AUTONOMOUS VEHICLE AND METHOD, A PROGRAM, AND A COMPUTER-READABLE RECORDING MEDIUM FOR AVOIDING REAR CROSS-TRAFFIC COLLISION

A method of avoiding rear cross-traffic collision of a first vehicle includes: determining a driving status of the first vehicle and determining a risk area based on the driving status of the first vehicle. The method also includes detecting a second vehicle approaching from a rear-cross side of the first vehicle and calculating a target area of the second vehicle. The method additionally includes determining a first intersection of the risk area and the target area and determining whether a second intersection between the first intersection and a warning area on a side of the first vehicle is formed according to movement of the first intersection. The method further includes determining a time of formation of the second intersection and controlling the first vehicle to avoid collision with the second vehicle based on the time of formation of the second intersection.