Patent Publication Number: US-2023158944-A1

Title: Vehicle and method of controlling the same

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     The present application claims priority to Korean Patent Application No. 10-2021-0164790, filed on Nov. 25, 2021, the entire contents of which is incorporated herein for all purposes by this reference. 
     BACKGROUND OF THE PRESENT DISCLOSURE 
     Field of the Present Disclosure 
     The present disclosure relates to a vehicle for four-wheel independent driving and steering which is capable of displaying a collision risk area in response to the vehicle being in motion, and a method of controlling the same. 
     Description of Related Art 
     The existing vehicles steer wheels only in two modes (a straight mode, and a left/right turn), so that intuitive driving is performable using a small number of control systems. In contrast, a four-wheel independent steering system (4WS) may control each wheel independently, providing various vehicle behaviors. 
     While the 4WS generates various behaviors, drivers and pedestrians may have a difficulty in predicting a moving area of the vehicle. 
     Accordingly, there is a demand for a technology of a vehicle provided with a 4WS which is capable of determining a moving area of the vehicle and displaying the moving area in a surrounding area of the vehicle to prevent prevention and provide driver’s convenience. 
     The information included in this Background of the present disclosure is only for enhancement of understanding of the general background of the present disclosure and may not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. 
     BRIEF SUMMARY 
     Various aspects of the present disclosure are directed to providing a vehicle and a method of controlling the same that are configured for determining a moving area of the vehicle, determining a danger area and a safety area included in the moving area, and indicating the danger area and the safety area by emitting light to the danger area and the safety area. 
     The technical objectives of the present disclosure are not limited to the above, and other objectives may become apparent to those of ordinary skill in the art based on the following descriptions. 
     According to an aspect of the present disclosure, there is provided a vehicle including a display configured to emit light to a ground surface, a communicator configured to receive a movement signal of the vehicle through communication with an external terminal, and a controller communicatively connected to the communicator and configured to determine a moving area of the vehicle based on the received movement signal of the vehicle, determine a danger area and a safety area included in the moving area, and control the display to emit light to the danger area and the safety area. 
     The controller may be configured to determine detect an obstacle around the vehicle using at least one camera provided in the vehicle and the external terminal and determine a route path avoiding the obstacle as the moving area. 
     The controller may vary a light emission area according to a lateral acceleration of the vehicle, and determine the lateral acceleration from a starting torque value of the vehicle and specifications of the vehicle. 
     The controller may be configured to determine a turning center and a moving radius of the vehicle based on a driving torque of the vehicle and specifications of the vehicle to determine the moving area. 
     The controller may be configured to indicate the moving area so that the danger area and the safety area are differentiated by emission colors and intensities of light. 
     The controller may be configured to divide the danger area into a first area corresponding to a semicircle having a vehicle length of the vehicle as a diameter thereof, and a second area corresponding to a remaining portion of the danger area, and the second area may have a light emission area which is varied according to a lateral acceleration determined from a starting torque value of the vehicle and specifications of the vehicle. 
     The controller may be configured to increase the diameter of the semicircle of the light emission area based on the lateral acceleration being increased. 
     The controller may be configured to determine the moving area based on a manipulation of a steering wheel or a direction of a turn signal of the vehicle. 
     The controller may be configured to determine a road surface roughness with a wheel level sensor of the vehicle to perform a level correction, and detect an obstacle around the vehicle using at least one camera provided in the vehicle and the external terminal to determine the moving area. 
     According to an aspect of the present disclosure, there is provided a method of controlling a vehicle, the method including: emitting light to a ground surface; receiving a movement signal of the vehicle through communication with an external terminal; determining a moving area of the vehicle based on the received movement signal of the vehicle; determining a danger area and a safety area included in the moving area; and emitting light to the danger area and the safety area. 
     The method may further include varying a light emission area according to a lateral acceleration determined from a starting torque value of the vehicle and specifications of the vehicle. 
     The determining of the moving area of the vehicle may include detecting an obstacle around the vehicle using at least one camera provided in the vehicle and the external terminal to determine the moving area. 
     The determining of the moving area may include determining a turning center and a moving radius of the vehicle based on a driving torque of the vehicle and specifications of the vehicle to determine the moving area. 
     The emitting of light to the danger area and the safety area may include indicating the moving area so that the danger area and the safety area are differentiated by emission colors and intensities of light. 
     The emitting of light to the danger area and the safety area may include dividing the danger area into a first area corresponding to a semicircle having a vehicle length of the vehicle as a diameter thereof, and a second area corresponding to a remaining portion of the danger area; and the second area may have a light emission area which is varied according to a lateral acceleration determined from a starting torque value of the vehicle and specifications of the vehicle. 
     The varying of the light emission area may include increasing the diameter of the semicircle of the light emission area based on the lateral acceleration being increased. 
     The emitting of light to the danger area and the safety area may include emitting light based on a manipulation of a steering wheel or a direction of a turn signal of the vehicle. 
     The determining of the moving area of the vehicle may include determining a road surface roughness with a wheel level sensor of the vehicle to perform a level correction, and detecting an obstacle around the vehicle using at least one camera provided in the vehicle and the external terminal to determine the moving area. 
     The methods and apparatuses of the present disclosure have other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings, which are incorporated herein, and the following Detailed Description, which together serve to explain certain principles of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a diagram illustrating a control block diagram illustrating a vehicle according to an exemplary embodiment of the present disclosure; 
         FIG.  2    is a view exemplarily illustrating a steering structure for four-wheel independent driving in a vehicle according to an exemplary embodiment of the present disclosure; 
         FIG.  3    is a diagram illustrating a structure of a vehicle for correcting a level difference of a road surface in a vehicle according to an exemplary embodiment of the present disclosure; 
         FIG.  4    is a diagram illustrating an example of predicting a moving direction and displaying a moving area using a puddle lamp in the vehicle according to the embodiment; 
         FIG.  5    is a diagram illustrating a movement of the vehicle and an obstacle recognition area by a vehicle camera in the vehicle according to the embodiment; 
         FIG.  6    is a diagram illustrating a danger area and a safety area that are differently displayed in the vehicle according to the embodiment; 
         FIG.  7 A  and  FIG.  7 B  are diagrams illustrating an example of subdivision of the danger area while the safety area and the danger area are differently displayed in the vehicle according to the embodiment; 
         FIG.  8 A  and  FIG.  8 B  are diagrams illustrating a relationship between a lateral acceleration and a light emission area in the vehicle according to the embodiment; 
         FIG.  9 A  and  FIG.  9 B  are diagrams illustrating a real-time change of a light emission area in the vehicle according to the embodiment; 
         FIG.  10    is a view exemplarily illustrating an exemplary embodiment in which the vehicle according to the exemplary embodiment turns in place; 
         FIG.  11    is a view for describing a process of correcting a road level difference in the vehicle according to the embodiment; and 
         FIG.  12    is a diagram illustrating a control flowchart of the vehicle according to the embodiment. 
     
    
    
     It may be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the present disclosure. The specific design features of the present disclosure as included herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particularly intended application and use environment. 
     In the figures, reference numbers refer to a same or equivalent parts of the present disclosure throughout the several figures of the drawing. 
     DETAILED DESCRIPTION 
     Reference will now be made in detail to various embodiments of the present disclosure(s), examples of which are illustrated in the accompanying drawings and described below. While the present disclosure(s) will be described in conjunction with exemplary embodiments of the present disclosure, it will be understood that the present description is not intended to limit the present disclosure(s) to those exemplary embodiments of the present disclosure. On the other hand, the present disclosure(s) is/are intended to cover not only the exemplary embodiments of the present disclosure, but also various alternatives, modifications, equivalents and other embodiments, which may be included within the spirit and scope of the present disclosure as defined by the appended claims. 
     The exemplary embodiments described in the present specification and the configurations shown in the drawings are only examples of exemplary embodiments of the present disclosure, and various modifications may be made at the time of filing of the present disclosure to replace the exemplary embodiments and drawings of the present specification. 
     Identical symbols or numbers in the drawings of the present disclosure denote components or elements configured to perform substantially identical functions. 
     The terms used herein are for describing the exemplary embodiments and are not intended to restrict and/or to limit the present disclosure. For example, the singular expressions herein may include plural expressions, unless the context clearly dictates otherwise. Furthermore, the terms “comprises” and “has” are intended to display that there are features, numbers, steps, operations, elements, parts, or combinations thereof described in the specification, and do not exclude the presence or addition of one or more other features, numbers, steps, operations, elements, parts, or combinations thereof. 
     It will be understood that, although the terms first, second, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are only used to differentiate one component from another. For example, without departing from the scope of the present disclosure, the first component may be referred to as a second component, and similarly, the second component may in addition be referred to as a first component. 
     The terms, such as “~part”, “~device”, “~block”, “~member”, “~module”, and the like may refer to a unit for processing at least one function or act. For example, the terms may refer to at least process processed by at least one hardware, such as field-programmable gate array (FPGA)/ application specific integrated circuit (ASIC), software stored in memories, or processors. 
     Reference numerals used for method steps are just used for convenience of explanation, but not to limit an order of the steps. Thus, unless the context clearly dictates otherwise, the written order may be practiced otherwise. 
     Meanwhile, the disclosed exemplary embodiments of the present disclosure may be embodied 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, may generate a program module to perform the operations of the disclosed exemplary embodiments of the present disclosure. The recording medium may be embodied as a computer-readable recording medium. 
     The computer-readable recording medium includes all kinds 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. 
     Hereinafter, an exemplary embodiment of a vehicle  100  and a method of controlling the vehicle  100  according to one aspect will be described in detail with reference to the accompanying drawings. 
       FIG.  1    is a diagram illustrating a control block diagram illustrating a vehicle  100  according to an exemplary embodiment of the present disclosure. 
     Referring to  FIG.  1   , a vehicle  100  includes a communicator  120  for performing wired/wireless communication with external and internal devices, a user interface  130  for indicating a warning, and a camera  140  for photographing surroundings of the vehicle  100 , a display  150  for emitting light to the ground, a memory  160  for storing information required for control related to the vehicle 10 in a transitory or non-transitory manner, and a controller  110  for controlling the above-described components. 
     Furthermore, the vehicle  100  may control the communicator  120  by the controller  110  to wirelessly communicate with an external terminal  200 , such as a smartphone or a notebook computer. 
     The communicator  120  may communicate with another vehicle  700  or traffic infrastructure through a wireless communication base station, and may include a wireless communicator  121  and a wired communicator  122 . 
     As an example of the communication method, the communicator  120  may employ the second generation (2G) communication method, such as Time Division Multiple Access (TDMA) and Code Division Multiple Access (CDMA), the third generation (3G) communication method, such as a wideband code Wide Code Division Multiple Access (WCDMA), Code Division Multiple Access 2000 (CDMA2000), Wireless Broadband (Wibro), and Worldwide Interoperability for Microwave Access (WiMAX), and the fourth generation (4G) communication method, such as Long Term Evolution (LTE) and WiBro Evolution. The communicator  120  may employ the fifth generation (5G) communication method. 
     The communicator  120  may include one or more components that enable communication with an external device, and may include, for example, at least one of a short-range communication module, a wired communicator  122 , and a wireless communicator  121 . 
     The short-range communication module may include various short-range communication modules that transmit and receive signals using a wireless communication network in a short range, such as a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local access network (WLAN) communication module, an NFC communication module, and a zigbee communication module. 
     The wired communicator  122  may include various wired communicators  122 , such as a controller area network (CAN) communication module, a local area network (LAN) module, a wide area network (WAN) module, or a value added network communication (VAN) module, and may also include various cable communication modules, such as a universal serial bus (USB), a high definition multimedia interface (HDMI), a digital visual interface (DVI), a recommended standard-232 (RS-232), a power line communication module, or a plain old telephone service (POTS). 
     The wireless communicator  121  may include Radio Data System-Traffic Message Channel (RDS-TMC), Digital Multimedia Broadcasting (DMB), Wi-Fi module, Wi-Bro module, and may also include a wireless communicator  121  that supports a global System for Mobile Communication (GSM), CDMA, WCDMA, universal mobile telecommunications system (UMTS), TDMA, LTE, etc. 
     The wireless communicator  121  may include a wireless communication interface including an antenna and a receiver for receiving a control signal of the vehicle  100 . Furthermore, the wireless communicator  121  may further include a traffic information signal conversion module for demodulating an analog wireless signal received through the wireless communication interface into a digital control signal. 
     The communicator  120  may be configured to, when direction information of the vehicle  100  and acceleration information of the vehicle  100  are collected, transmit the collected data to the controller  110 , or when a control signal for requesting information from the other vehicle  700  is received from the controller  110 , transmit the control signal to the other vehicle  700 . 
     The user interface  130  may include an inputter  131  and an outputter  132 . The inputter  131  may receive a command related to displaying a danger area  300  and a safety area  400  from the user and transmit the command to the controller  110 , and the outputter  132  may display a warning message or a notification about display of the danger area  300  and safety area  400 . 
     The user interface  130  may include an Audio Video Navigation (AVN) display. However, in an exemplary embodiment of the present disclosure, the inputter  131  for receiving a user command and the outputter  132  for displaying a notification are not limited to the AVN display. 
     The user interface  130  is not limited to the AVN display and the inputter  131  may be variously provided as long as it can allow a user to input a command and the outputter  132  may be variously provided as long as it can allow the user to identify displayed contents and present a warning message. 
     For example, the inputter  131  may be an automotive voice recognition system for a vehicle, and the outputter  132  may be an internal speaker of the vehicle  100  that outputs sound. 
     When a user utters a command with a speech, the automotive voice recognition system may analyze the input command to determine a domain corresponding to the command and perform an operation. 
     Accordingly, when the inputter  131  is implemented using an automotive voice recognition system for a vehicle, the user may activate or deactivate the display  150  of the vehicle  100  by a speech. 
     Furthermore, the inputter  131  may be used for an electric system for controlling the vehicle  100 , and may control an air conditioning system of the vehicle  100  or input a destination into a navigation system through speech recognition. 
     Furthermore, the outputter  132  may display information indicating the state of the vehicle  100 , display information for guiding setting of the vehicle  100 , display a navigation screen, display multimedia content, or display driving related information. 
     The camera  140  may be mounted in at least one position inside the vehicle  100  in which the surroundings of the vehicle  100  is photographable. 
     Alternatively, the external terminal  200  provided with the camera  140  may be connected to the vehicle  100  to perform the function of the camera  140  for photographing the surroundings of the vehicle  100 . The connection between the external terminal  200  and the vehicle  100  may be performed through wireless communication, such as Bluetooth, or through a wired cable. 
     The camera  140  may be a built-in cam (Drive Video Record System: DVRS) mounted on the vehicle  100  or a black box separately mounted in the vehicle  100 , but the present disclosure is not limited thereto. 
     The camera  140  may be provided using any configuration as long as it is an image device configured for obtaining a surrounding image of the vehicle  100  by photographing surroundings of the vehicle  100 . 
     The display  150  may be configured to emit light to the surrounding of the vehicle  100  so that a driver or an external object may visually detect the light. 
     The display  150  may include a puddle lamp mounted on a side mirror of the vehicle  100  in an exemplary embodiment of the present disclosure, and the puddle lamp may be provided on a lower portion of the side mirror of the vehicle  100  and emit light onto the road surface to differently display a danger area  300  and a safety area  400 . 
     The puddle lamp may include a micro lens array (MLA) in which a condensing lens, an image pattern, and a projection lens are formed as one body, so that the puddle lamp including such a compact package may be easily provided on the lower portion of the vehicle  100 . 
     The controller  110  may adjust an emission area by varying the inclination of the puddle lamp, to vary a light emission area according to a change of the danger area  300 . 
     A configuration for adjusting the inclination of the puddle lamp in the vehicle  100  according to the exemplary embodiment of the present disclosure may include an actuator and an operating rod. 
     When the controller  110  adjusts the length of the operating rod to increase, the puddle lamp is lowered, so that the inclination with the road surface becomes gentle, which causes the emission area to be lengthened. Conversely, when the controller  110  adjusts the length of the operating rod to decrease, the puddle lamp is lifted so that the inclination with lamp on the road surface becomes steep, which causes the emission area to be shortened. 
     When the display  150  is configured as a puddle lamp as described above, the emission area may be controlled to be varied according to various exemplary embodiments of the present disclosure. 
     The display  150  may include a headlamp of the vehicle  100  according to an exemplary embodiment of the present disclosure. 
     The headlamp of the vehicle  100  is a safety device configured to emit light to the front of the vehicle  100 , so that the front view of the user is secured in a wide range to prevent an accident. 
     The headlamp of the vehicle  100  may not only secure the front view of the vehicle  100 , but may also display content on the ground in front of the vehicle  100  using a pixel light headlamp for the vehicle  100 . 
     The controller  110  may display information related to a moving area of the vehicle  100  on the ground to notify an external object of the moving area of the vehicle  100 , and may adjust an emission area of the headlamp so that the light emission area is varied according to a change of the danger area  300 , 
     The memory  160  may be used to store images of the surrounding of the vehicle  100  captured by the camera  140  provided in the vehicle  100  in units of frames. Furthermore, the memory  160  may be used to store a control signal received by the external terminal  200  through the communicator  120 . 
     The memory  160  may include a volatile memory  160 , such as a Static Random Access Memory (S-RAM), D-RAM, etc., and a non-volatile memory  160 , such as a read only memory (ROM) and an erasable programmable read only memory (EPROM). The memory  160  may include a single memory element  160  or a plurality of memory elements  160 . 
     The controller  110  may control the communicator  120 , the user interface  130 , the camera  140 , the display  150 , and the memory  160  to emit light onto the road surface so that a danger area  300  and a safety area  400  are differently displayed. 
     The controller  110  may receive a control signal related to movement of the vehicle  100  from the external terminal  200 , and analyze image data obtained from the camera  140  into a plurality of image frames to determine whether an obstacle exists on a moving route. 
     The controller  110  may be configured to, upon determining that an obstacle exists, exclude an area in which the obstacle exists from a moving area. 
     The controller  110  may be configured to determine a moving area of the vehicle  100  based on a movement signal received from the external terminal  200 , and may divide the moving area into a danger area  300  and a safety area  400 . 
     The controller  110  may be configured to, based on the danger area  300  and the safety area  400  being determined, control the display  150  to emit light to the danger area  300  and the safety area  400 , so that an external object may easily identify the moving area of the vehicle  100  with the naked eyes. 
     Furthermore, even the driver of the vehicle  100  may easily predict the moving area of the vehicle  100  of a four-wheel independent steering system, even when the moving area of the vehicle  100  is difficult for the driver and the pedestrian  600  to predict due to various behaviors of the vehicle  100  of a four-wheel independent steering system. 
     Accordingly, both the external object, such as the pedestrian  600  and the other vehicle  700 , and the driver may easily predict the moving area of the vehicle  100 , effectively preventing an accident of the vehicle  100 . 
     Hereinafter, a method of determining a moving area of the vehicle  100  and displaying the determined area separately as a danger area  300  and a safety area  400  by each configuration will be described in detail. 
       FIG.  2    is a view exemplarily illustrating a steering structure for four-wheel independent driving in the vehicle  100  according to the embodiment. 
     Referring to  FIG.  2   , the vehicle  100  may be provided with the camera  140  for photographing the front of the vehicle  100 , and the camera  140  may be used to capture a surrounding image of the vehicle  100  to determine whether an obstacle exists. 
     The vehicle  100  including a steering structure for four-wheel independent driving may include four wheel tires  101 - 1 ,  101 - 2 ,  101 - 3 , and  101 - 4 , four steering actuators  102 - 1 ,  102 - 2 ,  102 - 3 , and  102 - 4 , and four steering linkages  103 - 1 ,  103 - 2 ,  103 - 3 , and  103 - 4 . 
     The vehicle  100  for four wheel independent driving may be divided into an active type four wheel independent driving vehicle that adjusts a rear toe using an actuator or the like and a passive type four wheel independent driving vehicle in which a toe is adjusted by a lateral pressure during cornering through geometry according to a control method. 
     The vehicle  100  according to the exemplary embodiment of the present disclosure may be provided as an active control vehicle including the steering actuators  102 - 1 ,  102 - 2 ,  102 - 3 , and  102 - 4  and the steering linkages  103 - 1 ,  103 - 2 ,  103 - 3 , and  103 - 4  on the four wheels, respectively, so that the driver may directly control steering of each wheel. 
     Each of the steering actuators  102 - 1 ,  102 - 2 ,  102 - 3 , and  102 - 4  is a component that converts operating energy of steering wheel manipulation into a mechanical displacement, and may include a hydraulic actuator. 
     Each of the steering linkages  103 - 1 ,  103 - 2 ,  103 - 3 , and  103 - 4  is a device configured for changing the heading direction of the vehicle with a steering linkage device, and may be configured to transmit the motion of a steering gear to the wheel. Each of the steering linkages  103 - 1 ,  103 - 2 ,  103 - 3 , and  103 - 4  may be classified into a cross-link type steering linkage used for integral axle suspensions, a symmetric link type steering linkage used for independent suspensions, a rack and pinion link type steering linkage, and a center arm type steering linkage. 
     In the instant case, because the vehicle  100  according to the exemplary embodiment of the present disclosure is provided with the steering linkages  103 - 1 ,  103 - 2 ,  103 - 3 , and  103 - 4  on all four wheels, respectively, the motion of each steering gear may be transmitted to the corresponding wheel, so that the turning radius may be small, and a rotation in place or a crab walk of diagonal motion may also performable. 
     The vehicle  100  is not limited thereto and may be provided in various configurations as long as it can perform four wheel independent steering, and display a moving area of the vehicle  100  separately as a danger area  300  and a safety area  400 . 
       FIG.  3    is a diagram illustrating a structure of a vehicle for correcting a level difference of a road surface in the vehicle  100  according to the embodiment. 
     Referring to  FIG.  3   , a wheel height actuator  104 - 1  for adjusting the height of the vehicle  100  is shown. 
     The wheel height actuator  104 - 1  may be provided on each of the wheels, and may be used to increase the vehicle height from the ground when the vehicle  100  is in an off-road driving, and decrease the vehicle height from the ground when the vehicle  100  is in an on-road driving. 
     The wheel height actuator  104 - 1  may be used to maintain a horizontal state of the vehicle  100  and completely transmit a rotation force on a ground having an irregular ground level, such as off-roads. 
     The wheel height actuator  104 - 1  may be divided into a mechanical type wheel height actuator and an electronic type wheel height actuator, but may be provided without limitation as long as it can adjust the wheel height. 
     The controller  110  may control the wheel height actuator  104 - 1  to maintain the horizontal state of the vehicle  100  even on an uneven road surface, so that the influence of the road surface condition may be minimized when determining a moving area of the vehicle  100 . 
     The controller  110  may determine the wheel step difference of all wheels of the vehicle  100 , and may control the wheel height actuator  104 - 1  so that the wheel step difference is minimized. 
     In the instant case, the controller  110  may determine a horizontal state with a gyro sensor of the vehicle  100 , and the gyro sensor may measure a rotational repulsion force generated when an object including a gyroscope rotates, and converts the measured rotational repulsion force into an electrical signal to measure the horizontal state. 
     Accordingly, the vehicle  100  according to the exemplary embodiment of the present disclosure may measure the lateral acceleration in a horizontal state of the vehicle  100 , and display the danger area  300  and the safety area  400  while minimizing the influence of the road surface. 
       FIG.  4    is a diagram illustrating an example of predicting a moving direction and displaying a moving area using a puddle lamp in the vehicle  100  according to the embodiment. 
     In the following description with reference to  FIG.  4   , the display  150  is illustrated as a puddle lamp provided in the side mirror, but the present disclosure is not limited thereto, and the display  150  may include any configuration configured for emitting light to the outside of the vehicle  100 , for example, a headlamp. 
     Referring to  FIG.  4   , the controller  110  may control the display  150  provided on the lower end portion of the side mirror of the vehicle  100  to emit light in the direction of the ground. 
     The controller  110  may determine a turning center point and a moving radius based on the driving torque and the specifications of the vehicle  100 , and may divide the moving radius into a left display area  151 - 1  and a right display area  151 - 2 . 
     The controller  110  may determine the moving radius in a size which is proportional to the driving torque of the vehicle  100  and inversely proportional to the weight of the vehicle  100 , and correspondingly, set the sizes of the display areas  151 - 1  and  151 - 2 . 
     Furthermore, the controller  110  may determine the moving direction of the vehicle  100  and display the moving direction in a way that an external object may recognize the moving direction, such as an arrow. 
     Only when the controller  110  displays the moving area on the road surface, the pedestrian  600  or other vehicle  700 , which is an external object of the vehicle  100 , may easily identify the moving area of the vehicle  100  with the naked eyes, so that an accident may be prevented and driving convenience may be improved. 
     When the display  150  is provided as a puddle lamp, the controller  110  may vary the inclination of the puddle lamp to adjust the emission area so that the size or position of the display areas  151 - 1  and  151 - 2  may be changed. 
     Furthermore, when the display  150  is a headlamp, the controller  110  may adjust the emission area of the headlamp so that the size or the position of the display areas  151 - 1  and  151 - 2  may be changed. 
       FIG.  5    is a diagram illustrating a movement of the vehicle  100  and an obstacle recognition area by the camera  140  in the vehicle  100  according to the embodiment. 
     Referring to  FIG.  5   , the vehicle  100  according to an exemplary embodiment of the present disclosure is a vehicle  100  configured for four-wheel independent steering, and may direct the rear wheels to have angles as shown in  FIG.  5    and may move in a way to slide. 
     In the instant case, the controller  110  may detect an obstacle located on the front or located on the sides and rear through at least one camera  140  provided in the vehicle  100 . 
     The cameras  140  in  FIG.  5    include a front camera  140  for photographing the front area of the vehicle  100  and a side camera  140  for photographing the side of the vehicle  100 , and each camera  140  may be a separate camera  140  configured to detect an obstacle or a surround view camera or front camera  140  provided in the vehicle  100 . 
     The vehicle  100  may be stopped in a state that the long axis coincides with a front detection area  141 , and then may move to the left side by steering the rear wheels according to the direction of the arrow (indicated as a vehicle  100 - 1 ). 
     Thereafter, the vehicle  100  may continue moving to have a moving route moving about 90 degrees to the left (indicated as the vehicle  100 - 2 ). In the instant case, when an obstacle, such as a pedestrian  600  or another vehicle  700 , is present on the moving route of the vehicle  100 , the controller  110  may detect the obstacle through the camera  140  photographing a side detection area  142 . 
     When an obstacle is detected, the controller  110  may determine a route avoiding the detected obstacle as a moving route. Accordingly, the controller  110  may control the displays  151 - 1  and  151 - 2  based on to the route avoiding the obstacle to display a moving area. 
     Hereinafter, a method of differently displaying a danger area  300  and a safety area  400  in consideration of a moving area will be described. 
       FIG.  6    is a diagram illustrating a danger area  300  and a safety area  400  differently displayed in the vehicle  100  according to the embodiment. 
     Referring to  FIG.  6   , the controller  110  may display a danger area  300  at one side of the vehicle  100  and a safety area  400  at another side of the vehicle  100 . 
     The controller  110  may control the display  150  in the direction of the moving route of the vehicle  100  to display the danger area  300  and control the display  150  in the direction opposite to the moving route of the vehicle  100  to display the safety area  400 . 
     In the instant case, the controller  110  may allow emission colors or emission intensities of light to be different between the danger area  300  and the safety area  400  so that the danger area  300  is differentiated from the safety area  400 . 
     As the controller  110  differentiates the danger area  300  and the safety area  400  so that the external object, such as the pedestrian  600 , and the other vehicle  700 , easily identify the danger area  300  and the safety area  400  with the naked eyes, the external object may easily identify the moving direction of the vehicle  100 . Accordingly, the risk of accidents may be significantly reduced. 
     Furthermore, the pedestrian  600  or the other vehicle  700  close to the danger area  300  may change the course to proceed in the direction of the safety area  400 , so that passage of the pedestrian  600  and the other vehicle  700  may be facilitated without any other instruction from the driver. 
     In  FIG.  6   , a dashed area represents a heading direction of the vehicle  100 , which is incapable of four-wheel independent steering, and although the heading direction may be easily predicted by the pedestrian  600  or other vehicle  700 , a plurality of displays  150  may be additionally used to display the danger area  300  on the front or rear side thereof. 
       FIG.  7 A  and  FIG.  7 B  are diagrams illustrating an example of subdivision of the danger area while the safety area and the danger area are differently displayed in the vehicle according to the embodiment. 
     Referring to  FIG.  7 A , the controller  110  may display the danger area  300  which includes a first area  301  and a second area  302 . 
     In the instant case, the controller  110  may display the first area  301  and the second area  302  to be differentiated by the emission color or emission intensity. The method of displaying the first area  301  and the second area  302  is not limited as long as the first area  301  and the second area  302  are differentiated from each other. 
     The controller  110  may set the first area  301  as an area including a size and shape which is increased or decreased according to the lateral acceleration of the vehicle  100 , and may set the second area  302  as an area fixed based on the vehicle length  500 . 
     Referring to  FIG.  7 B  in conjunction with  FIG.  7 A , the second area  302  may be set as a semicircle having the vehicle length  500  as a diameter. Because the second area  302  has the vehicle length of the vehicle  100  as the diameter, the second area  302  may represent the minimum safety distance to avoid a collision with the vehicle  100  while the vehicle  100  is turning or moving. 
     Accordingly, the controller  110  may express the second area  302  corresponding to the minimum safety distance in the danger area  300  with a dark emission color and strong emission intensity, and express the first area  301  with a relatively light emission color and a weak emission intensity to be contrasted with the second area  302 . 
     Accordingly, the external object may recognize that the second area  302  is an area with a high possibility of an accident and the first area  301  is an area with a low possibility of an accident but is an area to be aware of, so that the corresponding areas may be avoided. 
       FIG.  8 A  and  FIG.  8 B  are diagrams illustrating a relationship between a lateral acceleration and a light emission area in the vehicle  100  according to the embodiment. 
     The controller  110  may determine the lateral acceleration of the vehicle  100  based on the starting torque value of the vehicle  100  and the specifications of the vehicle  100  to determine the moving area, and display the moving area separately as the danger area  300  and the safety area  400  as described in  FIG.  7   .. 
     Referring to the table of  FIG.  8 A  and the graph of  FIG.  8 B , when the lateral acceleration is 0.3, the semicircle of the danger area  300  corresponding to the light emission area may have a diameter of 0.8, and when the lateral acceleration is 0.6, the semicircle of the danger area  300  corresponding to the light emission area may have a diameter of 1.6, and when the lateral acceleration is 1, the semicircle of the danger area  300  corresponding to the light emission area may have a diameter of 2.5. 
     The above figures are exemplary, and the controller  110  may increase the light emission area in proportion to the increasing lateral acceleration. 
     Because an increase in lateral acceleration of the vehicle  100  represents a rapid increase in the speed at which the vehicle  100  moves in the left and right directions, the danger area  300  based on the movement signal of the vehicle  100  received in a stationary state of the vehicle  100  may not be sufficient for protecting external objects. 
     An increase in lateral acceleration of the vehicle  100  represents a decrease in the time taken to reach the external object existing in the moving area of the vehicle  100 . Therefore, even a nearby external object, which is located outside of the danger area  300  before the increase of the lateral acceleration, may have an accident with the movement of the vehicle  100 , for which the danger area  300  needs to be increased. 
     Therefore, the control  110  may be configured to, when the lateral acceleration determined by the torque of the vehicle  100  and the specifications of the vehicle  100  increases, increase the size of the light emission area corresponding to the danger area  300  of the vehicle  100 , and when the lateral acceleration decreases, decrease the size of the light emission area corresponding to the danger area  300  of the vehicle  100 . 
     Accordingly, the vehicle  100  according to the exemplary embodiment of the present disclosure may secure the reliability of display of the danger area  300  involved in the movement of the vehicle  100  even when the speed of the vehicle  100  increases or decreases. 
       FIG.  9 A  and  FIG.  9 B  are diagrams illustrating a real-time change of a light emission area in the vehicle according to the embodiment. 
     Referring to  FIG.  9 A , when it is determined that a vehicle  100 - 1  is in a stationary state or there is no change in lateral acceleration, the controller  110  may display a danger area  300 - 1  and a safety area  400 - 1  in the same size. 
     Referring to  FIG.  9 B , it may be seen that a vehicle  100 - 2  is moving to the right side on the drawing by a movement signal, and a danger area  300 - 2  is displayed greater than a safety area  400 - 2 . 
     Because the vehicle  100 - 2  moves to the right side and the lateral acceleration increases, and external objects located in the vicinity of the safety area  400 - 2  become distant away from the vehicle  100 - 2  at a rapid speed, there is no need to display the safety area  400 - 2  in a large size, so that the controller  110  may display the safety area  400 - 2  in a small size. 
     On the other hand, because the vehicle  100 - 2  moves to the right, the controller  110  increases the size of the danger area  300 - 2  to notify an external object that the vehicle  100 - 2  may reach the danger area  300 - 2  faster than before the lateral acceleration increases. 
       FIG.  10    is a view exemplarily illustrating an exemplary embodiment in which the vehicle according to the exemplary embodiment turns in place. 
     Referring to  FIG.  10   , the vehicle  100  according to the exemplary embodiment of the present disclosure is a vehicle  100  configured for four-wheel independent steering, and may perform turning in place by rear wheel steering control. 
     The vehicle  100 , even during turning in place, may have a chance of collision with an external object, such as a pedestrian  600  or another vehicle  700 , so that the controller  110  needs to differently display the danger area  300  and the safety area  400 . 
     The controller  110  may, to differently display the danger area  300  and the safety area  400 , analyze image data obtained from the camera  140  into a plurality of image frames to determine whether an obstacle exists on the moving route. 
     The vehicle  100  is stopped in a state that the long axis coincides with a front detection area  141 , and thereafter, the vehicle  100  may turn in place by steering of the rear wheels according to the direction of the arrow. 
     Thereafter, the vehicle  100 - 1  may continue turning in place to have a moving route rotating about 90 degrees to the left. In the instant case, when an obstacle, such as a pedestrian  600  or another vehicle  700 , is present on the moving route of the vehicle  100 - 1 , the controller  110  may detect the obstacle through the camera  140  that photographs a side detection area  142 . 
     When an obstacle is detected, the controller  110  may determine as a route avoiding the detected obstacle as a moving route. Accordingly, the controller  110  may control the display  150  based on the route avoiding the obstacle to display the moving area. 
     In the case of turning in place, the controller  110  may divide the display  150  on one side to determine a front area in the rotation direction as the safety area  400  and a rear area in the rotation direction as the danger area  300 . 
     The vehicle  100  may be divided into a front portion including a bonnet and a rear portion including a trunk of the vehicle  100 , and when the vehicle  100  is rotated counterclockwise, an external object located on the left side of the vehicle  100  may have a risk of collision with the front portion of the vehicle  100 . 
     Accordingly, the controller  110  may, to prevent a collision of an external object with the front portion of the vehicle  100 , determine an area adjacent to the front portion of the vehicle  100  as the danger area  300 , and determine an area adjacent to the rear portion of the vehicle  100  as the safety area  400 . 
     Accordingly, the controller  110  may control the display  150  on the left side of the vehicle  100  rotating in the counterclockwise direction to display an area adjacent to the front portion of the vehicle  100  as the danger area  300 , and control the display  150  on the right side of the vehicle  100  rotating in the counterclockwise direction to display an area adjacent to the rear portion of the vehicle  100  as the danger area  300 . 
       FIG.  11    is a view for describing a process of correcting a road surface roughness in the vehicle  100  according to the embodiment. 
     Referring to  FIG.  11   , it may be seen that the vehicle  100  is maintained in a horizontal state by the wheel height actuator  104 - 1  as described above with reference to  FIG.  3   . 
     The controller  110  may determine the wheel step difference of all wheels of the vehicle  100 , and accordingly, control the wheel height actuator  104 - 1  so that the wheel step difference is minimized. 
     Accordingly, the vehicle  100  according to the exemplary embodiment of the present disclosure may measure the lateral acceleration when the vehicle  100  is maintained in a horizontal state, and display the danger area  300  and the safety area  400  while minimizing the influence of the road surface. 
     In the vehicle  100  of  FIG.  11   , it may be seen that a wheel tire  101 - 1  on one side of the vehicle  100  is located in a zone higher than a zone in which a wheel tire  101 - 1  on the other side is located. 
     Even when the wheel tires  101 - 1  are located on road surfaces of different heights, the controller  110  may control the wheel height actuator  104 - 1  to secure the horizontal state. Accordingly, the controller  110  may determine the moving area without an error when controlling the steering actuator  102 - 1  and the steering linkage  103 - 1  by determining the lateral acceleration. 
     When the controller  110  determines the lateral acceleration in a state in which the height of each wheel tire  101 - 1  is not corrected, the lateral acceleration may be measured to be lower or higher for the output torque on a flat surface. 
     When the controller  110  measures the lateral acceleration to be lower or higher for the output torque of the vehicle  100  and thus an error occurs, the danger area  300  may be displayed larger or smaller than the size needing to be displayed in practice. 
     Therefore, to prevent such an error, the controller  110  may control the wheel height actuator  104 - 1  to secure the horizontal state of the vehicle  100  and control to display the danger area  300  and the safety area  400 . 
       FIG.  12    is a diagram illustrating a control flowchart of the vehicle  100  according to the embodiment. 
     Referring to  FIG.  12   , the controller  110  of the vehicle  100  according to the exemplary embodiment of the present disclosure may recognize an obstacle of a surrounding of the vehicle  100  through at least one camera  140  provided in the vehicle  100  ( 1200 ). In the instant case, the surrounding of the vehicle  100  is not limited to the front side of the vehicle  100 , and may include all sides. 
     The controller  110  may, upon determining that an obstacle exists in a moving area based on a received movement signal, determine an avoidable route configured for moving by avoiding the obstacle ( 1210 ). 
     Thereafter, the controller  110  may determine a moving area and a moving lateral acceleration based on the starting torque value of the vehicle  100  and the specifications of the vehicle  100  ( 1220 ). In the instant case, the moving area includes a turning area, and the moving lateral acceleration includes a turning lateral acceleration. 
     The controller  110  may, when the lateral acceleration increases ( 1230 ), increase the size of the light emission area of the danger area  300  in proportion to the increase of the lateral acceleration ( 1240 ). Conversely, the controller  110  may, when the lateral acceleration decreases, decrease the size of the light emission area of the danger area  300  in proportion to the decrease of the lateral acceleration ( 1240 ). 
     The controller  110  may, when the sizes of the danger area  300  and the safety area  400  are determined, display the moving area separately as the danger area  300  and the safety area  400  ( 1250 ). 
     Because the specific embodiment related to the method of controlling the vehicle  100  is the same as the exemplary embodiment of the present disclosure related to the vehicle  100  described above, details thereof will be omitted. 
     As is apparent from the above, the vehicle and the method of controlling the same according to the exemplary embodiment of the present disclosure can compensate for a difficulty in predicting a movement of the vehicle only with a smartphone screen at an outside of the vehicle, and allow a moving area of the vehicle to be easily identified. 
     Furthermore, the vehicle and the method of controlling the same according to the exemplary embodiment of the present disclosure can allow an external object to easily identify the moving area of the vehicle, and differently display a danger area and a safety area, so that safety may be promoted without interference with the passage of the external object. 
     Furthermore, the term related to a control device such as “controller”, “control apparatus”, “control unit”, “control device”, “control module”, or “server”, etc refers to a hardware device including a memory and a processor configured to execute one or more steps interpreted as an algorithm structure. The memory stores algorithm steps, and the processor executes the algorithm steps to perform one or more processes of a method in accordance with various exemplary embodiments of the present disclosure. The control device according to exemplary embodiments of the present disclosure may be implemented through a nonvolatile memory configured to store algorithms for controlling operation of various components of a vehicle or data about software commands for executing the algorithms, and a processor configured to perform operation to be described above using the data stored in the memory. The memory and the processor may be individual chips. Alternatively, the memory and the processor may be integrated in a single chip. The processor may be implemented as one or more processors. The processor may include various logic circuits and operation circuits, may process data according to a program provided from the memory, and may generate a control signal according to the processing result. 
     The control device may be at least one microprocessor operated by a predetermined program which may include a series of commands for carrying out the method included in the aforementioned various exemplary embodiments of the present disclosure. 
     In various exemplary embodiments of the present disclosure, each operation described above may be performed by a control device, and the control device may be configured by a plurality of control devices, or an integrated single control device. 
     In various exemplary embodiments of the present disclosure, the control device may be implemented in a form of hardware or software, or may be implemented in a combination of hardware and software. 
     Furthermore, the terms such as “unit”, “module”, etc. included in the specification mean units for processing at least one function or operation, which may be implemented by hardware, software, or a combination thereof. 
     For convenience in explanation and accurate definition in the appended claims, the terms “upper”, “lower”, “inner”, “outer”, “up”, “down”, “upwards”, “downwards”, “front”, “rear”, “back”, “inside”, “outside”, “inwardly”, “outwardly”, “interior”, “exterior”, “internal”, “external”, “forwards”, and “backwards” are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures. It will be further understood that the term “connect” or its derivatives refer both to direct and indirect connection. 
     The foregoing descriptions of predetermined exemplary embodiments of the present disclosure have been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed, and obviously many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and their practical application, to enable others skilled in the art to make and utilize various exemplary embodiments of the present disclosure, as well as various alternatives and modifications thereof. It is intended that the scope of the present disclosure be defined by the Claims appended hereto and their equivalents.