KR101576055B1 - Apparatus for controlling vehicle distance interval and method for controlling thereof - Google Patents

Abstract

The present invention relates to a control apparatus for a vehicle, comprising: a sensing unit for sensing a current speed of a preceding vehicle traveling at a present lane of a vehicle and a rear vehicle when the preceding vehicle cut- A current distance calculation unit for calculating a current distance between the current vehicle and the current vehicle based on the current speed of the preceding vehicle, based on the current vehicle speed of the preceding vehicle detected by the sensing unit; A control unit for receiving a current distance from the current preceding vehicle calculated by the current distance calculation unit and including a range for a reference target distance with a preset cut-in preceding vehicle; A determination unit for determining whether the current distance from the current preceding vehicle calculated by the current distance calculation unit is within a reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with respect to the cut-in preceding vehicle; And if the current distance from the current preceding vehicle judged by the judging unit is within the reference target distance range from the cut-in preceding vehicle with respect to the reference target distance with respect to the cut-in preceding vehicle, And a deceleration unit that decelerates the current vehicle at a speed of the vehicle that is in accordance with the reference target distance range with the preceding vehicle, and a control method therefor.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle distance control method,

The present invention relates to a vehicle distance control apparatus and a control method thereof.

Generally, the conventional vehicle performs deceleration control on the experience of the driver in the preceding vehicle cut-in.

However, since the conventional vehicle performs the deceleration control based on the experience of the driver, there is a limit to performing the deceleration control quickly, and there is a limit in preventing collision with the rear vehicle.

In recent years, an improved vehicle capable of rapidly decelerating control at the time of cutting-in of a preceding vehicle to prevent collision with a rearward vehicle, recognizing a current distance state with a current preceding vehicle, and providing deceleration safety at the time of deceleration control Distance distance control devices and control methods thereof have been continuously studied.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control system and a control method thereof that can decelerate a current vehicle at a speed of a vehicle matched with a reference target distance range with a cut- And a method of controlling the vehicle distance.

Another object of the present invention is to provide a vehicle distance control device and a control method thereof that can recognize a current distance state with a current preceding vehicle and can provide a safety sense of deceleration during deceleration control.

In order to achieve the above-mentioned object, the present invention provides a control apparatus for a vehicle, comprising: a sensing unit for sensing a current speed of a preceding vehicle traveling in a lane of a current vehicle and a rear vehicle when the preceding vehicle is cut- A current distance calculation unit for calculating a current distance between the current vehicle and the current vehicle based on the current speed of the preceding vehicle, based on the current vehicle speed of the preceding vehicle detected by the sensing unit; A control unit for receiving a current distance from the current preceding vehicle calculated by the current distance calculation unit and including a range for a reference target distance with a preset cut-in preceding vehicle; A determination unit for determining whether the current distance from the current preceding vehicle calculated by the current distance calculation unit is within a reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with respect to the cut-in preceding vehicle; And if the current distance from the current preceding vehicle judged by the judging unit is within the reference target distance range from the cut-in preceding vehicle with respect to the reference target distance with respect to the cut-in preceding vehicle, And a deceleration portion that decelerates the current vehicle at a speed of the vehicle that is in accordance with a reference target distance range with the preceding vehicle.

According to another aspect of the present invention, the control unit is provided for setting a range of the reference target distance with a different level from the cut-in preceding vehicle, respectively, according to the driver setting.

According to another aspect of the present invention, the range of the reference target distances at different levels with respect to the cut-in preceding vehicle is set to the reference target time at a different level from the current speed of the current vehicle × the cut-in preceding vehicle .

According to another aspect of the present invention, the range of the reference target distance from the preceding vehicle is set to a current distance x K (a weight based on the current distance from the current vehicle to the current vehicle) with the current preceding vehicle.

According to another aspect of the present invention, when the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And a display unit for displaying a current distance condition with the preceding vehicle.

According to another aspect of the present invention, when the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And an identification unit for identifying a current distance situation with the preceding vehicle.

A sensing step of sensing the current speed of the preceding vehicle by the sensing unit when the preceding vehicle is cut-in to the current lane of the vehicle and traveling; A current distance calculation step of calculating a present distance to the current preceding vehicle according to the current speed of the preceding vehicle in the current distance calculation part, supplied with the current speed of the preceding vehicle sensed by the sensing part; The determination unit determines whether the current distance from the current preceding vehicle calculated by the current distance calculation unit is within the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with the cut-in preceding vehicle set in the control unit Determining; And if the current distance from the current preceding vehicle judged by the judging unit is within the reference target distance range from the cut-in preceding vehicle with respect to the reference target distance with respect to the cut-in preceding vehicle, and a deceleration step of decelerating the current vehicle at a speed of the vehicle that is in accordance with the reference target distance range with the cut-in preceding vehicle.

According to another aspect of the present invention, the determining step is a step of setting a range of the reference target distance at a different level from the cut-in preceding vehicle to the control unit, respectively, in accordance with the driver setting.

According to another aspect of the present invention, the determination step may include determining a range of the reference target distance at a different level from the cut-in preceding vehicle as a reference target time at a different level from the current speed of the current vehicle × the cut- And a step of setting the time.

According to still another aspect of the present invention, the determining step includes setting a range of the reference target distance with the cut-in preceding vehicle to a current distance x K (a weight based on the current distance to the current rear vehicle) .

According to still another aspect of the present invention, the current distance from the current preceding vehicle determined by the determination unit after the determination step is smaller than the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with respect to the cut- , A display step of displaying the current distance condition with the current preceding vehicle on the display unit is further performed.

According to still another aspect of the present invention, the current distance from the current preceding vehicle determined by the determination unit after the determination step is smaller than the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with respect to the cut- , It further carries out an identification step of identifying in the identification section the current distance situation with the current preceding vehicle.

According to the vehicle distance control device and the control method therefor of the present invention as described above, the following effects can be obtained.

First, in the cut-in of the preceding vehicle, the current vehicle can be decelerated at the speed of the vehicle matched to the reference target distance range with respect to the cut-in preceding vehicle. Therefore, when there is a rear vehicle, the deceleration control is minimized, There is an effect that can be prevented.

Second, since the current distance to the preceding vehicle can be recognized, there is another effect that the deceleration control can provide a sense of safety in deceleration control.

1 is a block diagram showing a vehicle distance control apparatus according to a first embodiment of the present invention;
FIG. 2 is a plan view showing a state in which a sensing unit and a current distance calculation unit shown in FIG. 1 sense a rear vehicle sensing signal and calculate a current distance to a current preceding vehicle according to a current speed of the preceding vehicle in time.
FIG. 3 is a graph for showing, for example, a state in which the control unit shown in FIG. 1 and FIG. 2 has a range of reference target distances of different levels from the cut-in preceding vehicle.
4 is a graph for showing another example of a state in which the range of the reference target distance with the cut-in preceding vehicle is set in the control unit shown in Figs. 1 and 2. Fig.
5 is a graph for showing an example of a state in which the deceleration section shown in Fig. 1 decelerates to a required acceleration level mode with a preceding vehicle that is a cut-in running.
6 is a flowchart showing a vehicle distance control method of the vehicle distance control device according to the first embodiment of the present invention.
FIG. 7 is a block diagram showing a vehicle distance control apparatus according to a second embodiment of the present invention; FIG.
FIG. 8 is a flowchart showing a method of controlling a vehicle distance by a vehicle distance control device according to a second embodiment of the present invention. FIG.
9 is a block diagram showing a vehicle distance control apparatus according to a third embodiment of the present invention.
10 is a flowchart showing a method of controlling a vehicle distance of a vehicle distance control device according to a third embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

≪ Embodiment 1 >

FIG. 1 is a block diagram illustrating a vehicle distance control apparatus according to a first embodiment of the present invention. FIG. 2 is a block diagram of a vehicle distance control apparatus according to a first embodiment of the present invention. The current distance to the current preceding vehicle is calculated according to the current time-based speed of the preceding vehicle.

Fig. 3 is a graph for showing, for example, a state in which the control section shown in Figs. 1 and 2 sets a range of the reference target distance with a different level from the cut-in preceding vehicle, and Fig. FIG. 7 is a graph for showing another example of a state in which the range of the reference target distance with the cut-in preceding vehicle is set in the illustrated control unit. FIG.

5 is a graph for showing an example of a state in which the deceleration section shown in Fig. 1 decelerates to the required acceleration level mode of the current preceding vehicle and the required acceleration level mode of the current preceding vehicle that is the cut-in running.

1 to 5, a vehicle distance control apparatus 100 according to a first embodiment of the present invention includes a sensing unit 102, a current distance calculation unit 104, a control unit 106, a determination unit 108 , And a deceleration section 110. [

The detection unit 102 detects the current speed per hour of the preceding vehicles V2 and V3 running on the lane of the current vehicle V1 and the current speeds of the preceding vehicles V2 and V3 when the preceding vehicle V2 cut- And is provided to detect the rear vehicle V4.

At this time, the sensing unit 102 may be provided with a BSD (Blind Spot Detection) Radar (not shown) although not shown.

The current distance calculation unit 104 receives the current vehicle speeds of the preceding vehicles V2 and V3 detected by the sensing unit 102 and the current time of the preceding vehicles V2 and V3, And is provided to calculate the current distances d1 and d3 with the vehicles V2 and V3.

The control unit 106 receives the current distances d1 and d3 from the current preceding vehicles V2 and V3 calculated by the current distance calculation unit 104 and calculates the reference target And is provided to include a range by distance.

1 to 3, the control unit 106 is provided to set a target distance for each of the different levels with respect to the cut-in preceding vehicle V2 according to the driver's setting, respectively There is a number.

Here, the target distance of the reference target distance at different levels from the cut-in preceding vehicle V2 is different from the current speed V of the current vehicle V1 × the cut-in preceding vehicle V2 Level reference target times t1, t2, t3, and t4.

At this time, the reference target times t1, t2, t3, and t4 at different levels can be 1.0 sec, 1.3 sec, 1.6 sec, and 2.1 sec.

For example, the reference target distance range of one of the target distances at different levels of the target distance with the cut-in preceding vehicle V2 is 20 m / s at the current speed V of the current vehicle V1 t3 is set to be 32 m when the target time is 1.6 sec.

2 and 4, the range d3 of the reference target distance to the cut-in preceding vehicle V2 is the current distance d1 to the current preceding vehicle V3, And a weight based on the current distance to the current position).

At this time, d2 = d3 / d1, which is a weighting value according to the current distance from the rear vehicle, can be set.

The determination unit 108 determines whether or not the current distances d1 and d3 of the current preceding vehicle V2 and V3 calculated by the current distance calculation unit 104 are within the range of the reference target distance with respect to the cut- And the reference target distance d3 with the cut-in preceding vehicle V2.

The deceleration unit 110 decelerates the current distance d3 from the current preceding vehicle V2 determined by the determination unit 108 to the cut-in preceding vehicle V2 In the range of the reference target distance d3 with the cut-in preceding vehicle V2, the control unit 106 controls the current vehicle V1 ).

1, 2, and 5, the deceleration unit 110 is controlled by the control unit 106 so as to cut-off the target acceleration level a1 from the current preceding vehicle V3, the vehicle can be decelerated to the required acceleration level (a2) mode with the preceding vehicle V2 running in.

A vehicle distance control method for controlling the distance between vehicles using the vehicle distance control apparatus according to the first embodiment of the present invention will now be described with reference to FIG.

FIG. 6 is a flowchart illustrating a method of controlling a vehicle distance in the vehicle distance control apparatus according to the first embodiment of the present invention.

6, the vehicle distance control method 600 of the vehicle distance control apparatus according to the first embodiment of the present invention includes a sensing step S602, a current distance calculation step S604, a determination step S606, And a deceleration step S608.

First, in the sensing step S602, when the preceding vehicle (V2 in Fig. 2) cuts in to the current vehicle (V1 in Fig. 2) and travels, The current time-dependent current speed of the vehicle (V2, V3 in Fig. 2) and the rear vehicle (V4 in Fig. 2) are sensed by the sensing unit 102 in Fig.

In this case, although not shown, the sensing step S602 may include providing a BSD Radar (not shown) to the sensing unit 102 (FIG. 1).

Thereafter, the current distance calculation step S604 receives the current speed of the preceding vehicle (V2, V3 in Fig. 2) and the current vehicle speed detected by the sensing unit (102 in Fig. 1) (D1, d3 in Fig. 2) with the current preceding vehicle (V2, V3 in Fig. 2) according to the current speed in time of the preceding vehicle (V2, V3 in Fig. 2) do.

Subsequently, the judgment step S606 judges whether or not the current distance (d1, d3 in Fig. 2) between the current preceding vehicle (V2, V3 in Fig. 2) calculated by the current distance calculating section 2) of the cut-in preceding vehicle (V2 in Fig. 2) and the corresponding cut-in preceding vehicle (V2 in Fig. 2) (108 in Fig. 1).

Here, in the determination step S606, the range (reference distance in FIG. 3) of the reference target distances at different levels from the cut-in preceding vehicle (V2 in FIG. 2) Respectively.

At this time, the determination step S606 sets the range of the reference target distance (the target distance in FIG. 3) at different levels with the cut-in preceding vehicle (V2 in FIG. 2) (T1, t2, t3, and t4 in Fig. 3) at different levels from those of the preceding vehicle (V in Fig. 3) and the cut-in preceding vehicle (V2 in Fig. 2).

At this time, the determination step S606 may be a step of setting the reference target times at different levels (t1, t2, t3 and t4 in Fig. 3) to 1.0 sec, 1.3 sec, 1.6 sec and 2.1 sec.

For example, in the determination step S606, one reference target distance range (target distance in FIG. 3) of the reference target distance with a different level from the cut-in preceding vehicle (V2 in FIG. 2) (V in Fig. 3) of 20 m / s and the t3 target time is 1.6 sec.

The determination step S606 determines whether or not the range (d3 in Fig. 4) of the reference target distance from the cut-in preceding vehicle (V2 in Fig. 2) to the current distance (D1) x K in FIG. 4 (a weight based on the current distance to the current rear vehicle).

In this case, the determining step S606 may be a step of setting K (a weight according to the current distance to the current rear vehicle) to d2 = d3 / d1.

Lastly, the deceleration step (S608) decelerates the current distance (d3 in Fig. 2) from the current preceding vehicle (V2 in Fig. 2) (D3 in Fig. 4) with the cut-in preceding vehicle (V2 in Fig. 2) out of the range according to the reference target distance, the control unit (V1 in Fig. 1) to the speed of the vehicle that is in the range of the reference target distance (d3 in Fig. 4) to the corresponding cut-in preceding vehicle (V2 in Fig. 2) .

At this time, in the deceleration step S608, the required acceleration level with respect to the current preceding vehicle (V3 in Fig. 2), which is the constant speed running (110 in Fig. 1) (a2 in Fig. 5) with the preceding vehicle (V2 in Fig. 2) that is a cut-in running in the a1 mode.

The vehicle distance control apparatus 100 and the control method 600 according to the first embodiment of the present invention may include a sensing unit 102, a current distance calculation unit 104, a control unit 106, a determination unit 108, and a deceleration section 110. [

Therefore, the vehicle distance control apparatus 100 and the control method 600 thereof according to the first embodiment of the present invention are arranged such that the reference target distance d3 with the cut-in preceding vehicle V2 in the preceding vehicle cut- The current vehicle V1 can be decelerated at the speed of the vehicle matched to the range, so that the deceleration control can be minimized to prevent collision with the rear vehicle when there is a rearward vehicle.

≪ Embodiment 2 >

7 is a block diagram showing a vehicle distance control apparatus according to a second embodiment of the present invention.

7, the vehicle distance control apparatus 700 according to the second embodiment of the present invention includes a sensing unit 102, a current distance calculation unit A control unit 106, a determination unit 108, and a deceleration unit 110. [0034]

The function of each component corresponding to the vehicle distance control device 700 according to the second embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle distance control device 700 according to the first embodiment 100), and the organic connection relation between them, each of which will be omitted below.

Here, the vehicle distance control device 700 according to the second embodiment of the present invention further includes a display unit 709. [

That is, the display unit 709 displays the current distance (d3 in Fig. 2) with the current preceding vehicle (V2 in Fig. 2) determined by the judging unit 108 to the reference target distance (D2 in Fig. 4) and the reference target distance (d3 in Fig. 4) with the cut-in preceding vehicle (V2 in Fig. 2) of the star range.

At this time, the display unit 709 may be provided to display the current distance condition with the current preceding vehicle (V2 in FIG. 2) in the HMI message, including an HMI (Human Machine Interface) module (not shown).

A vehicle distance control method for controlling the distance between vehicles using the vehicle distance control device 700 according to the second embodiment of the present invention will now be described with reference to FIG.

FIG. 8 is a flowchart showing a method for controlling the vehicle distance in the vehicle distance control device according to the second embodiment of the present invention.

8, the vehicle distance control method 800 of the vehicle distance control device 700 according to the second embodiment of the present invention is the same as the vehicle distance control method 800 of the vehicle distance control device 100 according to the first embodiment, S602, the current distance calculation step S604, the determination step S606, and the deceleration step S608 in the same manner as the interval control method 600 shown in FIG.

The function of each step corresponding to the vehicle distance control method 800 of the vehicle distance control device 700 according to the second embodiment of the present invention and the organic connection relation between them are the same as those of the first embodiment The function of each step corresponding to the vehicle distance control method 600 of the vehicle distance control device 100 according to the present invention and the organic connection relation therebetween are the same, .

Here, the vehicle distance control method 800 of the vehicle distance control device 700 according to the second embodiment of the present invention may perform the display step S807 after the determination step S606 and before the deceleration step S608 .

2) of the current preceding vehicle (V2 in Fig. 2) determined by the determination unit (108 in Fig. 7) is smaller than the cut-in preceding vehicle (V2 in Fig. 2) 2) of the range of the reference target distance from the cut-in preceding vehicle (V2 in Fig. 2), the current distance condition with the current preceding vehicle (V2 in Fig. 2) (Step 709 in FIG. 7).

At this time, although not shown, the display step (S807) includes an HMI (Human Machine Interface) module (not shown) in the display portion (709 in Fig. 7) The current distance condition of the vehicle can be displayed.

The vehicle distance control apparatus 700 and the control method 800 thereof according to the second embodiment of the present invention may include a sensing unit 102, a current distance calculation unit 104, a control unit 106, a determination unit 108, a display unit 709, and a deceleration unit 110.

Therefore, the vehicle distance control apparatus 700 and the control method 800 thereof according to the second embodiment of the present invention can control the distance to the target distance d3 with the cut-in preceding vehicle V2 in the preceding vehicle cut- The current vehicle V1 can be decelerated at the speed of the vehicle matched to the range, so that the deceleration control can be minimized to prevent collision with the rear vehicle when there is a rearward vehicle.

The vehicle distance control apparatus 700 and its control method 800 according to the second embodiment of the present invention can display the current distance condition with the current preceding vehicle V2 through the display unit 709, It is possible to recognize the current distance state with the current preceding vehicle V2, and it is possible to provide a sense of safety of deceleration at the time of deceleration control.

≪ Third Embodiment >

9 is a block diagram showing a vehicle distance control apparatus according to a third embodiment of the present invention.

9, a vehicle distance control apparatus 900 according to a third embodiment of the present invention includes a sensing unit 102, a current distance calculation unit 102, A control unit 106, a determination unit 108, and a deceleration unit 110. [0034]

The function of each component corresponding to the vehicle distance control device 900 according to the third embodiment of the present invention and the organic connection relation between them are the same as those of the vehicle distance control device 900 according to the first embodiment 100), and the organic connection relation between them, each of which will be omitted below.

Here, the vehicle distance control apparatus 900 according to the third embodiment of the present invention further includes an identification unit 909. [

That is, the identification unit 909 determines whether or not the current distance (d3 in Fig. 2) between the current preceding vehicle (V2 in Fig. 2) determined by the determination unit 108 and the current target (D2 in Fig. 4) with the corresponding cut-in preceding vehicle (V2 in Fig. 2) of the distance-based range, the current distance condition with the current preceding vehicle (V2 in Fig. 2) do.

At this time, although not shown, the identification unit 909 includes at least one of a vehicle speaker (not shown) and a light-emitting member (not shown) so that the voice operation of the vehicle speaker (not shown) (Fig. 2, V2) in at least one of the following cases.

A vehicle distance control method for controlling the vehicle distance by using the vehicle distance control device 900 according to the third embodiment of the present invention will now be described with reference to FIG.

10 is a flowchart showing a method of controlling the vehicle distance of the vehicle distance control device according to the third embodiment of the present invention.

10, a vehicle distance control method 1000 of the vehicle distance control device 900 according to the third embodiment of the present invention is a method for controlling the vehicle distance control device 1000 of the vehicle distance control device 100 according to the first embodiment, S602, the current distance calculation step S604, the determination step S606, and the deceleration step S608 in the same manner as the interval control method 600 shown in FIG.

The function of each step corresponding to the vehicle distance control method 1000 of the vehicle distance control device 900 according to the third embodiment of the present invention and the organic connection relation between them are identical to those of the first embodiment The function of each step corresponding to the vehicle distance control method 600 of the vehicle distance control device 100 according to the present invention and the organic connection relation therebetween are the same, .

 Herein, the method 1000 for controlling the vehicle distance of the vehicle distance control device 900 according to the third embodiment of the present invention includes the identification step S1007 after the determination step S606 and before the deceleration step S608 .

That is, in the discrimination step S1007, the current distance (d3 in Fig. 2) between the current preceding vehicle (V2 in Fig. 2) (D2 in Fig. 4) with the cut-in preceding vehicle (V2 in Fig. 2) of the range of the reference target distance of the preceding vehicle (V2 in Fig. 2) (909 in Fig. 9).

9) is provided as at least one of a vehicle speaker (not shown) and a light emitting member (not shown), and the voice operation of the vehicle speaker (not shown) It is possible to identify the current distance condition with the current preceding vehicle (V2 in Fig. 2) by at least one of the light emitting operation of the light emitting member (not shown).

The vehicle distance control apparatus 900 and the control method 1000 thereof according to the third embodiment of the present invention may include a sensing unit 102, a current distance calculation unit 104, a control unit 106, a determination unit 108, an identification unit 909, and a deceleration unit 110.

Therefore, the vehicle distance control apparatus 900 and the control method 1000 thereof according to the third embodiment of the present invention can control the distance to the target distance d3 with the cut-in preceding vehicle V2 in the preceding vehicle cut- The current vehicle V1 can be decelerated at the speed of the vehicle matched to the range, so that the deceleration control can be minimized to prevent collision with the rear vehicle when there is a rearward vehicle.

The vehicle distance control apparatus 900 and the control method thereof 1000 according to the third embodiment of the present invention can identify the current distance condition with the current preceding vehicle V2 through the identification unit 909 , It is possible to recognize the current distance state with the current preceding vehicle V2, and it is possible to provide a sense of safety of deceleration at the time of deceleration control.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, It is intended that all changes and modifications derived from the equivalent concept be included within the scope of the present invention.

Claims (12)

A sensing unit for sensing a current speed of a preceding vehicle traveling in a lane of the current vehicle and a rear vehicle when the preceding vehicle is cut-in to the current lane of the vehicle and traveling;
A current distance calculator for calculating a current distance between the current vehicle and the current vehicle based on the current speed of the preceding vehicle in response to the current vehicle speed of the preceding vehicle detected by the sensing unit;
A control unit for receiving a current distance from the current preceding vehicle calculated by the current distance calculation unit and including a range for a reference target distance from a preset cut-in preceding vehicle;
A determination unit for determining whether the current distance from the current preceding vehicle calculated by the current distance calculation unit is within a reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with respect to the cut-in preceding vehicle; And
When the current distance from the current preceding vehicle judged by the judging unit is within the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance with the cut-in preceding vehicle, and a deceleration section that decelerates the current vehicle at a speed of the vehicle that is in accordance with a reference target distance range with the cut-in preceding vehicle.
The method according to claim 1,
Wherein the control unit is provided to set ranges of reference target distances of different levels from the cut-in preceding vehicle, respectively, according to driver settings.
3. The method of claim 2,
The range of the reference target distances of the different levels with the cut-in preceding vehicle is set to be,
Is set to a reference target time at a different level from the current speed of the current vehicle × the cut-in preceding vehicle.
The method according to claim 1,
The range of the reference target distance from the cut-
Is set to a current distance from the current preceding vehicle x K (a weight based on the current distance to the current rear vehicle).
The method according to claim 1,
In the case where the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And a display unit for displaying the vehicle distance.
The method according to claim 1,
In the case where the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And an identification unit for identifying the vehicle.
A sensing step of sensing, by the sensing unit, the current speed and the current vehicle speed of the preceding vehicle traveling in the lane of the current vehicle when the preceding vehicle is cut-in to the current lane of the vehicle;
A current distance calculation step of calculating a current distance between the current vehicle speed and the current vehicle speed according to the current speed of the preceding vehicle in the current distance calculation unit, supplied with the current vehicle speed of the preceding vehicle detected by the sensing unit;
The current distance from the current preceding vehicle calculated by the current distance calculation unit is the reference target distance range with respect to the corresponding cut-in preceding vehicle in the range of the reference target distance with the cut-in preceding vehicle set in the control unit ; And
When the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And a deceleration step of decelerating the current vehicle at a speed of the vehicle that is in accordance with a reference target distance range with the cut-in preceding vehicle.
8. The method of claim 7,
Wherein,
And setting a range of the reference target distance at a different level from the cut-in preceding vehicle to the control unit according to the driver setting.
9. The method of claim 8,
Wherein,
The range of the reference target distance with the different levels from the cut-in preceding vehicle,
And setting a reference target time at a different level from the current speed of the current vehicle and the cut-in preceding vehicle.
8. The method of claim 7,
Wherein,
The range of the reference target distance with the cut-in preceding vehicle
Is set to a current distance from the current preceding vehicle × K (a weight based on the current distance from the current rear vehicle).
8. The method of claim 7,
After the determining step,
In the case where the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, And a display step of displaying the vehicle distance on the display unit.
8. The method of claim 7,
After the determining step,
In the case where the current distance from the current preceding vehicle judged by the judging unit is the reference target distance range with respect to the cut-in preceding vehicle in the range of the reference target distance from the cut-in preceding vehicle, In the identification section, the identification of the vehicle.

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