehicle for rotation. A form in which a metal wheel is combined with a rubber tire is also called a wheel. In an embodiment of the disclosure, a metal wheel connected to a drive shaft of the vehicle wo and a rubber tire coupled thereto are divided into the wheels  214  and  216  and the tire  212 , respectively, and reference numerals are denoted thereto. 
     The wheels  214  and  216  according to an embodiment of the disclosure are mechanically connected to the axle (rotation shaft) of the vehicle wo to rotate. The tire  212  made of rubber is mounted on a circumference of the wheels  214  and  216 . 
     As shown in  FIG.  2   , the wheels  214  and  216  according to an embodiment of the disclosure include an inner wheel (a first wheel)  214  and an outer wheel (a second wheel)  216 . Here, based on a state in which the wheels  214  and  216  are mounted on the vehicle  100 , a wheel close to a vehicle body of the vehicle wo is referred to as the inner wheel  214  and a wheel away from the vehicle body (a wheel exposed to the outside) is referred to as the outer wheel  216 . In other words, based on a state in which the wheels  214  and  216  are mounted on the vehicle  100 , a wheel positioned inside a wheel house of the vehicle wo is the inner wheel  214 , and a wheel exposed to the outside of the wheel house of the vehicle wo is the outer wheel  216 . 
     The inner and outer wheels  214  and  216  constituting the wheels  214  and  216  according to an embodiment of the disclosure are configured as separate ones and are mechanically coupled through coupling members  218  and  220  provided on each of the inner wheel  214  and the outer wheel  216 . However, instead of the inner wheel  214  and the outer wheel  216  not being fixed to each other, the outer wheel  216  may move in a direction of the inner wheel  218  along a width direction of the wheels  214  and  216  (a direction of arrow  222  in  FIG.  2   ) in a sliding manner through each of the coupling members  218  and  220 . As such, the overall width of the wheels  214  and  216  may be varied by movement of the outer wheel  216 . The hydraulic driver  230  is provided between the inner wheel  214  and the outer wheel  216 . The hydraulic driver  230  generates power in response to a control of the controller  120 , and the power generated causes the outer wheel  216  to move along the direction of the inner wheel  214  (direction of arrow  222 ). Because the inner wheel  214  is mechanically coupled to the wheel of the vehicle  100  and thus cannot move in the width direction thereof, it is preferable that only the outer wheel  216  moves in the direction of the inner wheel  214 . At this time, the tire  212  may expand in an outward direction of the wheels  214  and  216  within a range that the tire  212  may tolerate as the width of the wheels  214  and  216  is reduced. 
     Referential numeral  210  in  FIG.  2    shows a basic mode of the wheels  214  and  216  according to an embodiment of the disclosure. Reference numeral  250  of  FIG.  2    shows a wheel protection parking mode of the wheels  214  and  216  according to an embodiment of the disclosure. Comparing a width W 1  of the wheels  214  and  216  in  210  of  FIG.  2    with a width W 2  of the wheels  214  and  216  in  250  of  FIG.  2   , the width W 2  of the wheels  214  and  216  in  210  of  FIG.  2    is narrower than the width W 1  of the wheels  214  and  216  in  250  of  FIG.  2    (W 2 &lt;W 1 ). In other words, when the vehicle wo is in the wheel protection parking mode, the controller  102  generates a control signal to drive the hydraulic driver  230 , and power is generated by driving the hydraulic driver  230 . As a result, as the outer wheel  216  moves in the direction of the inner wheel  214  by the power generated, the overall width of the wheels  214  and  216  may be reduced from the W 1  in  210  of  FIG.  2    to the W 2  in  250  of  FIG.  2   . 
     As such, in the wheel protection parking mode, the overall width of the wheels  214  and  216  is reduced such that an outer surface of the outer wheel  216  enters more inward than a side surface of the tire  212 , thereby preventing damage of the outer wheel  216  from contacting with a structure located on the side of the vehicle  100  when the vehicle  100  is parked horizontally. 
       FIGS.  3 A and  3 B  are views illustrating a method of controlling parking of a vehicle according to an embodiment of the disclosure. 
     As shown in  FIG.  3 A , the controller  102  receives a selection of a wheel protection parking mode and a parking assistance control mode from a user through the user interface  136  ( 302 ). In other words, when the user selects the wheel protection parking mode and the parking assistance control mode through a manipulation of the user interface  136 , the controller  102  receives the selection and then activates the wheel protection parking mode and the parking assistance control mode of the vehicle  100 . 
     In response to activation of the wheel protection parking mode and the parking assistance control mode, the controller  102  first identifies whether a parking space (or area) of a certain size or more is secured around the vehicle  100  for the parking assistance control ( 304 ).  FIG.  4    is a view illustrating securing a parking space in the parking assistance control according to an embodiment of the disclosure. As shown in  FIG.  4   , the controller  102  may identify the parking space through all of the plurality of distance sensors  128  installed on the side of the vehicle  100 . The controller  102  may determine that the parking space is secured when an area of a predetermined distance (e.g., 2,600 mm) or more is secured on the side of the vehicle  100 . Here, the predetermined distance is a distance sufficient for the vehicle  100  to park, and may be a distance determined in consideration of a vehicle width and a turning radius of the vehicle  100 . 
     Returning to  FIG.  3 A , the controller  102  identifies whether the vehicle speed of the vehicle  100  is 0 km/h and the transmission of the vehicle  100  is R (reverse) ( 306 ). Identification of the vehicle speed being 0 km/h is to determine whether the vehicle  100  is in a stationary state. Identification of the transmission of the vehicle  100  being R (reverse) is to determine whether the vehicle  100  is in a situation in which reverse is available because the parking of the vehicle  100  is mainly performed in reverse parking. 
     If the vehicle speed of the vehicle  100  is 0 km/h and the transmission of the vehicle  100  is R (reverse) (YES in  306 ), the controller  102  activates the surround view monitoring function ( 308 ). When the surround view monitoring function is activated, the surround view monitoring cameras  122  operate to capture images around the vehicle  100 . 
     In an embodiment of the disclosure, when the parking assistance control is performed in a parallel parking condition of the vehicle  100 , by utilizing the structure of the wheels  214  and  216  described above with reference to  FIG.  2   , the controller  102  performs the parking assistance control by switching to the wheel protection parking mode that allows parking without damage to the outer wheel  216 . To this end, the controller  102  identifies whether the parallel parking condition is satisfied through a series of processes shown in  334  to  340  of  FIG.  3 B  to be described below. 
     As shown in  FIG.  3 B , the controller  102  identifies whether the heading direction of the vehicle  100  matches the direction of the road from the image captured by the surround view monitoring cameras  122  ( 334 ). However, this case is limited to a case where the vehicle  100  is located on a road rather than a parking lot. Whether a current location of the vehicle  100  is a parking lot or on a road may be identified through the navigation function of the AVN  152 . 
     Furthermore, in response to the direction of the vehicle  100  matching the direction of the road (YES in  334 ), the controller  102  identifies whether the current location of the vehicle  100  on the map is on the road through the navigation function ( 336 ). In other words, in addition to identifying through the surround view monitoring cameras  122 , the controller identifies once more whether the vehicle  100  is located on the road through the navigation function. 
     In response to the direction of the vehicle  100  matching the direction of the road (YES in  334 ) and the current location of the vehicle  100  on the navigation map being on the road (YES in  336 ), the controller  102  determines that the parking environment of the vehicle  100  is the parallel parking environment. In other words, on a road not a parking lot, parallel parking, which is parking in the same direction as the road, is common in a condition in which the directions of the vehicle  100  and the road are parallel to each other. 
     Next, the controller  102  detects the illuminance around the vehicle  100  through the illuminance sensor  132  and identifies whether the detected illuminance is equal to or greater than a predetermined value ( 338 ). In response to the detected illuminance being equal to or greater than the predetermined value (YES in  338 ), the controller identifies whether a structure (e.g., a boundary stone) exists on the side of the vehicle  100  from an image of certain areas on the side of the vehicle  100  captured through the surround view monitoring cameras  122  ( 340 ). However, when the illuminance around the vehicle  100  is not sufficient, the verification result of the boundary stone through image analysis may not be trusted. Therefore, the controller identifies the boundary stone through image analysis only when sufficient illuminance (illuminance greater than the predetermined value) is secured to identify the presence and color of the boundary stone. 
     In other words, in  FIG.  3 B , in response to the detected illuminance being less than the predetermined value (if the illuminance is insufficient) (NO in  338 ), the controller  102  skips the boundary stone identification of operation  340  through image analysis and proceeds to operation  342 . Conversely, in response to the detected illuminance being equal to or greater than the predetermined value (if the illuminance is sufficient) (YES in  338 ), the controller  102  identifies whether a boundary stone exists on the side of the vehicle  100  through image analysis ( 340 ). The process will be described with reference to  FIG.  5    as follows. 
       FIG.  5    is a view illustrating a boundary stone identification through image analysis of a vehicle according to an embodiment of the disclosure. As shown in  FIG.  5   , the controller  102  uses the surround view monitoring camera  122  mounted on the right outside mirror (based on driving on the right side) among the surround view monitoring cameras  122  provided in the vehicle  100  to capture the image of a certain area on the right side of the vehicle (based on driving on the right side). The controller  102  analyzes the captured image and identifies whether a low-height structure such as the boundary stone  510  exists in a predetermined area of the side of the vehicle  100 . The color of the boundary stone (curb) may be different depending on the location and use. For example, a boundary stone made of natural stone may be light gray. In this case, RGB values of the boundary stone in the image may be approximately R (185-205), G (185-205), and B (190-210). The boundary stone made of concrete may be dark gray. In this case, the RGB values of the boundary stone in the image may be approximately R (130-150), G (125-145), and B (110-130). In addition, there may be a boundary stone painted yellow or red for warning purposes (other colors are also available). For yellow, the RGB values of the boundary stone in the image may be approximately R (235-255), G (210-230), and B (55-75) For red, the RGB values of the boundary stone in the image may be approximately R (195-215), G (40-60), and B (60-80). The controller  102  may identify the boundary stone through the RGB values and a long shape thereof in the image. 
     Returning to  FIG.  3 B , in response to all the conditions of operations  334  and  336  being satisfied as described above, the controller  102  determines that the current situation of the vehicle  100  is the parallel parking situation of a roadside. In addition to this, if the condition of operation  340  is further satisfied, the controller  102  may identify more precisely that the current situation of the vehicle  100  is the parallel parking situation of the roadside. In such situations, the controller  102  determines the current situation of the vehicle  100  as the parallel parking situation and switches the vehicle  100  to the wheel protection parking mode ( 342 ). As the vehicle  100  is switched to the wheel protection parking mode, the controller  102  drives the hydraulic drivers  230  of each of the right front and right rear wheels of the vehicle  100  to move the outer wheel  216  toward the inner wheel  214  (see  250  in  FIG.  2   ). As a result, the distance between the inner wheel  214  and the outer wheel  216  (i.e., the width of the wheels  214  and  216 ) is narrowed, so that damage to the outer wheel  216  due to contact with the boundary stone may be prevented. 
     When the vehicle  100  is switched to the wheel protection parking mode and variable control of the width of the wheels  214  and  216  is performed, the controller  102  parks the vehicle  100  in the parking area of the roadside through the parking assistance control and then the engine of the vehicle  100  is switched off ( 344 ). However, before the engine is switched off, the controller  102  converts the wheels  214  and  216  to the original basic mode ( 210  in  FIG.  2   ). The parking assistance control of the vehicle  100  will be described in detail with reference to  FIGS.  6 A to  6 F  below. 
       FIGS.  6 A to  6 F  are views illustrating the parking assistance control of a vehicle according to an embodiment of the disclosure. The distance, direction, and angle mentioned in the following description may vary according to specifications (e.g., size and turning radius, etc.) of the vehicle  100 . 
     As shown in  FIG.  6 A , in the state where the parking space is secured as illustrated in  FIG.  4    described above, the controller  102  moves the vehicle  100  so that the distance between one side of the front of the vehicle  100  and the other vehicle  650  ahead is approximately 150 mm. 
     In response to the distance between the vehicle  100  and the other vehicle  650  exceeding 150 mm, as shown in  FIG.  6 B , the controller  102  make the distance between the vehicle  100  and the other vehicle  650  measured through all of the distance sensors  128  of the vehicle  100  is approximately 150 mm while repeating forward and backward movements of the vehicle  100 . 
     When the state of  FIG.  6 B  is secured, the controller  102  reverses the vehicle  100  as shown in  FIG.  6 C . 
     As shown in  FIG.  6 D , the controller  102  changes the driving direction of the vehicle  100  toward the boundary stone  510  and continues backward. 
     The controller  102  continues to reverse the vehicle  100 , as shown in  FIG.  6 E , until the rear side of the vehicle  100  is approximately 100 mm from the boundary stone  510 . 
     Next, the controller  102  repeats the forward and backward movement of the vehicle  100  so that the vehicle  100  is in the state as shown in  FIG.  6 F , and the distance between the side surface of the vehicle  100  and the boundary stone  510  is maintained at approximately 100 mm. 
     As is apparent from the above, embodiments of the disclosure may provide a vehicle capable of preventing damages due to contact between a roadside structure and a wheel by varying the width of the wheel, in particular by varying so as to decrease the width of the wheel in parallel parking conditions, and a method of controlling the same. 
     On the other hand, the exemplary embodiments of the disclosure may be embodied in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program code and, when executed by a processor, may generate a program module to perform the operations of the exemplary embodiments. The recording medium may be embodied as a non-transitory computer-readable recording medium. 
     The non-transitory computer-readable recording medium includes all types of recording media in which instructions which may be decoded by a computer are stored, for example, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. 
     Although exemplary embodiments of the disclosure have been described for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the disclosure. Therefore, exemplary embodiments of the present disclosure have not been described for limiting purposes.