Vehicle cruise speed control method and system based on distance between front vehicle and rear vehicle and vehicle

Abstract

The invention provides a vehicle cruise speed control method and system based on the distance between a front vehicle and a rear vehicle and a vehicle, and the method specifically comprises the following steps: (1) when the vehicle is in a cruise state, monitoring the distance between the vehicle and the front vehicle and the distance between the vehicle and the rear vehicle; (2) determining the safety state of the vehicle based on the vehicle distance between the vehicle and the front vehicle and the vehicle distance between the vehicle and the rear vehicle; and (3) when the collision risk exists in the safe state of the vehicle, the collision risk of the vehicle is reduced by adjusting the speed of the vehicle. When the vehicle detects that the distance between the vehicle and the front and rear sides or the vehicle behind the vehicle is too close, the risk of collision between the vehicle and the front and rear vehicles in the cruising process is reduced as much as possible by adjusting the cruising speed of the vehicle in a self-adaptive mode.

Description

Technical Field

[0001] The invention relates to the technical field of automatic cruise control, and provides a vehicle cruise speed control method, system and vehicle based on the front and rear vehicle distance. Background Art

[0002] The safety of automobiles has always been the focus of every automobile manufacturer, and well-known manufacturers have also been committed to developing more advanced technologies and measures to ensure the safety of passengers in the car and the external environment.

[0003] The safety systems on cars are mainly divided into two categories, one is active safety system and the other is passive safety system. Active safety system is a safety design to prevent car accidents and avoid injuries to people. Common ones include anti-lock braking system (ABS), electronic brake force distribution system (EBD), traction control system (TCS), electronic body stability system (ESP), automatic emergency braking system (AEB), lane departure warning system (LDWS), tire pressure monitoring system (TPMS) and vehicle distance control system; their characteristics are to improve the driving stability of the car and avoid accidents as much as possible; passive safety system is a safety design to reduce the injuries suffered by people in accidents. Common ones include airbags (SRS), seat belts, etc. Their characteristics are that they only work after the accident.

[0004] At present, the vehicle distance control system is mainly the adaptive cruise control system (ACC), which uses sensors to monitor the road traffic environment in front of it, and controls the longitudinal speed of the vehicle based on the relative distance and relative speed between the vehicle and the vehicle in front, so as to avoid rear-end collision with the vehicle in front. The above method takes into account the speed and distance control of the vehicle relative to the vehicle in front, but does not take into account the safety of the rear vehicle. Summary of the invention

[0005] In view of this, the present application provides a vehicle cruise control method based on the front and rear vehicle distance, aiming to improve the above-mentioned problem.

[0006] Specifically, the following technical solutions are included:

[0007] On the one hand, an embodiment of the present application provides a vehicle cruising speed control method based on the front and rear vehicle distance, and the method is specifically as follows:

[0008] (1) When the vehicle is in cruising mode, monitor the distance between the vehicle and the vehicle in front and behind;

[0009] (2) Determine the safety status of the vehicle based on the distance between the vehicle and the vehicle in front and the vehicle behind;

[0010] (3) When there is a risk of collision in the safe state of the vehicle, the risk of collision of the vehicle is reduced by adjusting the speed of the vehicle.

[0011] In some embodiments of the present invention, the method for determining the safety status of the vehicle is as follows:

[0012] Based on the current distance S between the vehicle and the vehicle in front f Determine the safety status between the vehicle and the vehicle ahead;

[0013] Based on the current distance S between the vehicle and the following vehicle b Determine the safety status between the vehicle and the following vehicle;

[0014] The safety status of this vehicle is determined by comprehensively considering the safety status between this vehicle and the vehicle in front, as well as the safety level between this vehicle and the vehicle behind. The safety status of this vehicle includes a safe state, a relatively dangerous state and a dangerous state. When in a safe state, it is determined that there is no risk of collision between this vehicle and the vehicle in front or the vehicle behind.

[0015] In some embodiments of the present invention, the method for determining the safety status between the vehicle and the preceding vehicle is specifically as follows:

[0016] In S f >S v When , the vehicle is in a safe state relative to the vehicle in front;

[0017] In S Δf ≤S f ≤S v When , the vehicle is in a relatively safe state relative to the vehicle in front;

[0018] In S Δf >S f When the vehicle is in a relatively dangerous state relative to the vehicle in front;

[0019] Among them, S v is the effective scanning distance set, S f is the distance between the vehicle and the vehicle in front, S Δf The safe distance between this vehicle and the vehicle in front is set.

[0020] In some embodiments of the present invention, the method for determining the safety status between the host vehicle and the following vehicle is specifically as follows:

[0021] In S b >S v When , the vehicle is in a safe state relative to the vehicle behind;

[0022] In S Δb ≤S b ≤S v When , the vehicle is in a relatively safe state relative to the vehicle behind;

[0023] In S Δb >S b When the vehicle is in a relatively dangerous state relative to the vehicle behind;

[0024] Among them, S v is the effective scanning distance set, S b is the distance between the vehicle and the vehicle behind, S Δb It is the safe distance between the vehicle and the following vehicle.

[0025] In some embodiments of the present invention, when the vehicle is in a safe state or a relatively safe state relative to the vehicle in front and the vehicle behind, the vehicle is deemed to be in a safe state; when the vehicle is in a dangerous state relative to the vehicle in front or the vehicle behind, the vehicle is deemed to be in a relatively dangerous state; when the vehicle is in a dangerous state relative to both the vehicle in front and the vehicle behind, the vehicle is deemed to be in a dangerous state.

[0026] In some embodiments of the present invention, when the vehicle is in a safe state or a relatively safe state relative to the vehicle ahead, and in a dangerous state relative to the vehicle behind, the vehicle accelerates and the distance S between the vehicle ahead and the vehicle behind is b Reach safe distance S Δb When the distance between the vehicle and the vehicle in front is S f Still greater than the safety distance S Δf , the vehicle stops accelerating and takes the current speed v1 of the vehicle as the current cruising speed. The vehicle cruises at the speed v1. The distance S between the vehicle and the following vehicle b The safety distance S has not been reached yet Δb When the distance between the vehicle and the vehicle in front is S f Also less than the safety distance S Δf , the vehicle enters a dangerous state.

[0027] In some embodiments of the present invention, when the vehicle is in a dangerous state relative to the vehicle in front, but in a safe state or a relatively safe state relative to the vehicle behind, the vehicle is controlled to decelerate and the distance S between the vehicle and the vehicle in front is f Reach safe distance S Δf When the distance between the vehicle and the vehicle behind is S b Still greater than the safety distance S Δb , the vehicle stops decelerating and takes the current speed v2 of the vehicle as the current cruising speed. The vehicle cruises at the speed v2. The distance S between the vehicle and the vehicle ahead f The safety distance S has not been reached yet Δf When the distance between the vehicle and the vehicle in front is S b Also less than the safety distance S Δb , the vehicle enters a dangerous state.

[0028] In some embodiments of the present invention, when the vehicle is in a dangerous state, the vehicle speed adjustment method of the vehicle is specifically as follows:

[0029] In S f :S b >SΔf :S Δb When the vehicle speed is increased, maintain S f :S b =S Δf :S Δb ; in S f :S b <S Δf :S Δb When the vehicle speed is reduced, maintain S f :S b =S Δf :S Δb .

[0030] On the other hand, an embodiment of the present application provides a vehicle cruise speed control system based on the front and rear vehicle distance, the system comprising:

[0031] A distance measuring sensor, an electronic control unit ECU, a motor controller and a motor, wherein the distance measuring sensor is connected to the electronic control unit ECU for communication, the electronic control unit ECU is connected to the motor controller for communication, and the motor controller controls the speed of the motor;

[0032] The distance measuring sensor is used to monitor the distance between the vehicle and the front and rear vehicles, and send it to the electronic control unit ECU. The electronic control unit ECU drives the motor controller based on the above-mentioned vehicle cruise speed control method based on the front and rear vehicle distance. The motor controller adjusts the speed of the motor to enable the vehicle to accelerate, decelerate or drive at a constant speed.

[0033] On the other hand, an embodiment of the present application provides a vehicle, on which the above-mentioned vehicle cruise speed control system based on the front and rear vehicle distance is integrated.

[0034] When the vehicle detects that the distance to the front and rear side or rear vehicle is too close, the cruising speed of the vehicle is adaptively adjusted to minimize the risk of collision with the front and rear vehicles during cruising. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A flow chart of a vehicle cruising speed control method based on the front and rear vehicle distance provided by an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of a vehicle cruise speed control system based on front and rear vehicle distance provided by an embodiment of the present invention;

[0038] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art.

[0041] Figure 1 A flow chart of a vehicle cruising speed control method based on the front and rear vehicle distance provided by an embodiment of the present invention, the method is specifically as follows:

[0042] (1) When the vehicle is in cruising mode, monitor the distance between the vehicle and the vehicle in front and behind;

[0043] (2) Determine the safety status of the vehicle based on the distance between the vehicle and the vehicle in front and the vehicle behind;

[0044] (3) When there is a risk of collision in the safety state of the vehicle, the risk of collision with the vehicle in front and behind is reduced by adjusting the speed of the vehicle.

[0045] In the embodiment of the present invention, the vehicle detects the distance between the vehicle and the front vehicle and the rear vehicle through the distance measuring sensor. The distance between the vehicle and the front vehicle is S. f , the distance between this vehicle and the vehicle behind is S b The safe distances between the vehicle in front and the vehicle behind are S Δf , S Δb , safety distance S Δf , safety distance S Δb is a preset value, where the front vehicle, the rear vehicle and the vehicle are in the same lane. Based on the current distance S between the vehicle and the front vehicle f Determine the safety status between the vehicle and the vehicle in front, based on the current distance S between the vehicle and the vehicle behind bDetermine the safety status between the vehicle and the vehicle behind. The safety status of the vehicle is determined by comprehensively considering the safety status between the vehicle in front and the vehicle in front, as well as the safety level between the vehicle in front and the vehicle in back. The safety status of the vehicle is divided into three levels, namely, safe status, relatively dangerous status and dangerous status. When the vehicle is in a relatively dangerous status or a dangerous status, there are different degrees of collision risks between the vehicle and the vehicle in front or the vehicle in back. At this time, it is necessary to adaptively adjust the speed of the vehicle to reduce the collision risk between the vehicle in front and the vehicle in back as much as possible. Only when the vehicle is in a safe status can it be determined that there is no collision risk between the vehicle in front and the vehicle in back.

[0046] In the embodiment of the present invention, the method for determining the safety status between the vehicle and the preceding vehicle is as follows: f >S v When S Δf ≤S f ≤S v When S Δf >S f When , the vehicle is in a relatively dangerous state relative to the vehicle in front.

[0047] The specific method for determining the safety status between the vehicle and the following vehicle is as follows: b >S v When S Δb ≤S b ≤S v When S Δb >S b When , the vehicle is in a relatively dangerous state relative to the vehicle behind.

[0048] Among them, S v The effective scanning distance is set. When the distance between the front vehicle or the rear vehicle and the vehicle is greater than the effective scanning distance S v Even if it can be detected by the ranging sensor, the relevant information of the corresponding vehicle will not be monitored.

[0049] In the embodiment of the present invention, the safety status of the vehicle is determined by comprehensively considering the safety status of the vehicle relative to the preceding vehicle and the following vehicle. The specific determination method is as follows:

[0050] When the vehicle is in a safe state or a relatively safe state relative to the vehicle in front and the vehicle behind, the vehicle is deemed to be in a safe state. When the vehicle is in a dangerous state relative to the vehicle in front or the vehicle behind, the vehicle is deemed to be in a relatively dangerous state. When the vehicle is in a dangerous state relative to both the vehicle in front and the vehicle behind, the vehicle is deemed to be in a dangerous state. The criteria for determining the safety state of the vehicle are shown in Table 1.

[0051] Table 1 Safety status identification criteria for this vehicle

[0052]

[0053]

[0054] The following is an explanation of the vehicle speed control strategy under the three safety states of the vehicle in Table 1. The specific vehicle speed control strategy is as follows:

[0055] (31) When the vehicle is in a safe state or a relatively safe state relative to the vehicle in front, and is in a safe state or a relatively safe state relative to the vehicle behind, the vehicle is deemed to be in a safe state. At this time, the vehicle maintains the current cruising speed v0 and continues to drive.

[0056] (32) The vehicle is considered to be in a relatively dangerous state in the following two situations. The cruise speed adjustment methods of the vehicle in these two situations are different. The cruise speed control strategies in the following two situations are described in detail below:

[0057] The first type: when the vehicle is in a safe or relatively safe state relative to the vehicle in front, but in a dangerous state relative to the vehicle behind, the vehicle accelerates (accelerates at a smaller acceleration) to increase the distance S between the vehicle and the vehicle behind. b , while reducing the distance S between the vehicle and the vehicle in front f Therefore, during the acceleration of this vehicle, the following situations may occur:

[0058] (321) The distance S between the vehicle and the following vehicle b Reach safe distance S Δb When the speed of the vehicle is v1, the speed v1 is greater than the speed v0. If the distance S between the vehicle and the vehicle in front is f Still greater than the safety distance S Δf , the vehicle stops accelerating and takes speed v1 as the current cruising speed, and cruises at speed v1;

[0059] (322) The distance S between the vehicle and the following vehicle b The safety distance S has not been reached yet Δb When the distance between the vehicle and the vehicle in front is S f Also less than the safety distance S Δf At this time, the vehicle enters a dangerous state, and the cruising speed of the vehicle continues to be adjusted based on the cruising speed adjustment method of the vehicle in the dangerous state.

[0060] The second type: When the vehicle is in a dangerous state relative to the vehicle in front, but is in a safe state or relatively safe state relative to the vehicle behind, the vehicle is controlled to decelerate (decelerate at a smaller deceleration) to increase the distance S between the vehicle and the vehicle in front. f , while reducing the distance S between the vehicle and the vehicle behind bTherefore, during the deceleration of the vehicle, the following situations may occur:

[0061] (323) The distance S between the vehicle and the vehicle in front f Reach safe distance S Δf , the speed of the vehicle is v2, which is less than the speed v0. If the distance S between the vehicle and the following vehicle is b Still greater than the safety distance S Δb , the vehicle stops decelerating and takes speed v2 as the current cruising speed, and cruises at speed v2;

[0062] (324) The distance S between the vehicle and the vehicle in front f The safety distance S has not been reached yet Δf When the distance between the vehicle and the vehicle in front is S b Also less than the safety distance S Δb At this time, the vehicle enters a dangerous state, and the cruising speed of the vehicle continues to be adjusted based on the cruising speed adjustment method of the vehicle in the dangerous state.

[0063] (33) When the vehicle is in a dangerous state relative to the vehicle in front and the vehicle behind, the vehicle is deemed to be in a dangerous state. The specific method for adjusting the cruising speed when the vehicle is in a dangerous state is as follows:

[0064] In S f :S b >S Δf :S Δb When the speed of the vehicle is increased, the vehicle speed is maintained at S f :S b =S Δf :S Δb ; in S f :S b <S Δf :S Δb When the speed of the vehicle is reduced, the vehicle speed is finally maintained at S f :S b =S Δf :S Δb .

[0065] When the vehicle is in a dangerous state, it is impossible to adjust the cruising speed of the vehicle to control the vehicle to be in a safe state or a relatively safe state relative to the front vehicle and the rear vehicle. That is, the vehicle is in a dangerous state relative to the front vehicle and the rear vehicle at this time. If the collision risk between the vehicle and one party is reduced, the collision risk between the vehicle and the other party will be increased. In order to avoid a very high collision risk between the vehicle and one party, the vehicle speed control strategy is selected to control the collision risk between the vehicle and the front vehicle and the rear vehicle in a relatively balanced state.

[0066] Figure 2The schematic diagram of the mechanism of the vehicle cruise speed control system based on the front and rear vehicle distance provided by the embodiment of the present invention, for the convenience of explanation, only the part related to the embodiment of the present invention is shown, and the system includes:

[0067] A distance measuring sensor, an electronic control unit ECU, a motor controller and a motor, the distance measuring sensor is communicatively connected with the electronic control unit ECU, the electronic control unit ECU is communicatively connected with the motor controller, and the motor controller controls the speed of the motor; wherein the distance measuring sensor is used to monitor the distance between the vehicle and the front vehicle and the rear vehicle, and send the distance to the electronic control unit ECU, the electronic control unit ECU drives the motor controller based on the above-mentioned vehicle cruising speed control method based on the front and rear vehicle distances, and the motor controller adjusts the speed of the motor to enable the vehicle to accelerate, decelerate or drive at a constant speed.

[0068] In the embodiment of the present invention, the distance measuring sensor is used to measure and obtain the distance signal between the two vehicles, and generally a laser radar or a millimeter wave radar is used to detect the distance between the two vehicles.

[0069] In the embodiment of the present invention, the system further includes: a central large screen, which is connected to the electronic control unit ECU for communication; Δf , safety distance S Δb , effective scanning distance S v The initial cruising speed is input into the electronic control unit ECU through the central large screen. The electronic control unit ECU then adaptively adjusts the cruising speed of the vehicle based on the above-mentioned vehicle cruising speed control method based on the front and rear vehicle distance, so as to reduce the risk of collision with the front and rear vehicles during cruising as much as possible.

[0070] In an embodiment of the present invention, the system also includes a prompt unit, which is communicatively connected with the electronic control unit ECU. When it is detected that the vehicle is in a dangerous state, a reminder is issued to the front and rear vehicles through the prompt unit, such as reminding the front vehicle to accelerate by honking the horn. When the vehicle accelerates or decelerates, relevant reminders are also issued to the rear vehicle through the prompt unit, so that the rear vehicle can adjust its driving strategy in time.

[0071] An embodiment of the present invention also provides a vehicle, which is integrated with the above-mentioned vehicle cruise speed control system based on the distance between front and rear vehicles. The vehicle is generally a new energy vehicle. When the vehicle detects that the distance to the front and rear sides or the rear vehicle is too close, the cruising speed of the vehicle is adaptively adjusted to reduce the risk of collision with the front and rear vehicles during cruising as much as possible.

[0072] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the present application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only.

[0073] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A vehicle cruising speed control method based on the front and rear vehicle distance, characterized in that: The method is specifically as follows: (1) When the vehicle is in cruising mode, monitor the distance between the vehicle and the vehicle in front and behind; (2) Determine the safety status of the vehicle based on the distance between the vehicle and the vehicle in front and the vehicle behind; (3) When there is a risk of collision in the safe state of the vehicle, the risk of collision of the vehicle is reduced by adjusting the speed of the vehicle.

2. The vehicle cruising speed control method based on the front and rear vehicle distance according to claim 1, characterized in that: The method for determining the safety status of this vehicle is as follows: Based on the current distance between the vehicle and the vehicle in front Sf Determine the safety status between the vehicle and the vehicle ahead; Based on the current distance between the vehicle and the following vehicle Sb Determine the safety status between the vehicle and the following vehicle; The safety status of this vehicle is determined by comprehensively considering the safety status between this vehicle and the vehicle in front, as well as the safety level between this vehicle and the vehicle behind. The safety status of this vehicle includes a safe state, a relatively dangerous state and a dangerous state. When in a safe state, it is determined that there is no risk of collision between this vehicle and the vehicle in front or the vehicle behind.

3. The vehicle cruise control speed control method based on the front and rear vehicle distance as claimed in claim 2, characterized in that: The method for determining the safety status between the vehicle and the preceding vehicle is as follows: exist Sf＞Sv When , the vehicle is in a safe state relative to the vehicle in front; exist SΔf≤Sf≤Sv When , the vehicle is in a relatively safe state relative to the vehicle in front; exist SΔf＞Sf When the vehicle is in a relatively dangerous state relative to the vehicle in front; in, Sv is the effective scanning distance set, Sf is the distance between the vehicle and the vehicle in front, SΔf The safe distance between this vehicle and the vehicle in front is set.

4. The vehicle cruising speed control method based on the front and rear vehicle distance as claimed in claim 2, characterized in that: The specific method for determining the safety status between the host vehicle and the following vehicle is as follows: exist Sb＞Sv When , the vehicle is in a safe state relative to the vehicle behind; exist SΔb≤Sb≤Sv When , the vehicle is in a relatively safe state relative to the vehicle behind; exist SΔb＞Sb When the vehicle is in a relatively dangerous state relative to the vehicle behind; in, Sv is the effective scanning distance set, Sb is the distance between the vehicle and the vehicle behind, SΔb It is the safe distance between this vehicle and the vehicle behind.

5. The vehicle cruising speed control method based on the front and rear vehicle distance as claimed in claim 2, characterized in that: When the vehicle is in a safe state or a relatively safe state relative to the vehicle in front and the vehicle behind, the vehicle is deemed to be in a safe state. When the vehicle is in a dangerous state relative to the vehicle in front or the vehicle behind, the vehicle is deemed to be in a relatively dangerous state. When the vehicle is in a dangerous state relative to both the vehicle in front and the vehicle behind, the vehicle is deemed to be in a dangerous state.

6. The vehicle cruising speed control method based on the front and rear vehicle distance as claimed in claim 2, characterized in that: When the vehicle is in a safe or relatively safe state relative to the vehicle in front, but in a dangerous state relative to the vehicle behind, the acceleration of the vehicle will increase the distance between the vehicle and the vehicle behind. Sb Reach a safe distance SΔb When the distance between the vehicle and the vehicle in front is Sf Still greater than the safe distance SΔf , the vehicle stops accelerating and the current speed of the vehicle is v1 As the current cruising speed, the vehicle is v1 Cruise; the distance between the vehicle and the vehicle behind Sb Not yet at a safe distance SΔb When the distance between the vehicle and the vehicle in front is Sf Also less than the safety distance SΔf , the vehicle enters a dangerous state.

7. The vehicle cruising speed control method based on the front and rear vehicle distance as claimed in claim 2, characterized in that: When the vehicle is in a dangerous state relative to the vehicle in front, but in a safe state or relatively safe state relative to the vehicle behind, the vehicle is controlled to slow down and the distance between the vehicle and the vehicle in front is Sf Reach a safe distance SΔf When the distance between the vehicle and the vehicle behind is Sb Still greater than the safe distance SΔb , the vehicle stops decelerating and the current speed of the vehicle is v2 As the current cruising speed, the vehicle is v2 Cruise; the distance between the vehicle and the vehicle ahead Sf Not yet at a safe distance SΔf When the distance between the vehicle and the vehicle in front is Sb Also less than the safety distance SΔb , the vehicle enters a dangerous state.

8. The vehicle cruising speed control method based on the front and rear vehicle distance as claimed in claim 5, 6 or 7, characterized in that: When the vehicle is in a dangerous state, the vehicle speed adjustment method is as follows: exist Sf:Sb＞SΔf:SΔb When the vehicle speed is increased, maintain Sf:Sb＝SΔf:SΔb ;exist Sf:Sb＜SΔf:SΔb When Sf:Sb＝SΔf:SΔb .

9. A vehicle cruise speed control system based on the front and rear vehicle distance, characterized in that: The system comprises: A distance measuring sensor, an electronic control unit ECU, a motor controller and a motor, wherein the distance measuring sensor is connected to the electronic control unit ECU for communication, the electronic control unit ECU is connected to the motor controller for communication, and the motor controller controls the speed of the motor; The distance measuring sensor is used to monitor the distance between the vehicle and the front and rear vehicles, and send it to the electronic control unit ECU. The electronic control unit ECU drives the motor controller based on the vehicle cruise speed control method based on the front and rear vehicle distance as described in any one of claims 1 to 8. The motor controller adjusts the speed of the motor to enable the vehicle to accelerate, decelerate or drive at a constant speed.

10. A vehicle, characterized in that: The vehicle is integrated with the vehicle cruise speed control system based on the front and rear vehicle distance as claimed in claim 9.

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