Patent ID: 8442713

Claim:
A method of steering a vehicle in an apparatus for steering the vehicle, the method comprising: (a) determining a first path by using a starting point and a destination of the vehicle; (b) generating an obstacle position signal when a plurality of obstacle sensors mounted on the vehicle detect an obstacle during an operation of the vehicle; (c) generating a parallax information using the obstacle position signal received from the plurality of the obstacle sensors; and (d) determining a second path avoiding the obstacle by using the parallax information, wherein the parallax information includes the following moving direction angles: β fl , k , t = tan - 1 ⁢ v ⁢ ⁢ sin ⁢ ⁢ β k , t + L 2 ⁢ φ . k , t v ⁢ ⁢ cos ⁢ ⁢ β k , t - W 2 ⁢ φ . k , t , β fr , k , t = tan - 1 ⁢ v ⁢ ⁢ sin ⁢ ⁢ β k , t + L 2 ⁢ φ . k , t v ⁢ ⁢ cos ⁢ ⁢ β k , t + W 2 ⁢ φ . k , t , β rl , k , t = tan - 1 ⁢ v ⁢ ⁢ sin ⁢ ⁢ β k , t - L 2 ⁢ φ . k , t v ⁢ ⁢ cos ⁢ ⁢ β k , t - W 2 ⁢ φ . k , t , β rr , k , t = tan - 1 ⁢ v ⁢ ⁢ sin ⁢ ⁢ β k , t - L 2 ⁢ φ . k , t v ⁢ ⁢ cos ⁢ ⁢ β k , t + W 2 ⁢ φ . k , t . wherein L is an axle length of the vehicle, W is a width of the vehicle, β fl,k,t , β fr,k,t , β rl,k,t and β rr,k,t are moving direction angles at four vertices of the vehicle, respectively, β k,t is a moving direction angle of the center of the gravity of the vehicle, φ k,t is a yaw angle, ν is a velocity of the vehicle.