Vehicle and method of controlling the same

1. An apparatus for assisting driving of a host vehicle, the apparatus comprising:

at least one sensor of an image sensor or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle; and

a controller communicatively connected to the at least one sensor,

wherein the controller is configured to:

identify a plurality of surrounding vehicles around the host vehicle based on processing an output of the at least one sensor,

calculate a target inter-vehicle distance based on an own vehicle speed of the host vehicle and a driver set distance received from a driver, and

vary the calculated target inter-vehicle distance based on driving information of the plurality of surrounding vehicles, and

wherein the controller is further configured to:

calculate a vehicle speed of each of the plurality of surrounding vehicles,

calculate a speed difference between the host vehicle and the each of the plurality of surrounding vehicles based on comparing the calculated vehicle speed with the own vehicle speed,

select at least one first surrounding vehicle among the plurality of surrounding vehicles as at least one target for calculating the target inter-vehicle distance based on the calculated speed difference and a reference speed range, wherein the at least one first surrounding vehicle runs on a different lane from the lane of the host vehicle and has the calculated speed difference within the reference speed range so that the at least one first surrounding vehicle can be considered a potential cut-in vehicle,

calculate an average inter-vehicle distance based on a number of the at least one first surrounding vehicle selected as the at least one target for calculating the target inter-vehicle distance and an inter-vehicle distance of each of the at least one first surrounding vehicle, and

vary the target inter-vehicle distance to a minimum value among the calculated target inter-vehicle distance and the calculated average inter-vehicle distance.

2. A method for assisting driving of a host vehicle, the method comprising:

processing an output of at least one sensor of an image sensor or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle;

identify a plurality of surrounding vehicles around the host vehicle based on the processing of the output of the at least one sensor;

calculating a target inter-vehicle distance based on an own vehicle speed of the host vehicle and a driver set distance received from a driver;

determining whether the plurality of surrounding vehicles exist based on driving information of the plurality of surrounding vehicles;

confirming a number of the at least one surrounding vehicle based on the determining of whether the plurality of surrounding vehicles exist;

calculating an average inter-vehicle distance based on the number of the plurality of surrounding vehicles and an inter-vehicle distance of each of the plurality of surrounding vehicles; and

varying the target inter-vehicle distance based on the driving information of the plurality of surrounding vehicles,

wherein the calculating a target inter-vehicle distance includes:

calculating a vehicle speed of each of the plurality of surrounding vehicles;

calculating a speed difference between the host vehicle and each of the plurality of surrounding vehicles by comparing the calculated vehicle speed with the own vehicle speed; and

selecting at least one first surrounding vehicle among the plurality of surrounding vehicles as at least one target for calculating the target inter-vehicle distance based on the calculated speed difference and a reference speed range, wherein the at least one first surrounding vehicle runs on a different lane from the lane of the host vehicle and has the calculated speed difference within the reference speed range so that the at least one first surrounding vehicle can be considered a potential cut-in vehicle,

wherein the calculating an average inter-vehicle distance includes:

calculating an average inter-vehicle distance based on a number of the at least one first surrounding vehicle selected as the at least one target for calculating the target inter-vehicle distance and an inter-vehicle distance of each of the at least one first surrounding vehicle, and

wherein the varying the target inter-vehicle distance includes:

varying the target inter-vehicle distance to a smaller value between the calculated target inter-vehicle distance and the calculated average inter-vehicle distance.

3. An apparatus for assisting driving of a host vehicle, the apparatus comprising:

at least one sensor of an image sensor or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle; and

a controller communicatively connected to the at least one sensor,

wherein the controller is configured to:

identify at least one surrounding vehicle around the host vehicle based on processing an output of the at least one sensor,

calculate a target cut-in speed of the at least one surrounding vehicle based on driving information of the at least one surrounding vehicle, and

vary a target control speed based on the calculated target cut-in speed and a driver set speed, and

wherein the controller is further configured to:

acquire a vehicle speed and a cut-in probability of each of the at least one surrounding vehicle,

calculate a cut-in speed of each of the at least one surrounding vehicle based on the acquired vehicle speed and cut-in probability of each of the at least one surrounding vehicle, and

calculate the target cut-in speed based on the calculated cut-in speed of each of the at least one surrounding vehicle.

4. The apparatus of claim 3 , wherein the controller is configured to:

determine whether the at least one surrounding vehicle exists based on the driving information of the at least one surrounding vehicle, and

identify a number of the at least one surrounding vehicle.

5. The apparatus of claim 4 , wherein the controller is configured to receive a signal transmitted from the sensor and detect a lateral acceleration generated based on the at least one surrounding vehicle being cut in to acquire the cut-in probability.

6. The apparatus of claim 4 , wherein the controller is configured to calculate the target cut-in speed as a minimum value among the calculated cut-in speed of each of the at least one surrounding vehicle.

7. The apparatus of claim 6 , wherein the controller is configured to vary the target control speed to a minimum value among the calculated target cut-in speed and the driver set speed.

8. The apparatus of claim 4 , wherein the controller is configured to: identify a surrounding vehicle being stopped according to the acquired vehicle speed of each of the at least one surrounding vehicle, and

select surrounding vehicles driving excluding the surrounding vehicle being stopped as targets for calculating a target control speed.

9. The apparatus of claim 8 , wherein the controller is configured to:

acquire a vehicle speed and a cut-in probability of each of the at least one surrounding vehicle selected as the target vehicle for calculating the target control speed,

calculate a cut-in speed of each of the at least one surrounding vehicle based on the acquired vehicle speed and cut-in probability of each of the at least one surrounding vehicle, and

calculate the target cut-in speed as a minimum value among the calculated cut-in speed of each of the at least one surrounding vehicle.

10. The apparatus of claim 9 , wherein the controller is configured to vary the target control speed to a minimum value among the calculated target cut-in speed and the driver set speed.