KR20200036069A - Vehicle and control method for the same - Google Patents

Abstract

A vehicle according to an embodiment of the present invention is provided to prevent unnecessary acceleration and deceleration when cruise control is applied. To this end, the present invention comprises: a communication unit which acquires slope information from the outside; a sensor which detects a front road and a foregoing vehicle, and acquires distance information with the foregoing vehicle and speed information of the foregoing vehicle; a control unit which, in the case that the foregoing vehicle is not detected, determines whether to accelerate based on the slope information and the distance information with the foregoing vehicle, and, in the case that the foregoing vehicle is detected, determines whether to decelerate based on interference state information of the foregoing vehicle, the slope information, and the speed information of the foregoing vehicle; and a driving unit which performs acceleration or deceleration in accordance with the control of the control unit.

Description

Vehicle and its control method {VEHICLE AND CONTROL METHOD FOR THE SAME}

The present invention relates to a vehicle to which a predictive cruise control and an adaptive cruise control or smart cruise control system are applied and a control method thereof.

There are various systems related to vehicle driving. For example, Predictive Cruise Control is a system that adjusts the speed of a vehicle according to the slope when the vehicle is driving on a slope, and Adaptive Cruise Control or Smart Cruise Control is set at a predetermined speed. It is a system that variably controls the speed of the vehicle to keep a safe distance from the preceding vehicle when driving or when the preceding vehicle is being sensed. These systems are aimed at safe driving of vehicles.

However, the conventional adaptive cruise control (Adaptive Cruise Control or Smart Cruise Control), after decelerating the vehicle speed in a specific situation, accelerates immediately if the preceding vehicle is not detected to recover to the normal driving mode. In this case, not only is there a risk of collision when rediscovering the preceding vehicle, but there is a problem in that a rapid deceleration is made to maintain the distance between the cars, which may cause discomfort to the driver.

The present invention provides a vehicle and a control method of determining whether to return to the normal driving mode by determining whether the preceding vehicle enters the ramp before the vehicle enters the ramp, if the preceding vehicle does not detect the departure of the detection area It aims to do.

In addition, an object of the present invention is to provide a vehicle and a control method for determining the degree of deceleration differently according to the speed and type of the preceding vehicle when the preceding vehicle enters the ramp when entering the ramp.

As a technical means for achieving the above-described technical problem, a vehicle according to an embodiment includes: a communication unit that acquires ramp information from the outside; A sensor for detecting a road ahead and a preceding vehicle, and obtaining distance information from the preceding vehicle and speed information of the preceding vehicle; If the preceding vehicle is not detected, it is determined whether or not to return to the normal driving mode based on the slope information and the distance information between the preceding vehicle, and when the preceding vehicle is detected, the state of interruption of the preceding vehicle, A control unit determining whether to decelerate based on the ramp information and the speed information of the preceding vehicle; And a driving unit performing acceleration or deceleration under the control of the control unit.

In addition, when the preceding vehicle is not detected, the control unit may determine whether to return to the normal driving mode by determining whether the preceding vehicle enters the ramp based on the ramp information and the distance information between the preceding vehicle. .

In addition, the control unit may determine whether the preceding vehicle enters the ramp by comparing the distance with the preceding vehicle and the distance to the ramp when the preceding vehicle leaves the sensing range of the sensor.

In addition, the control unit controls the driving unit to return to the normal driving mode when the preceding vehicle does not enter the ramp, and when the preceding vehicle enters the ramp, until the host vehicle enters the ramp The drive can be controlled to maintain the current speed.

In addition, when the preceding vehicle is not detected, the controller may control the driving unit to return to the normal driving mode when the slope of the ramp is less than a specific value.

In addition, when the preceding vehicle is detected, when the preceding vehicle is detected, the controller may determine whether to decelerate by checking the speed at the time of entering the ramp of the preceding vehicle.

In addition, the control unit determines if the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the subject vehicle, and if the speed at the time of entering the ramp of the preceding vehicle is faster than the speed of the subject vehicle, checks the slope of the ramp and decelerates You can decide whether or not.

In addition, if the inclination of the ramp is less than a specific value, the controller controls the driving unit to maintain the current speed, and if the inclination of the ramp is greater than or equal to a specific value, determines the type of the preceding vehicle, and determines the type of the preceding vehicle. The degree of deceleration according to the type is determined, and the driving unit can be controlled to decelerate according to the degree of deceleration.

A control method of a vehicle according to an embodiment may include acquiring ramp information from the outside; Detecting a road ahead and a preceding vehicle, and obtaining distance information from the preceding vehicle and speed information of the preceding vehicle; If the preceding vehicle is not detected, determining whether to return to the normal driving mode based on the slope information and the distance information between the preceding vehicle; If the preceding vehicle is detected, determining whether to decelerate based on the state information of the preceding vehicle, the ramp information, and the speed information of the preceding vehicle; And performing acceleration or deceleration depending on whether to return to the normal driving mode or determine deceleration.

In addition, the step of determining whether to return to the normal driving mode may include determining whether to enter the ramp of the preceding vehicle based on the ramp information and the distance information of the preceding vehicle if the preceding vehicle is not detected. It can contain.

In addition, the step of determining whether or not the preceding vehicle enters the ramp includes comparing the distance with the preceding vehicle and the distance to the ramp when the preceding vehicle leaves the sensing range of the sensor to determine whether the preceding vehicle enters the ramp. And determining.

In addition, the step of determining whether or not to return to the normal driving mode may include: if the preceding vehicle does not enter the ramp, determine to return to the normal driving mode, and if the preceding vehicle enters the ramp, the host vehicle The method may further include maintaining a current speed until entering the ramp.

In addition, the step of determining whether to return to the normal driving mode may further include determining to return to the normal driving mode if the slope of the ramp is less than a specific value when the preceding vehicle is not detected.

Further, the step of determining whether to decelerate may further include, when the preceding vehicle is sensed, if interruption of the preceding vehicle is confirmed, checking the speed at the time of entering the ramp of the preceding vehicle.

In addition, the step of determining whether to decelerate, if the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the subject vehicle, it is determined to decelerate, and when the speed of the entering the ramp of the preceding vehicle is faster than the speed of the subject vehicle, The method may further include checking the slope.

In addition, the step of determining whether the deceleration is, if the slope of the ramp is less than a specific value, the current speed is maintained, and if the slope of the ramp is greater than or equal to a specific value, the type of the preceding vehicle is determined, and the The method may further include determining a deceleration degree according to the type.

According to the vehicle of the present invention and its control method, if the preceding vehicle does not detect the vehicle outside the detection area, it determines whether the vehicle enters the ramp before returning to the normal driving mode by determining whether the preceding vehicle enters the ramp. , When applying cruise control, it can prevent unnecessary acceleration and deceleration and provide a sense of stability to the driver.

In addition, according to the vehicle of the present invention and a control method thereof, when a preceding vehicle enters a ramp when entering a ramp, collision and accidents can be prevented by differently determining the deceleration degree according to the speed and type of the preceding vehicle. have.

1 is a control block diagram of a vehicle according to an embodiment.
2 is a view for explaining a situation that occurs when a vehicle runs on a slope.
3 and 4 are flowcharts illustrating a method of controlling a vehicle according to an embodiment.

The same reference numerals refer to the same components throughout the specification. This specification does not describe all elements of the embodiments, and overlaps between general contents or embodiments in the technical field to which the present invention pertains are omitted. The term 'unit, module, member, block' used in the specification may be implemented by software or hardware, and according to embodiments, a plurality of 'unit, module, member, block' may be implemented as one component, It is also possible that one 'part, module, member, block' includes a plurality of components.

Throughout the specification, when a part is "connected" to another part, this includes not only a direct connection but also an indirect connection, and an indirect connection includes connecting through a wireless communication network. do.

In addition, when a part is said to "include" a certain component, this means that other components may be further included instead of excluding other components, unless specifically stated otherwise.

Terms such as first and second are used to distinguish one component from other components, and the component is not limited by the above-mentioned terms.

In addition, the terms used herein are used to describe the embodiments, and are not intended to limit and / or limit the disclosed invention. Singular expressions include plural expressions, unless the context clearly has an exception.

In each step, the identification code is used for convenience of explanation, and the identification code does not describe the order of each step, and each step can be executed differently from the specified order unless a specific order is clearly stated in the context. have.

Hereinafter, working principles and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a control block diagram of a vehicle according to an embodiment.

Referring to FIG. 1, the vehicle 1 may include a communication unit 200, a sensor 300, a storage unit 400, a control unit 500, and a driving unit 600.

The communication unit 100 may acquire information on a ramp from the outside. For example, the communication unit 100 may obtain slope information for a road within a certain distance from an external server (not shown), another vehicle on a driving road, and / or a road infrastructure system. The ramp information may include a distance to the ramp, a ramp length, and a slope.

The communication unit 100 may use various communication technologies. The communication unit 200 uses wireless communication technologies such as vehicle-to-vehicle (V2V) communication, Wi-Fi, a wireless local area network (WLAN), ultra-mobile broadband (UMB), and Bluetooth. To receive data from the outside.

Also, the information received by the communication unit 100 may be stored in the storage unit 300. The storage unit 300 may be a database that can store data or a device corresponding to memory.

Meanwhile, the vehicle 10 may include various sensors 200. For example, a proximity sensor that detects obstacles or other vehicles in front, rear, or side, a rain sensor that detects precipitation and precipitation, a speed sensor that detects the speed of a vehicle wheel, and a lateral acceleration that detects lateral acceleration of a vehicle. It may further include a sensor, a yaw rate sensor for detecting a change in the angular speed of the vehicle, a gyro sensor, a direction sensor for detecting the rotation of the steering wheel and the driving direction of the vehicle.

In addition, the sensor 200 may include a distance sensor that measures a distance to an object, such as a laser sensor, an infrared sensor, a radar 230, a LiDAR sensor, and photographs images around a vehicle. It may include a camera for collecting the image data.

The sensor 200 may be mounted in the front radiator grill of the vehicle 10, in the front bumper or in the front headlamp, may be mounted in the roof panel, and may be implemented integrally with a heating wire on the upper side of the rear glass. . That is, the sensor 300 may be installed at various positions of the vehicle 10.

The sensor 200 means a plurality of sensors provided in the vehicle 10 as described above. The sensor 200 may detect a road ahead and a preceding vehicle, and obtain distance information from the preceding vehicle, speed information of the preceding vehicle, and direction information.

As an example of the sensor 200, the radar emits electromagnetic waves and measures the distance to the object and the velocity of the object by measuring electromagnetic waves reflected from objects within the measurement range. The camera may acquire an image of an object around the vehicle by photographing the surroundings. That is, the camera may acquire images of other vehicles and surrounding environments existing in the front, rear, and side of the vehicle 10, and may acquire images of roads on which the vehicle 10 travels.

On the other hand, the vehicle 10 includes a power generating device, a power transmission device, a traveling device, a steering device, a braking device, an accelerator device, a suspension device, a transmission device, a fuel device, wheels in front, rear, left and right.

In addition, the vehicle 10 may further include various safety devices for driver and passenger safety. The safety device of the vehicle 10 includes an airbag control device, an electronic stability control device (ESC), a predictive cruise control system, and an adaptive cruise control or smart cruise control system. Several types of safety devices can be included.

The adaptive cruise control or smart cruise control system can operate in normal driving mode or decelerating driving mode. The normal driving mode means a mode of driving while maintaining the speed according to a predetermined speed or by changing the speed of the vehicle 1 within a certain range so that a safe distance from the preceding vehicle is maintained when the preceding vehicle is detected. can do. The decelerated driving mode may refer to a mode of driving at a slower speed that is a predetermined value or less than a predetermined speed.

The driving unit 500 is a device that changes the speed of the vehicle 10 under the control of the control unit 400. That is, the driving unit 500 is a device that physically performs acceleration or deceleration of the vehicle 10, and includes the above-described power generating device, power transmission device, acceleration device, braking device, and the like.

In addition, the vehicle 10 includes a control unit 400 for controlling driving of a power generating device, a power transmission device, a traveling device, a steering device, a braking device, a suspension device, a transmission device, a fuel device, a safety device, and various sensors. .

The control unit 400 may transmit a control signal for a device in the vehicle 10 to each device as well as a signal distribution role to a device in the vehicle 10. The control unit 500 may mean an electronic control unit (ECU), and although it is expressed as a control unit 400, this is only an expression to be interpreted in a broad sense and is not limited thereto.

Further, the control unit 400 includes at least one memory in which a program for performing the above-described operations and operations described below is stored, and at least one processor for executing the stored program. The memory and the processor included in the control unit 400 may be integrated on one chip, or may be physically separated.

The control unit 400 may determine return or deceleration to the normal driving mode of the vehicle 10 using the ramp information received through the communication unit 100 and the detection information of the preceding vehicle by the sensor 200. Specifically, the control unit 400 may include a slope information analysis unit 410, a preceding vehicle analysis unit 420, and a constant speed driving determination unit 430.

The slope information analysis unit 410 uses the distance to the slope included in the slope information, the length of the slope, the slope and the position information of the current vehicle 10, the required time to enter the slope, the engine required to drive the slope at a predetermined speed It is possible to calculate the time it takes to output and pass the ramp.

The preceding vehicle analysis unit 420 may determine whether the preceding vehicle enters the ramp based on the slope information and the distance information between the preceding vehicle when the preceding vehicle deviates from the sensing range of the sensor 200. Specifically, the preceding vehicle analysis unit 420 compares the distance between the vehicle 10 and the preceding vehicle and the distance to the ramp when the preceding vehicle leaves the sensing range of the sensor 200 to determine whether the preceding vehicle enters the ramp. I can judge.

The preceding vehicle analysis unit 420 compares the distance from the preceding vehicle and the distance to the ramp when the preceding vehicle is outside the sensing range of the sensor 200, and if the distance from the preceding vehicle is longer, the preceding vehicle enters the ramp It can be judged as missing. Conversely, when the distance between the vehicle 10 and the ramp is longer than the distance from the preceding vehicle, it can be determined that the preceding vehicle has disappeared without entering the ramp.

When the preceding vehicle disappears without entering the ramp, the normal driving determination unit 430 may control the driving unit 500 to return to the normal driving mode.

In addition, when the preceding vehicle is detected, the preceding vehicle analysis unit 420 may calculate interruption state information of the preceding vehicle and the type of the preceding vehicle. The cutting-in state information of the preceding vehicle may be calculated based on distance information from the preceding vehicle measured by the sensor 200, speed information of the preceding vehicle, and direction information. The type of the preceding vehicle may be calculated based on the image of the preceding vehicle photographed by the sensor 200. For example, the preceding vehicle may be divided into trucks, buses, and passenger cars.

When it is determined by the preceding vehicle analysis unit 420 that the preceding vehicle has not entered the ramp, the normal driving determination unit 430 may determine to return to the normal driving mode, and thus control the driving unit 500. . For example, when it is determined that the preceding vehicle has not entered the ramp while the vehicle 1 is traveling at a slower speed than a predetermined speed, the normal driving determination unit 430 is in the normal driving mode. The driving unit 500 may be controlled to accelerate the vehicle 10 by determining return to.

When it is determined by the preceding vehicle analysis unit 420 that the preceding vehicle has entered the ramp, the normal driving determination unit 430 controls the driving unit 500 to maintain the current speed until the vehicle 10 enters the ramp. can do.

In addition, if the preceding vehicle is not detected because it deviates from the sensing range of the sensor 200, the normal driving determination unit 430 may control the driving unit 500 to return to the normal driving mode when the slope of the ramp is less than a specific value. have. If the slope of the road ahead is less than a certain value, it can be determined that the preceding vehicle is not detected because of the slope.

The specific value for the slope may be a preset value or a value set by the driver. Further, a specific value for the slope may be set as an absolute value, or may be set as a value within a certain range.

On the other hand, when the interruption of the preceding vehicle is confirmed by the preceding vehicle analysis unit 420, the normal driving determination unit 430 determines the deceleration of the vehicle 10 by checking the speed at the time of entering the ramp of the preceding vehicle. You can.

Specifically, the normal driving determination unit 430 determines the deceleration when the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the vehicle 10, and the speed at the time of entering the ramp of the preceding vehicle is faster than the speed of the vehicle 10 or If it is equal to the speed of the vehicle 10, it is possible to determine whether to decelerate by further checking the slope of the ramp.

That is, the normal driving determination unit 430 controls the driving unit 500 to maintain the current speed when the slope of the ramp is less than a specific value. You can decide differently. Since the degree to which the preceding vehicle decelerates on the slope may vary depending on the weight of the preceding vehicle, it is necessary to control the deceleration degree of the vehicle 10 differently according to the type of the preceding vehicle.

With this configuration, the present invention determines whether the vehicle 10 returns to the normal driving mode by determining whether the vehicle 10 enters the ramp before the vehicle 10 enters the ramp when the preceding vehicle leaves the detection area and is not detected. , It can prevent unnecessary acceleration and deceleration, and provide a sense of stability to the driver.

In addition, when the preceding vehicle intervenes when entering the ramp, collision and accidents can be prevented by differently determining the deceleration degree of the vehicle 10 according to the speed and type of the preceding vehicle.

2 is a view for explaining a situation that occurs when a vehicle runs on a slope. Referring to FIG. 2, the preceding vehicle may not be detected because it deviates from the sensing range of the sensor 200 on the ramp.

Conventional adaptive cruise control (Adaptive Cruise Control or Smart Cruise Control), after decelerating the speed of the vehicle in a specific situation, if the preceding vehicle is not detected to accelerate to recover to normal driving mode.

In particular, when the slope is an uphill road, if the preceding vehicle is not detected and the vehicle accelerates, the inter-vehicle distance may be inadvertently approached. If the preceding vehicle is detected again within a short period of time, there is a risk of collision as well as a rapid deceleration. There is a problem that the driver can feel uncomfortable.

The present invention does not immediately return to the normal driving mode even if the preceding vehicle is outside the sensing range, but if the preceding vehicle is outside the sensing range before the vehicle 10 enters the ramp, information on the front ramp is acquired in advance, The vehicle returns to the normal driving mode according to the result of determining whether the vehicle has entered the ramp.

That is, if it is determined that the preceding vehicle has not entered the ramp, the preceding vehicle will not be detected again after entering the ramp, so there is no risk of collision and sudden deceleration even when returning to the normal driving mode. Conversely, if it is determined that the preceding vehicle has entered the ramp, the vehicle 10 may maintain the current speed until it enters the ramp to ensure safe driving. If the vehicle 10 is accelerated before entering the ramp, it may be possible to detect the preceding vehicle again within a short time after entering the ramp, thereby delaying the return to the normal driving mode because the risk of collision and sudden deceleration may occur. safe.

In addition, a situation may occur in which the preceding vehicle is interrupted at the time of entering the ramp. In this case, the conventional adaptive cruise control did not decelerate the speed of the host vehicle when the speed of the preceding vehicle intervened was high.

However, even if the speed of the preceding vehicle was high at the time of entering the ramp, the speed of the preceding vehicle may rapidly decrease after entering the ramp. In this case, since the speed of the host vehicle 10 is not decelerated, there is a risk of collision and sudden deceleration. Therefore, it is necessary to confirm the interruption of the preceding vehicle at the time of entering the ramp and secure the safety by decelerating the speed of the sleeping vehicle 10 in advance. Further, even if the vehicle 1 is traveling at a slower speed that is less than or equal to a predetermined value than a predetermined speed, additional deceleration may be necessary.

3 and 4 are flowcharts illustrating a method of controlling a vehicle according to an embodiment. 3 and 4 are situations in which the vehicle 10 is traveling at a speed lower than a predetermined value than a predetermined driving speed before entering the ramp, and assumes that the vehicle is not driving in the normal driving mode.

Referring to FIG. 3, the communication unit 100 of the vehicle 10 acquires slope information from the outside (S501). The ramp information may include a distance to the front ramp, a ramp length and a slope.

The sensor 200 of the vehicle 10 may detect a road ahead and a preceding vehicle, and obtain distance information from the preceding vehicle and speed information of the preceding vehicle. The sensor 200 may detect the preceding vehicle and then confirm that the preceding vehicle deviates from the sensing range of the sensor 200 (S502). If the preceding vehicle is not detected because it deviates from the sensing range of the sensor 200, the control unit 400 determines whether the slope of the road ahead is a specific value or more (S503), and returns to the normal driving mode when the slope is less than a specific value. It can be determined (S507). If the slope of the road ahead is less than a certain value, it can be determined that the preceding vehicle is not detected because of the slope.

In addition, if the inclination of the road ahead is a specific value or more, the control unit 400 determines whether the preceding vehicle enters the ramp based on the distance to the ramp included in the ramp information and the distance from the preceding vehicle (S504). Specifically, the control unit 400 compares the distance from the preceding vehicle and the distance to the ramp when the preceding vehicle is outside the sensing range of the sensor 200, and if the distance from the preceding vehicle is further away, the preceding vehicle enters the ramp It is judged to have disappeared (S505). Conversely, if the distance between the vehicle 10 and the ramp is longer than the distance from the preceding vehicle, it may be determined that the preceding vehicle has disappeared without entering the ramp, and the vehicle may return to the normal driving mode.

If it is determined that the preceding vehicle has disappeared after entering the ramp (S505), the controller 400 checks whether the vehicle 10 enters the ramp (S506), and maintains the current speed until the vehicle 10 enters the ramp The driving unit 500 is controlled to perform so (S508). When the vehicle 10 enters the ramp, the control unit 400 determines to return to the normal driving mode, and controls the driving unit 500 (S507). When accelerating before entering the ramp of the vehicle 10, the preceding vehicle may be detected again within a short time after entering the ramp of the vehicle 10, and thus a risk of collision and sudden deceleration may occur, thereby returning to the normal driving mode. It is safer to delay things.

Referring to FIG. 4, the communication unit 100 of the vehicle 10 acquires slope information from the outside (S601). The ramp information may include a distance to the front ramp, a ramp length and a slope. The sensor 200 of the vehicle 10 may detect a road ahead and a preceding vehicle, and obtain distance information from the preceding vehicle, speed information and direction information of the preceding vehicle (S602).

The control unit 400 determines the interruption state of the preceding vehicle based on the distance information from the preceding vehicle measured by the sensor 200, the speed information of the preceding vehicle, and the direction information (S603). If the preceding vehicle is a vehicle that has been continuously detected rather than a vehicle interposed, the control unit 400 controls the driving unit 500 to return to the normal driving mode (604).

When the interruption of the preceding vehicle is confirmed, the control unit 400 determines whether the vehicle is decelerated by checking the speed at the time of entering the ramp of the preceding vehicle (S605). Specifically, the control unit 400 controls the driving unit 500 to decelerate when the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the vehicle 10 (S606).

If the speed at the time of entering the ramp of the preceding vehicle is faster than the speed of the vehicle 10 or equal to the speed of the vehicle 10, the control unit 400 determines whether the slope of the road ahead is a specific value or more (S607), the control unit ( 400), if the inclination is less than a specific value, controls the driving unit 500 to maintain the current speed (S608). In addition, if the slope is greater than or equal to a specific value, the controller 400 determines the type of the preceding vehicle (S609), and controls the driving unit 500 such that the deceleration degree is different according to the type of the preceding vehicle (S610).

As described above, according to the present invention, when the preceding vehicle deviates from the detection area and is not detected, the vehicle 10 determines whether the preceding vehicle enters the ramp before returning to the ramp to determine whether to return to the normal driving mode. , It can prevent unnecessary acceleration and deceleration, and provide a sense of stability to the driver.

In addition, when the preceding vehicle intervenes when entering the ramp, collision and accidents can be prevented by differently determining the deceleration degree of the vehicle 10 according to the speed and type of the preceding vehicle.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium that stores instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

The computer-readable recording medium includes all kinds of recording media storing instructions that can be read by a computer. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, and an optical data storage device.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in different forms from the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

10: vehicle
100: communication unit
200: sensor
300: storage unit
400: control
500: driving unit

Claims (16)

Communication unit for obtaining the ramp information from the outside;
A sensor for detecting a road ahead and a preceding vehicle, and obtaining distance information from the preceding vehicle and speed information of the preceding vehicle;
If the preceding vehicle is not detected, it is determined whether or not to return to the normal driving mode based on the slope information and the distance information between the preceding vehicle, and when the preceding vehicle is detected, the state of interruption of the preceding vehicle, A control unit determining whether to decelerate based on the ramp information and the speed information of the preceding vehicle; And
A driving unit performing acceleration or deceleration under the control of the control unit; Vehicle comprising a. According to claim 1,
The control unit,
If the preceding vehicle is not detected, the vehicle determines whether to return to the normal driving mode by determining whether the preceding vehicle enters the ramp based on the ramp information and the distance information between the preceding vehicle. According to claim 2,
The control unit,
A vehicle that determines whether the preceding vehicle enters the ramp by comparing the distance with the preceding vehicle and the distance to the ramp when the preceding vehicle leaves the sensing range of the sensor. According to claim 2,
The control unit,
When the preceding vehicle does not enter the ramp, the driving unit is controlled to return to the normal driving mode,
When the preceding vehicle enters the ramp, the vehicle controls the driving unit to maintain the current speed until the host vehicle enters the ramp. According to claim 1,
The control unit,
If the preceding vehicle is not detected, the vehicle determines to return to the normal driving mode when the slope of the ramp is less than a specific value. According to claim 1,
The control unit,
When the preceding vehicle is detected, when the interruption of the preceding vehicle is confirmed, the vehicle determines whether to decelerate by checking the speed at the time of entering the ramp of the preceding vehicle. The method of claim 6,
The control unit,
If the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the subject vehicle, deceleration is determined,
If the speed at the time of entering the ramp of the preceding vehicle is faster than the speed of the subject vehicle, the vehicle determines whether to decelerate by checking the slope of the ramp. The method of claim 7,
The control unit,
If the slope of the ramp is less than a specific value, the driving unit is controlled to maintain the current speed,
A vehicle that determines the type of the preceding vehicle, determines the degree of deceleration according to the type of the preceding vehicle, and controls the driving unit to decelerate according to the deceleration degree when the slope of the ramp is equal to or greater than a specific value. Obtaining ramp information from the outside;
Detecting a road ahead and a preceding vehicle, and obtaining distance information from the preceding vehicle and speed information of the preceding vehicle;
If the preceding vehicle is not detected, determining whether to return to the normal driving mode based on the slope information and the distance information between the preceding vehicle;
If the preceding vehicle is detected, determining whether to decelerate based on the state information of the preceding vehicle, the ramp information, and the speed information of the preceding vehicle; And
Performing acceleration or deceleration according to the determination of return or deceleration to the normal driving mode; Control method of a vehicle comprising a. The method of claim 9,
Determining whether to return to the normal driving mode,
If the preceding vehicle is not detected, determining whether to enter the ramp of the preceding vehicle based on the distance information between the ramp and the preceding vehicle; Control method of a vehicle comprising a. The method of claim 10,
The step of determining whether the preceding vehicle enters the ramp,
Determining whether to enter the ramp of the preceding vehicle by comparing the distance to the ramp and the distance from the preceding vehicle when the preceding vehicle leaves the sensing range of the sensor; Control method of a vehicle comprising a. The method of claim 10,
Determining whether to return to the normal driving mode,
If the preceding vehicle has not entered the ramp, it is determined to return to the normal driving mode,
And if the preceding vehicle enters the ramp, maintaining the current speed until the host vehicle enters the ramp. The method of claim 9,
Determining whether to return to the normal driving mode,
If the preceding vehicle is not detected, determining to return to the normal driving mode when the slope of the ramp is less than a specific value; The control method of the vehicle further comprising. The method of claim 9,
The step of determining whether to slow down,
When the preceding vehicle is sensed, if the interruption of the preceding vehicle is confirmed, checking the speed at the time of entering the ramp of the preceding vehicle; The control method of the vehicle further comprising. The method of claim 14,
The step of determining whether to slow down,
Determining a deceleration if the speed at the time of entering the ramp of the preceding vehicle is slower than the speed of the subject vehicle, and checking the slope of the ramp when the speed at the time of entering the ramp of the preceding vehicle is faster than the speed of the subject vehicle; The control method of the vehicle further comprising. The method of claim 15,
The step of determining whether to slow down,
If the slope of the ramp is less than a specific value, the current speed is maintained,
Determining a type of the preceding vehicle and determining a deceleration degree according to the type of the preceding vehicle if the slope of the ramp is equal to or greater than a specific value; The control method of the vehicle further comprising.

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