Travel control device and method therefor

Abstract

The invention relates to a travel control device and a method thereof. The travel control device includes: a sensor device; a memory configured to store at least one instruction; and a controller operably connected to the sensor device and the memory, in which the at least one instruction is configured, when executed by the controller, to cause the travel control device to: identify, using the sensor device, at least one of a travel condition of the host vehicle, travel information of the host vehicle, or any combination thereof; executing coasting control of the host vehicle based on a first driving mode when at least one of the driving condition, the driving information, or any combination thereof satisfies a specified condition; identifying risk information including at least one of at least one time of collision TTC, a time slot with the preceding vehicle, a relative speed with the preceding vehicle, or any combination thereof; and determining whether to switch the driving mode to a second driving mode or a third driving mode including braking control based on a comparison result of the risk information and a threshold value.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to Korean Patent Application No. 10-2023-0111399 filed in the Korean Intellectual Property Office on August 24, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a travel control device and method thereof, and more particularly to a technology for performing travel control based on a collision risk determined using information related to a travel condition of a host vehicle. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] As technology develops, various algorithms for driving control of an ego vehicle have been developed. For example, a driving control device may execute an ego vehicle control algorithm that is classified into partial autonomous driving, conditional autonomous driving, highly autonomous driving, and / or fully autonomous driving according to a control level.

[0006] For example, when controlling the driving of the host vehicle, the driving control device (or autonomous driving control device) may identify the risk of collision with external objects based on the head distance with the leading vehicle in front of the host vehicle and / or the following vehicle behind the host vehicle or information about the road on which the host vehicle is traveling. The driving control device may control at least one of the driving speed of the host vehicle, the driving acceleration of the host vehicle, the driving direction of the host vehicle, or any combination thereof based on the identified collision risk.

[0007] For example, the travel control device may identify the risk distance based on the headway of the leading vehicle in front of the host vehicle and / or the following vehicle behind the host vehicle, and may control the braking device (e.g., brake) based on the size of the risk distance. The travel control device may also determine whether to activate the sliding control, and may control the travel speed of the host vehicle.

[0008] However, since the above-mentioned risk avoidance scheme uses primary information such as the headway distance or road information to determine the collision risk, when other parameters such as the relative speed with other vehicles or the time to collision (TTC) are further used to determine the collision risk, there is a problem of performing unnecessary braking control based only on the simple result of the headway distance being close, even if the situation is not dangerous. Summary of the invention

[0009] The present invention aims to solve the above-mentioned problems arising in the prior art while maintaining the advantages achieved by the prior art unchanged.

[0010] One aspect of the present invention provides a function for identifying at least one of a host vehicle's driving condition, host vehicle's driving information, or any combination thereof using a sensor device, and performing coasting control based on whether the identified information satisfies a specified condition.

[0011] Another aspect of the present invention provides a driving control device for identifying risk information including at least one of at least one TTC, a time gap with a leading vehicle, a relative speed with the leading vehicle, or any combination thereof, and selectively performing various types of braking control based on a comparison result of the identified risk information with a threshold value.

[0012] Another aspect of the present invention provides a driving control device for determining the magnitude of the required deceleration or whether to activate braking control based on at least one of TTC, time gap, relative speed or any combination thereof when a situation requiring a relatively large required deceleration is identified during general driving control of a main vehicle.

[0013] Another aspect of the present invention provides a travel control apparatus for determining a lower limit of a required deceleration for brake control based on various types of TTCs identified using different types of parameters.

[0014] The technical problems to be solved by the present invention are not limited to the above-mentioned problems, and ordinary technicians in the field to which the present invention belongs should clearly understand any other technical problems not mentioned herein based on the following description.

[0015] According to one aspect of the present invention, a driving control device may include: a sensor device, a memory storing at least one instruction, and a controller operably connected to the sensor device and the memory. For example, at least one instruction is configured to, when executed by the controller, cause the driving control device to: use the sensor device to identify at least one of the driving condition of the host vehicle, the driving information of the host vehicle, or any combination thereof; when at least one of the driving condition, the driving information, or any combination thereof meets a specified condition, perform the sliding control of the host vehicle based on the first driving mode. At least one instruction is also configured to, when executed by the controller, cause the driving control device to: identify risk information including at least one of a collision time (TTC), a time gap with a leading vehicle, a relative speed with a leading vehicle, or any combination thereof; and determine whether to switch the driving mode to a second driving mode or a third driving mode including braking control based on a comparison result of the risk information with a threshold.

[0016] According to one embodiment, at least one instruction is configured to, when executed by a controller, cause the driving control device to: identify that at least one of the driving condition, driving information, or any combination thereof meets a specified condition when at least one of the following situations is identified: an overtaking situation in which a first other vehicle enters in front of the main vehicle, an overtaking situation in which the main vehicle's overtaking control is activated, a situation in which the operation of the driving control device is activated or restored when a second other vehicle is present within a specified distance in front of the main vehicle, a situation in which the set value of the target vehicle headway is increased, or any combination thereof.

[0017] According to one embodiment, at least one TTC includes a first TTC identified based on a relative distance and relative speed between the host vehicle and another vehicle present in front of the host vehicle. At least one TTC also includes a second TTC identified based on a relative distance, relative speed and relative acceleration between the host vehicle and the other vehicle.

[0018] According to one embodiment, at least one instruction is configured to, when executed by the controller, cause the travel control device to: determine whether to switch the travel mode based on a comparison result between the second TTC and the reference TTC when the relative speed is greater than or equal to a specified speed.

[0019] According to one embodiment, at least one instruction is configured to, when executed by a controller, cause the driving control device to: i) when the time gap is less than a first reference time gap and the relative speed is less than a first reference relative speed; ii) when at least one TTC is less than the first reference TTC; iii) when the time gap is less than a second reference time gap that is larger than the first reference time gap, at least one TTC is less than a second reference TTC that is larger than the first reference TTC, and the relative speed is less than a first emergency relative speed that is smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing gliding control, perform braking control of the main vehicle based on a second driving mode in which the first required deceleration is the minimum deceleration for braking control.

[0020] According to one embodiment, at least one instruction is configured to, when executed by a controller, cause the driving control device to perform braking control of the main vehicle based on the third driving mode in which the second required deceleration is the minimum deceleration for braking control while performing coasting control or braking control based on the second driving mode: i) when the time gap is less than a third reference time gap and the relative speed is less than a second reference relative speed; ii) when at least one TTC is less than a third reference TTC; or iii) when the relative speed is less than a second emergency relative speed.

[0021] According to one embodiment, the first reference time gap is greater than the third reference time gap. The first reference relative speed is greater than the second reference relative speed. The first reference TTC is greater than the third reference TTC. The first emergency relative speed is greater than the second emergency relative speed. The first required deceleration is greater than the second required deceleration.

[0022] According to one embodiment, at least one instruction is configured to, when executed by a controller, cause the driving control device to: identify the headway distance between the main vehicle and at least one other vehicle present in front of the main vehicle based on driving conditions; and when the headway distance is greater than a predetermined target headway distance, control the main vehicle in a third driving mode.

[0023] According to another aspect of the present invention, a driving control method includes the following steps: a controller uses a sensor device to identify at least one of the driving condition of a main vehicle, the driving information of the main vehicle, or any combination thereof; when at least one of the driving condition, the driving information, or any combination thereof meets a specified condition, the controller performs a sliding control of the main vehicle based on a first driving mode; the controller identifies risk information including at least one collision time (TTC), a time gap with a leading vehicle, a relative speed with a leading vehicle, or at least one of any combination thereof; and the controller determines whether to switch the driving mode to a second driving mode or a third driving mode including braking control based on a comparison result of the risk information and a threshold value.

[0024] According to one embodiment, when at least one of the driving condition, driving information or any combination thereof meets the specified condition, the step of executing the coasting control of the main vehicle based on the first driving mode by the controller includes: when at least one of the driving condition, driving information or any combination thereof is identified as overtaking a first other vehicle entering in front of the main vehicle, the overtaking of the main vehicle is activated, the operation of the driving control device is activated or restored when a second other vehicle is present within a specified distance in front of the main vehicle, the set value of the target vehicle head distance is increased or any combination thereof, the controller identifies that at least one of the driving condition, driving information or any combination thereof meets the specified condition.

[0025] According to one embodiment, at least one TTC includes a first TTC identified based on a relative distance and relative speed between the host vehicle and another vehicle present in front of the host vehicle. At least one TTC also includes a second TTC identified based on a relative distance, relative speed and relative acceleration between the host vehicle and the other vehicle.

[0026] According to one embodiment, the step of determining by the controller whether to switch the driving mode to the second driving mode or the third driving mode including braking control based on the comparison result of the risk information and the threshold includes: when the relative speed is greater than or equal to the specified speed, the controller determines whether to switch the driving mode based on the comparison result of the second TTC and the reference TTC.

[0027] According to one embodiment, the driving control method also includes the following steps: i) when the time gap is less than a first reference time gap and the relative speed is less than a first reference relative speed; ii) when at least one TTC is less than the first reference TTC; iii) when the time gap is less than a second reference time gap larger than the first reference time gap, at least one TTC is less than a second reference TTC larger than the first reference TTC, and the relative speed is less than a first emergency relative speed smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing gliding control, the controller performs braking control of the main vehicle based on a second driving mode in which the first required deceleration is the minimum deceleration for braking control.

[0028] According to one embodiment, the driving control method also includes the following steps: while the controller performs coasting control or the controller performs braking control based on the second driving mode, i) when the time gap is less than a third reference time gap and the relative speed is less than the second reference relative speed; ii) when at least one TTC is less than the third reference TTC; or iii) when the relative speed is less than the second emergency relative speed, the controller performs braking control of the main vehicle based on the third driving mode in which the second required deceleration is the minimum deceleration for braking control.

[0029] According to one embodiment, the driving control method further includes the following steps: the controller identifies the headway distance between the host vehicle and at least one other vehicle existing in front of the host vehicle based on the driving condition. The driving control method further includes the following steps: when the headway distance is greater than a predetermined target headway distance, the controller controls the host vehicle in a third driving mode.

[0030] According to another aspect of the present invention, a computer-readable storage medium includes a program for executing a driving control method, the driving control method including the following steps: a controller uses a sensor device to identify at least one of a driving condition of a main vehicle, driving information of the main vehicle, or any combination thereof; when at least one of the driving condition, driving information, or any combination thereof meets a specified condition, the controller performs a sliding control of the main vehicle based on a first driving mode; the controller identifies risk information including at least one collision time (TTC), a time gap with a leading vehicle, a relative speed with a leading vehicle, or at least one of any combination thereof; and the controller determines whether to switch the driving mode to a second driving mode or a third driving mode including braking control based on a comparison result of the risk information with a threshold value.

[0031] According to one embodiment, when at least one of the driving condition, driving information or any combination thereof meets the specified condition, the step of the controller executing the coasting control of the main vehicle based on the first driving mode includes: when at least one of the driving condition, driving information or any combination thereof is identified as overtaking a first other vehicle entering in front of the main vehicle, the overtaking of the main vehicle is activated, the operation of the driving control device is activated or restored when a second other vehicle is present within a specified distance in front of the main vehicle, the set value of the target vehicle head distance is increased or any combination thereof, the controller identifies that at least one of the driving condition, driving information or any combination thereof meets the specified condition.

[0032] According to one embodiment, at least one TTC includes a first TTC identified based on a relative distance and relative speed between the host vehicle and another vehicle present in front of the host vehicle. At least one TTC also includes a second TTC identified based on a relative distance, relative speed and relative acceleration between the host vehicle and the other vehicle.

[0033] According to one embodiment, the step of determining by the controller whether to switch the driving mode to the second driving mode or the third driving mode including braking control based on the comparison result of the risk information and the threshold includes: when the relative speed is greater than or equal to the specified speed, the controller determines whether to switch the driving mode based on the comparison result of the second TTC and the reference TTC.

[0034] According to one embodiment, the driving control method also includes: i) when the time gap is less than a first reference time gap and the relative speed is less than a first reference relative speed; ii) when at least one TTC is less than the first reference TTC; iii) when the time gap is less than a second reference time gap larger than the first reference time gap, at least one TTC is less than a second reference TTC larger than the first reference TTC, and the relative speed is less than a first emergency relative speed smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing gliding control, the controller performs braking control of the main vehicle based on a second driving mode in which the first required deceleration is the minimum deceleration for braking control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings, in which:

[0036] Figure 1 A block diagram showing components of a travel control device according to an embodiment of the present invention;

[0037] Figure 2 A block diagram showing components of a travel control device according to an embodiment of the present invention;

[0038] Figure 3A conceptual diagram of the operation of the travel control device according to the embodiment of the present invention, taking into account the travel conditions between the host vehicle and another vehicle;

[0039] Figure 4 is a conceptual diagram of the operation of the travel control device according to an embodiment of the present invention;

[0040] Figure 5 is a flow chart of a driving control method according to an embodiment of the present invention;

[0041] Figure 6 is a flow chart of a driving control method according to an embodiment of the present invention; and

[0042] Figure 7 A computing system of a travel control method according to an embodiment of the present invention is shown.

[0043] In the description of the drawings, the same or similar components are denoted by the same or similar reference numerals. DETAILED DESCRIPTION

[0044] Hereinafter, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals are always used to represent the same or equivalent components. In addition, detailed descriptions of well-known features or functions are omitted to avoid unnecessarily obscuring the main points of the present invention.

[0045] When describing the components according to an embodiment of the present invention, terms such as first, second, "A", "B", (a), (b) etc. may be used. These terms are only used to distinguish one element from another element, and do not limit the corresponding elements, regardless of the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical and scientific terms used herein should be interpreted in accordance with the conventions of the field to which the present invention belongs. It should be understood that the terms used herein should be interpreted as having a meaning consistent with their meanings in the context of the present invention and related fields. Unless clearly defined herein, these terms should not be interpreted in an idealized or overly formal sense. When the components, devices, elements, etc. of the present invention are described as having a purpose or performing an operation, function, etc., the components, devices, elements, etc. should be considered to be "configured to" meet the purpose or perform the operation or function in this article. Each of the components, devices, elements, etc. can be embodied separately or include a processor and a memory, such as a non-temporary computer-readable medium, as part of the device.

[0046] In the following, reference Figure 1-7 Embodiments of the present invention are described in detail.

[0047] Figure 1 1 is a block diagram showing components of a travel control device according to an embodiment of the present invention.

[0048] According to one embodiment, the travel control device 100 may include at least one of a sensor device 110 , a memory 120 , a controller 130 , a display 140 , or any combination thereof. Figure 1 The components of the travel control device 100 shown in FIG. 1 are illustrative, and the embodiments of the present invention are not limited thereto. For example, the travel control device 100 may also include Figure 1 Components not shown (e.g., at least one of an interface, a communication device, a notification device, or any combination thereof).

[0049] According to one embodiment, the sensor device 110 may obtain (or sense) various information used for driving the host vehicle.

[0050] For example, the sensor device 110 may include at least one sensor including at least one of a camera, radio detection and ranging (RADAR), light detection and ranging (LiDAR), or any combination thereof. The components included in the sensor device 110 may obtain various information in front of, on the side of, and / or behind the host vehicle.

[0051] For example, the sensor device 110 may identify at least one of the driving condition of the host vehicle, the driving information of the host vehicle, or any combination thereof.

[0052] As an example, the sensor device 110 may identify information related to the driving condition of the host vehicle. The information related to the driving condition of the host vehicle includes information related to at least one other vehicle that exists in front of the host vehicle. The sensor device 110 may identify, for example, at least one of the headway between the host vehicle and at least one other vehicle, the relative speed between the host vehicle and at least one other vehicle, the relative acceleration between the host vehicle and at least one other vehicle, or any combination thereof.

[0053] As an example, the sensor device 110 may identify driving information of the host vehicle, which includes information related to at least one of the driving speed of the host vehicle, the driving acceleration of the host vehicle, the driving mode of the host vehicle, the driving distance of the host vehicle, or any combination thereof.

[0054] At least a portion of the above operations performed by the sensor device 110 may be understood to be performed by the controller 130 using information obtained by the sensor device 110 .

[0055] According to one embodiment, the memory 120 may store commands or data. For example, when executed by the controller 130, the memory 120 may store one or more instructions to enable the travel control device 100 to perform various operations.

[0056] For example, the memory 120 and the controller 130 may be implemented as one chipset. The controller 130 may include at least one of a communication processor or a modem.

[0057] For example, the memory 120 may store various information associated with the travel control device 100. As an example, the memory 120 may store information related to the operation history of the controller 130. As an example, the memory 120 may store information associated with the state and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, the controller 130, the display 140, or any combination thereof).

[0058] According to one embodiment, the controller 130 may be operably connected to the sensor 110, the memory 120, and / or the display 140. For example, the controller 130 may control the operation of the sensor 110, the memory 120, and / or the display 140. Figure 1 At least a portion of the embodiments described as being executed by the sensor 110 , the memory 120 , and / or the display 140 may be executed based on the control of the controller 130 .

[0059] For example, the controller 130 may use the sensor device 110 to identify at least one of the driving condition of the host vehicle, the driving information of the host vehicle, or any combination thereof.

[0060] As an example, the driving condition may include at least one of a headway between the host vehicle and at least one other vehicle, a relative speed between the host vehicle and at least one other vehicle, a relative acceleration between the host vehicle and at least one other vehicle, or any combination thereof.

[0061] As an example, the driving information may include information about at least one of a driving speed of the host vehicle, a driving acceleration of the host vehicle, a driving mode of the host vehicle, a driving distance of the host vehicle, or any combination thereof.

[0062] For example, when at least one of the driving condition, the driving information, or any combination thereof satisfies a specified condition, the controller 130 may perform the coasting control of the host vehicle based on the first driving mode.

[0063] As an example, when recognizing an overtaking situation in which a first other vehicle enters in front of the host vehicle, the controller 130 may recognize that a specified condition is satisfied.

[0064] As an example, when an override activation situation of the host vehicle is identified, the controller 130 may identify that the specified condition is satisfied. The override may include, for example, a situation in which the travel control device 100 first processes a control command for a braking device (e.g., a brake) and, when it should send control commands (e.g., a braking command and a travel command) to the braking device and a driving device (e.g., a motor) substantially simultaneously, forcibly performs a braking (or deceleration) control of the host vehicle.

[0065] As an example, when it is recognized that the operation of the travel control device 100 is activated or restored when there is a second other vehicle within a specified distance in front of the host vehicle, the controller 130 can recognize that the specified condition is met. For example, when the travel control device 100 is activated when there is a second other vehicle within a specified distance, the present embodiment can perform priority braking control to prevent a collision with the second other vehicle.

[0066] As an example, when it is recognized that the set value of the target headway distance is increased, the controller 130 may recognize that the specified condition is satisfied. For example, the target headway distance may be increased based on a user input to the host vehicle (e.g., a touch input to a button provided in the steering wheel). In this case, when it is recognized that another vehicle that was separated from the host vehicle by more than the target headway distance before the target headway distance was changed currently exists within the increased target headway distance, since the specified condition is satisfied, the controller 130 may release the coasting control and perform the braking control according to the second driving mode or the third driving mode.

[0067] As an example, coasting may include a driving condition in which the controller 130 continues coasting without sending a control command for a driving device or a braking device. The first driving mode may include, for example, a driving mode in which the controller 130 controls the host vehicle to travel without outputting a braking command.

[0068] For example, the controller 130 may identify risk information including at least one of a time to collision (TTC), a time gap with a preceding vehicle, a relative speed with a preceding vehicle, or any combination thereof.

[0069] As an example, at least one TTC may be identified based on a mapping table stored in the memory 120. The mapping table may include TTC values ​​corresponding to the relative speed between the host vehicle and the preceding vehicle ahead of the host vehicle. As another example, at least one TTC may be identified based on equations 1 and 2 below.

[0070] As an example, the time gap to the leading vehicle may be a time at which the leading vehicle is expected to collide with (or come into contact with) the leading vehicle based on the driving speed of the host vehicle and the driving speed of the leading vehicle.

[0071] As an example, the at least one TTC may include a first TTC (TTC) identified based on the following equations 1 and 2: 1 ) and / or second TTC (TTC 2 ).

[0072] [Equation 1]

[0073]

[0074] [Equation 2]

[0075]

[0076] For example, according to Equation 1 above, the at least one TTC may include a first TTC (TTC 1 ), which is based on the headway distance d between the host vehicle and another vehicle in front of the host vehicle 相对 (or relative distance) and relative speed v 相对 to identify.

[0077] For example, according to Equation 2 above, at least one TTC may include a second TTC (TTC 2 ), which is based on the headway distance d between the host vehicle and other vehicles in front of the host vehicle 相对 (or relative distance) and relative speed v 相对 and the relative acceleration a between the host vehicle and other vehicles 相对 to identify.

[0078] As an example, when the relative speed included in the risk information is greater than or equal to the specified speed, the controller 130 may select the first TTC (TTC 1 ) and the second TTC (TTC 2 ) between the second TTC (TTC 2 ) as a parameter to determine whether to activate brake control.

[0079] As an example, the time gap to the preceding vehicle may be identified based on Equation 3 below.

[0080] [Equation 3]

[0081]

[0082] For example, according to Equation 3 above, the time gap can be based on the headway distance d between the host vehicle and other vehicles in front of the host vehicle. 相对 And the real-time speed v of the host vehicle 主 to identify.

[0083] As an example, the relative speed v 相对 It can be identified based on Equation 4 below.

[0084] [Equation 4]

[0085] Relative speed = v 前方 -v 主

[0086] For example, according to Equation 4 above, the relative velocity v 相对 Based on the real-time speed v of the host vehicle 主 and the real-time speed v of other vehicles in front of the main vehicle 前方 to identify.

[0087] For example, the controller 130 may determine whether to switch the driving mode to the second driving mode or the third driving mode including the braking control based on a comparison result of the risk information and the threshold value.

[0088] For example, the second driving mode may be a driving mode including braking control, in which the minimum deceleration (or the lower limit of the deceleration) for braking control is set to the first required deceleration (e.g., -2 m / s 2 ).

[0089] For example, the third driving mode may be a driving mode including braking control, in which the minimum deceleration (or the lower limit of the deceleration) for braking control is set to the second required deceleration (eg, -3.5 m / s 2 ). The second required deceleration may be smaller than the first required deceleration. In other words, the third driving mode may be a driving mode that can output a larger deceleration to perform braking control of the host vehicle than the second driving mode.

[0090] As an example, when the time interval included in the risk information is less than the first reference time interval (e.g., 1.3 seconds), and when the relative speed is less than the first reference relative speed (e.g., 1 m / s 2 ), the controller 130 may release the coasting control and perform the driving control (or braking control) of the host vehicle based on the second driving mode.

[0091] As an example, when the TTC selected based on the above criteria among at least one TTC is less than the first reference TTC, the controller 130 may release the coasting control and perform the driving control of the host vehicle based on the second driving mode.

[0092] As an example, when the time gap is less than the second reference time gap, when at least one TTC is less than the second reference TTC, and when the relative speed is less than the first emergency relative speed (e.g., -2.5 m / s 2 ), the controller 130 may release the coasting control and perform the driving control of the host vehicle based on the second driving mode. For example, the second reference time gap and the second reference TTC may be values ​​greater than the first reference time gap and the first reference TTC, respectively. The first emergency relative speed may be, for example, a value less than the first reference relative speed.

[0093] For example, when the following situation is recognized, the controller 130 may perform the driving control (or braking control) of the host vehicle based on the third driving mode while performing the coasting control based on the first driving mode or performing the driving control based on the second driving mode.

[0094] As an example, when the time interval included in the risk information is less than the third reference time interval (e.g., 0.4 seconds), and when the relative speed is less than the second reference relative speed (e.g., 0 m / s 2 ), the controller 130 may perform driving control of the host vehicle based on the third driving mode. For example, the third reference time interval and the second reference relative speed may be values ​​smaller than the first reference time interval and the first reference relative speed, respectively.

[0095] As an example, when at least one TTC is less than a third reference TTC, the controller 130 may perform driving control of the host vehicle based on the third driving mode. The third reference TTC may be, for example, a value less than the first reference TTC.

[0096] As an example, when the relative speed is less than the second emergency relative speed (eg, -7 m / s 2 ), the controller 130 may perform driving control of the host vehicle based on the third driving mode. The second emergency relative speed may be, for example, a value less than the first emergency relative speed.

[0097] For example, the controller 130 may determine whether to activate the driving mode including the brake control based on a comparison result of the headway distance between the host vehicle and the preceding vehicle and the target headway distance.

[0098] As an example, the controller 130 may identify the headway distance between the host vehicle and the vehicle ahead, and may control the host vehicle to travel in the third driving mode when the identified headway distance is greater than a predetermined target headway distance. In other words, when the identified headway distance is greater than the target headway distance, the controller 130 may determine that the current situation is a general situation that does not require the deceleration restriction function, and may end the coasting control to release the deceleration restriction according to the first driving mode.

[0099] According to an embodiment, the display 140 may include at least one display device (eg, a display).

[0100] For example, the display 140 may provide the user with relevant information of at least one of the driving mode of the host vehicle, the driving status of the host vehicle, the driving information of the host vehicle, or any combination thereof.

[0101] Figure 1 The components of the travel control device 100 shown are illustrative, and the embodiments of the present invention are not limited thereto. For example, the travel control device 100 may further include a notification device (not shown).

[0102] According to one embodiment, the notification device may include at least one output device. For example, the notification device may include an output device (eg, a speaker) included in at least a portion of the host vehicle.

[0103] For example, the notification device may output various sounds to the outside. For example, the notification device may output relevant information of at least one of the driving mode of the host vehicle, the driving state of the host vehicle, the driving information of the host vehicle, or any combination thereof.

[0104] Figure 2 1 is a block diagram showing components of a travel control device according to an embodiment of the present invention.

[0105] According to one embodiment, a travel control device (e.g., Figure 1 The travel control device 100 may include Figure 2 For example, the driving control device may include a main vehicle state detection device 211, a sensor device 213 (for example, Figure 1 sensor device 110), controller 230 (e.g., Figure 1 Controller 130), output device 240 (e.g., Figure 1 The controller 230 may include a recognition device 231 and a risk determination device 239.

[0106] For example, the driving control device may use the host vehicle state detection device 211 to identify the driving information of the host vehicle (e.g., at least one of the driving speed, driving mode, driving acceleration, driving distance, or any combination thereof). Figure 2 In the embodiment of the present invention, the host vehicle state detection device 211 and the sensor device 213 are shown as separate components independent of each other, but this is for illustrative purposes. The host vehicle state detection device 211 may be implemented as a component of the sensor device 213.

[0107] For example, the driving control device can use the sensor device 213 to identify the driving condition of the main vehicle (for example, whether there is another vehicle, the head distance to other vehicles, the driving speed of other vehicles, the driving acceleration of other vehicles, or at least one of any combination thereof).

[0108] For example, the travel control device can use the controller 230 to identify the travel mode for the travel control of the host vehicle, can generate a control command based on the identified travel mode, and can send the generated control command to the brake and drive device 250. Therefore, the travel control device can perform the travel control (or deceleration control) for the host vehicle. The controller 230 can identify the travel mode based on at least part of the information identified by the host vehicle state detection device 211 and the sensor device 213.

[0109] As an example, referring to reference numeral 233, the controller 230 may identify at least one TTC using the identification device 231. The at least one TTC may include a first TTC and a second TTC.

[0110] As an example, referring to reference numeral 235 , the controller 230 may use the identification device 231 to identify the time gap.

[0111] As an example, referring to reference numeral 237 , the controller 230 may use the identification device 231 to identify the relative speed.

[0112] For example, the controller 230 may send at least a portion of the information identified using the identification device 231 to the risk determination device 239 .

[0113] For example, the controller 230 may identify the risk using the risk determination device 239, and may identify a driving mode from the first driving mode, the second driving mode, and the third driving mode according to the risk. Figure 1 The above description is used instead.

[0114] For example, the controller 230 may transmit a control command generated based on the recognized driving mode to the braking and driving device 250 .

[0115] For example, the controller 230 may send at least a portion of the information identified (or output) by at least one of the main vehicle status detection device 211, the sensor device 213, the identification device 231, the risk determination device 239, or any combination thereof to the output device 240.

[0116] For example, the output device 240 may provide at least a portion of the information transmitted from the controller 230 to the user visually and / or auditorily.

[0117] For example, the braking and driving device 250 may perform braking and / or driving operations of the host vehicle based on a control command transmitted from the controller 230 .

[0118] Figure 3 FIG. 1 is a conceptual diagram of an operation of a travel control device taking into account a travel condition between a host vehicle and another vehicle according to an embodiment of the present invention.

[0119] According to one embodiment, when at least one of the driving condition, the driving information, or any combination thereof satisfies a specified condition, the driving control device (e.g., Figure 1 The driving control device 100 may perform coasting control of the host vehicle 301 based on the first driving mode.

[0120] Referring to reference numeral 310, according to one embodiment, when recognizing an overtaking situation in which another vehicle 302 enters in front of the host vehicle 301, the travel control device may recognize that a specified condition is satisfied. For example, when a first headway distance d11 from the host vehicle 301 after the other vehicle 302 completes the overtaking operation is less than a target headway distance d12, the travel control device may recognize that the specified condition is satisfied.

[0121] Referring to reference numeral 320, according to one embodiment, when the override activation of the host vehicle 301 is recognized or when the operation of the travel control device is activated or resumed when it is recognized that the other vehicle 302 exists within a specified distance d21 (or a target headway) in front of the host vehicle 301, the travel control device may recognize that the specified condition is satisfied. When the travel control device is activated when the second headway d22 between the host vehicle 301 and the other vehicle 302 is less than the specified distance d21, the present embodiment may perform priority braking control to prevent a collision with the second other vehicle.

[0122] Referring to reference numeral 330, according to one embodiment, when it is recognized that the set value of the target headway distance is increased, the travel control device may recognize that the specified condition is satisfied. For example, the target headway distance may be increased from the first distance d311 to the second distance d312 based on the user input to the host vehicle 301. In this case, when it is recognized that the other vehicle 302 spaced apart from the host vehicle 301 by a third headway distance d31 greater than the first distance d311 before the target headway distance is changed exists within the second distance d312 after the target headway distance is changed, since the specified condition is satisfied, the travel control device may release the coasting travel control and may perform the braking control according to the second travel mode or the third travel mode.

[0123] Although not illustrated, according to one embodiment, when the override activation condition of the host vehicle 301 is identified, the travel control device may identify that a specified condition is satisfied.

[0124] Figure 4 FIG. 1 is a conceptual diagram of the operation of the travel control device according to the embodiment of the present invention.

[0125] According to one embodiment, the travel control device may perform travel control of the host vehicle based on any one of a plurality of travel modes (eg, a first control (or travel) mode, a second control mode, and a third control mode).

[0126] For example, referring to reference numeral 410, the first control mode may be one in which the lower limit of the required deceleration (or the minimum deceleration for braking control) is set to a first value (eg, -2 m / s 2 The first control mode may be a driving mode for controlling the host vehicle to coast without outputting a braking command.

[0127] For example, referring to reference numeral 420, the second control mode may be a driving mode in which the lower limit of the required deceleration (or the minimum deceleration for braking control) is set to a first value. The second control mode may be a driving mode in which a braking command is generated based on the driving condition, driving information, etc. of the host vehicle and braking control is performed.

[0128] For example, referring to reference numeral 430, the third control mode may be one in which the lower limit of the required deceleration (or the minimum deceleration for braking control) is set to a second value (eg, -3.5 m / s ) less than the first value. 2 The third control mode may be a driving mode in which a braking command having a greater deceleration than the second control mode is generated based on the driving condition, driving information, etc. of the host vehicle and braking control is performed.

[0129] Figure 5 4 is a flow chart of a driving control method according to an embodiment of the present invention.

[0130] According to one embodiment, a travel control device (e.g., Figure 1 The driving control device 100) can execute Figure 5 For example, at least a portion of the components included in the travel control device (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 5 operation.

[0131] The operations in S510 to S570 in the following embodiments may be performed in sequence, but are not necessarily performed in sequence. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 5 Content that corresponds to or repeats the content described.

[0132] According to one embodiment, in S510 , the driving control device may use a sensor device to identify whether the driving condition or driving information of the host vehicle meets a specified condition.

[0133] For example, when it is recognized that the driving condition or driving information satisfies a specified condition (eg, S510 is “Yes”), the driving control device may execute S520 .

[0134] For example, when it is recognized that the driving condition or driving information does not satisfy the specified condition (eg, S510 is “No”), the driving control device may repeatedly execute S510 .

[0135] According to one embodiment, in S520, the driving control device may perform coasting control based on the first driving mode.

[0136] According to one embodiment, in S530 , the travel control device may identify the TTC, the time gap, and the relative speed.

[0137] According to one embodiment, in S540 , the driving control device may determine whether the identified TTC, the identified time gap, and / or the identified relative speed satisfies the second driving mode operating condition.

[0138] For example, when the second driving mode operation condition is satisfied (eg, S540 is “Yes”), the driving control device may execute S550 .

[0139] For example, when it is identified that the second driving mode operation condition is not satisfied (eg, S540 is “NO”), the driving control device may execute S545 .

[0140] According to one embodiment, in S545, the travel control device may identify whether a deceleration restriction control end condition is satisfied.

[0141] For example, the deceleration restriction control end condition may include at least one condition for ending the deceleration restriction control based on the first driving mode.

[0142] For example, the deceleration limit control end condition may include a case where the headway distance is greater than a predetermined target headway distance. The travel control device may identify, for example, a headway distance between the host vehicle and at least one other vehicle present in front of the host vehicle based on the travel condition identified using the sensor device. The travel control device may also compare the headway distance with a predetermined target headway distance. For example, when the identified headway distance is greater than a predetermined target headway distance, the travel control device may identify that the deceleration limit control end condition is satisfied.

[0143] For example, when the deceleration restriction control end condition is satisfied (eg, S545 is “Yes”), the travel control device may execute S570 .

[0144] For example, when it is identified that the deceleration restriction control end condition is not satisfied (eg, S545 is "No"), the travel control device may execute S520.

[0145] According to one embodiment, in S550, the driving control device may operate the second driving mode.

[0146] For example, the travel control device may end the travel control of the host vehicle based on the first travel mode, and may perform the travel control of the host vehicle (for example, travel control including braking control) based on the second travel mode.

[0147] According to one embodiment, in S560, the driving control device may determine whether the identified TTC, the identified time gap, and / or the identified relative speed satisfies the third driving mode operating condition.

[0148] For example, when the third driving mode operation condition is satisfied (eg, S560 is “Yes”), the driving control device may execute S570 .

[0149] For example, when it is identified that the third driving mode operation condition is not satisfied (eg, S560 is “NO”), the driving control device may execute S565.

[0150] According to one embodiment, in S565, the travel control device may identify whether the deceleration restriction control end condition is satisfied.

[0151] For example, the description of the deceleration restriction control end condition may be replaced with the description of S545 described above.

[0152] For example, when the deceleration restriction control end condition is satisfied (eg, S565 is “Yes”), the travel control device may execute S570 .

[0153] For example, when it is identified that the deceleration restriction control end condition is not satisfied (eg, S565 is "No"), the travel control device may execute S550.

[0154] According to one embodiment, in S570, the travel control device may release the deceleration restriction, and may perform travel control of the host vehicle based on the third travel mode.

[0155] For example, the driving control device may release the deceleration restriction performed when the host vehicle is controlled based on the first driving mode and / or the second driving mode (for example, setting the lower limit of the required deceleration to be greater than the lower limit of the third driving mode, or only outputting or not outputting at least a part of the braking command), and may utilize a lower limit greater than a specified lower limit (for example, -3.5 m / s 2 )’s required deceleration is used to execute driving control of the main vehicle.

[0156] Figure 6 4 is a flow chart of a driving control method according to an embodiment of the present invention.

[0157] According to one embodiment, a travel control device (e.g., Figure 1 The driving control device 100) can execute Figure 6 For example, at least some of the components (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 6 operation.

[0158] The operations in S610 to S650 in the following embodiments may be performed in sequence, but are not necessarily performed in sequence. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 6 Content that corresponds to or repeats the content described.

[0159] According to one embodiment, in S610 , the driving control device may use a sensor device to identify the driving condition or driving information of the host vehicle.

[0160] According to one embodiment, in S620, the driving control device may identify whether the driving condition or the driving information satisfies a specified condition.

[0161] For example, when it is recognized that the driving condition or the driving information satisfies a specified condition (eg, S620 is “Yes”), the driving control device may execute S630 .

[0162] For example, when it is recognized that the driving condition or driving information does not satisfy the specified condition (eg, S620 is “No”), the driving control device may repeatedly execute S610 .

[0163] According to one embodiment, in S630, the driving control device may perform coasting control based on the first driving mode.

[0164] According to one embodiment, in S640 , the driving control device may identify risk information including at least one of a TTC, a time gap with a preceding vehicle, a relative speed with a preceding vehicle, or any combination thereof.

[0165] According to one embodiment, in S650 , the driving control device may determine whether to switch the driving mode to the second driving mode or the third driving mode including the braking control based on the comparison result of the risk information and the threshold value.

[0166] Figure 7 A computing system related to a driving control method according to an embodiment of the present invention is shown.

[0167] refer to Figure 7 The computing system 1000 of the driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700, which are interconnected via a bus 1200.

[0168] The processor 1100 may be a central processing unit (CPU) or a semiconductor device to process instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0169] Therefore, the operations of the methods or algorithms described in conjunction with the embodiments disclosed in the specification may be implemented directly using hardware modules, software modules, or a combination of hardware modules and software modules executed by the processor 1100. The software modules may reside on a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0170] The storage medium may be combined with the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another case, the processor and the storage medium may reside in a user terminal as separate components.

[0171] The effects of the travel control device and method thereof according to the embodiment of the present invention will be described below.

[0172] According to at least one embodiment of the present invention, the driving control device can identify the risk level by further using TTC, relative speed, time gap or at least one of any combination thereof and the headway between vehicles, thereby providing more accurate and practical main vehicle driving control functions (e.g., braking control and / or sliding control).

[0173] In addition, according to at least one embodiment of the present invention, the driving control device can compare various types of parameters with threshold values, and can provide a function for executing driving control of the main vehicle by selectively using a control mode of driving control as a safety mode (e.g., a first driving mode) based on the comparison result, a driving mode including a first braking control (e.g., a second driving mode), and a driving mode including a second braking mode that is stronger than the first braking control (e.g., a third driving mode).

[0174] In addition, according to at least one embodiment of the present invention, the travel control device can accurately identify the travel condition of the host vehicle, and can selectively perform braking control or coasting control based on the identification result. Therefore, it is possible to prevent the braking control from being activated unnecessarily or to prevent the braking control from being blocked based on the amount of excessive braking. Therefore, according to an embodiment of the present invention, the travel control device can improve fuel efficiency and improve ride quality.

[0175] Furthermore, various effects directly or indirectly determined by the present invention can be provided.

[0176] Although the present invention has been described with reference to the embodiments and the accompanying drawings, the present invention is not limited thereto. A person skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as claimed in the appended claims.

[0177] Therefore, the embodiments of the present invention are not intended to limit the technical spirit of the present invention, but are only for illustrative purposes. The scope of the present invention should be interpreted based on the appended claims, and all technical ideas within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. A driving control device, comprising: Sensor device; a memory configured to store at least one instruction; as well as a controller operatively connected to the sensor device and the memory, Wherein, the at least one instruction is configured to, when executed by the controller, cause the travel control device to: using the sensor device to identify at least one of a driving condition of the host vehicle, driving information of the host vehicle, or any combination thereof; When at least one of the driving condition, the driving information or any combination thereof satisfies a specified condition, executing coasting control of the host vehicle based on the first driving mode; Identify at least one collision time TTC, a time gap with the vehicle ahead, risk information of at least one of a relative speed to the preceding vehicle or any combination thereof; and Based on the comparison result between the risk information and the threshold value, it is determined whether to switch the driving mode to the second driving mode or the third driving mode including the brake control.

2. The travel control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the travel control device to: When at least one of the following situations is identified: an overtaking situation in which a first other vehicle enters in front of the main vehicle, an override situation in which the main vehicle has its override activated, a situation in which the operation of the driving control device is activated or restored when a second other vehicle is within a specified distance in front of the main vehicle, a situation in which the set value of the target vehicle headway is increased, or any combination thereof, it is identified that at least one of the driving condition, driving information, or any combination thereof satisfies the specified condition.

3. The travel control device according to claim 1, wherein: At least one TTC includes: a first TTC identified based on a relative distance and a relative speed between the host vehicle and another vehicle present in front of the host vehicle; and The second TTC is identified based on a relative distance, a relative speed, and a relative acceleration between the host vehicle and the other vehicle.

4. The travel control device according to claim 3, wherein: The at least one instruction is configured to, when executed by the controller, cause the travel control device to: When the relative speed is greater than or equal to a designated speed, whether to switch the driving mode is determined based on a comparison result of the second TTC with a reference TTC.

5. The travel control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the travel control device to: i) when the time gap is less than a first reference time gap and the relative speed is less than a first reference relative speed; ii) when the at least one TTC is less than a first reference TTC; iii) when the time gap is smaller than a second reference time gap that is larger than the first reference time gap, the at least one TTC is smaller than a second reference TTC that is larger than the first reference TTC, and the relative speed is smaller than a first emergency relative speed that is smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing coasting control, braking control of the main vehicle is performed based on the second driving mode in which the first required deceleration is the minimum deceleration for the braking control.

6. The travel control device according to claim 5, wherein: The at least one instruction is configured to, when executed by the controller, cause the travel control device to: During coasting control or braking control based on the second driving mode: i) when the time gap is smaller than a third reference time gap and the relative speed is smaller than a second reference relative speed; ii) when the at least one TTC is less than a third reference TTC; or iii) when the relative speed is less than a second emergency relative speed, performing braking control of the host vehicle based on the third driving mode in which the second required deceleration is the minimum deceleration for braking control.

7. The travel control device according to claim 6, wherein: The first reference time interval is greater than the third reference time interval, Wherein, the first reference relative speed is greater than the second reference relative speed, Wherein, the first reference TTC is greater than the third reference TTC, wherein the first emergency relative speed is greater than the second emergency relative speed, and The first required deceleration is greater than the second required deceleration.

8. The travel control device according to claim 1, wherein: The at least one instruction is configured to, when executed by the controller, cause the travel control device to: identifying a headway distance between the host vehicle and at least one other vehicle that is located in front of the host vehicle based on a driving condition; and When the headway between vehicles is greater than a predetermined target headway between vehicles, the host vehicle is controlled in the third driving mode.

9. A driving control method, comprising the following steps: The controller uses the sensor device to identify at least one of the driving condition of the host vehicle, the driving information of the host vehicle, or any combination thereof; When at least one of the driving condition, the driving information or any combination thereof satisfies a specified condition, the controller performs coasting control of the host vehicle based on the first driving mode; identifying, by the controller, risk information including at least one of a collision time TTC, a time gap with a preceding vehicle, a relative speed with the preceding vehicle, or any combination thereof; as well as The controller determines whether to switch the driving mode to the second driving mode or the third driving mode including the braking control based on a comparison result between the risk information and a threshold value.

10. The driving control method according to claim 9, wherein: When at least one of the driving condition, the driving information or any combination thereof satisfies the specified condition, the step of executing the coasting control of the host vehicle based on the first driving mode by the controller includes: The controller identifies that at least one of the driving condition, driving information, or any combination thereof satisfies the specified condition when at least one of the following situations is identified: an overtaking situation in which a first other vehicle enters in front of the main vehicle, an override situation in which the main vehicle has its override activated, a situation in which the operation of the driving control device is activated or restored when a second other vehicle is within a specified distance in front of the main vehicle, a situation in which the set value of the target vehicle headway is increased, or any combination thereof.

11. The driving control method according to claim 9, wherein: The at least one TTC comprises: a first TTC identified based on a relative distance and a relative speed between the host vehicle and another vehicle present in front of the host vehicle; and The second TTC is identified based on a relative distance, a relative speed, and a relative acceleration between the host vehicle and the other vehicle.

12. The driving control method according to claim 11, wherein: The step of determining, by the controller based on a comparison result between the risk information and the threshold value, whether to switch the driving mode to the second driving mode or the third driving mode including braking control comprises: When the relative speed is greater than or equal to a designated speed, the controller determines whether to switch the driving mode based on a comparison result of the second TTC with a reference TTC.

13. The driving control method according to claim 9, further comprising the following steps: i) when the time gap is smaller than a first reference time gap and the relative speed is smaller than a first reference relative speed; ii) when the at least one TTC is less than a first reference TTC; iii) when the time gap is smaller than a second reference time gap that is larger than the first reference time gap, the at least one TTC is smaller than a second reference TTC that is larger than the first reference TTC, and the relative speed is smaller than a first emergency relative speed that is smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing coasting control, the controller performs braking control of the main vehicle based on the second driving mode in which the first required deceleration is the minimum deceleration for braking control.

14. The driving control method according to claim 13, further comprising the following steps: During coasting control performed by the controller or braking control performed by the controller based on the second driving mode: i) when the time gap is smaller than a third reference time gap and the relative speed is smaller than a second reference relative speed; ii) when the at least one TTC is less than a third reference TTC; or iii) when the relative speed is less than a second emergency relative speed, the controller performs braking control of the host vehicle based on the third driving mode in which the second required deceleration is the minimum deceleration for braking control.

15. The driving control method according to claim 9, further comprising the following steps: The controller identifies a headway distance between the host vehicle and at least one other vehicle existing in front of the host vehicle based on a driving condition; as well as When the headway between the vehicles is greater than a predetermined target headway between the vehicles, the controller controls the host vehicle in the third driving mode.

16. A non-transitory computer-readable storage medium comprising a program for executing a travel control method, the travel control method comprising the steps of: The controller uses the sensor device to identify at least one of the driving condition of the host vehicle, the driving information of the host vehicle, or any combination thereof; When at least one of the driving condition, the driving information or any combination thereof satisfies a specified condition, the controller performs coasting control of the host vehicle based on the first driving mode; identifying, by the controller, risk information including at least one of a collision time TTC, a time gap with a preceding vehicle, a relative speed with the preceding vehicle, or any combination thereof; as well as The controller determines whether to switch the driving mode to the second driving mode or the third driving mode including the braking control based on a comparison result between the risk information and a threshold value.

17. The non-transitory computer-readable storage medium of claim 16, wherein: When at least one of the driving condition, the driving information or any combination thereof satisfies the specified condition, the step of executing the coasting control of the host vehicle based on the first driving mode by the controller includes: The controller identifies that at least one of the driving condition, driving information, or any combination thereof satisfies the specified condition when at least one of the following situations is identified: an overtaking situation in which a first other vehicle enters in front of the main vehicle, an override situation in which the main vehicle has its override activated, a situation in which the operation of the driving control device is activated or restored when a second other vehicle is within a specified distance in front of the main vehicle, a situation in which the set value of the target vehicle headway is increased, or any combination thereof.

18. The non-transitory computer-readable storage medium of claim 16, wherein: The at least one TTC comprises: a first TTC identified based on a relative distance and a relative speed between the host vehicle and another vehicle present in front of the host vehicle; and The second TTC is identified based on a relative distance, a relative speed, and a relative acceleration between the host vehicle and the other vehicle.

19. The non-transitory computer-readable storage medium of claim 18, wherein: The step of determining, by the controller, whether to switch the driving mode to the second driving mode or the third driving mode including braking control based on the comparison result between the risk information and the threshold value comprises: When the relative speed is greater than or equal to a designated speed, the controller determines whether to switch the driving mode based on a comparison result of the second TTC with a reference TTC.

20. The non-transitory computer-readable storage medium of claim 16, wherein: The driving control method further comprises the following steps: i) when the time gap is less than a first reference time gap and the relative speed is less than a first reference relative speed; ii) when the at least one TTC is less than a first reference TTC; iii) when the time gap is less than a second reference time gap that is larger than the first reference time gap, the at least one TTC is less than a second reference TTC that is larger than the first reference TTC, and the relative speed is less than a first emergency relative speed that is smaller than the first reference relative speed; or iv) when the driving speed of the main vehicle increases while performing coasting control, the controller performs braking control of the main vehicle based on the second driving mode in which the first required deceleration is the minimum deceleration for braking control.

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