Method of controlling vehicle for one-pedal driving assistance

A method of controlling a subject vehicle for one-pedal driving assistance, the method comprising:

• acquiring, by a controller, real-time driving information of the subject vehicle detected by a driving information detection unit and real-time vehicle-ahead information detected by a front detection unit;
• determining, by the controller, whether the subject vehicle has entered an automatic control inspection section using relative distance information with respect to a vehicle ahead in the acquired real-time vehicle-ahead information;
• starting, by the controller, an automatic distance control mode upon determining that the subject vehicle has entered the automatic control inspection section;
• and
• controlling, by the controller, a relative speed with respect to the vehicle ahead by controlling an operation of a driving device for driving the subject vehicle so that a relative distance with respect to the vehicle ahead is adjusted to a target relative distance with respect to the vehicle ahead based on the real-time driving information and the real-time vehicle-ahead information during the automatic distance control mode, wherein the controller is set to control the relative speed upon satisfying a condition that a vehicle speed in the real-time driving information is less than or equal to a determined relative speed during the automatic distance control mode, wherein the target relative distance is a predetermined constant distance set by a driver of the subject vehicle via an input device, and controlling comprises automatically maintaining the target relative distance between the subject vehicle and the vehicle ahead, wherein:
• the automatic distance control mode includes an accelerator pedal off mode and an accelerator pedal on mode,
• the accelerator pedal off mode is a mode in which the subject vehicle stops at the target relative distance with respect to the vehicle ahead by automatically controlling a speed of the subject vehicle and generating a motor torque of the subject vehicle while the driver completely releases the accelerator pedal within an automatic distance control mode entry distance before the subject vehicle reaches the target relative distance to be maintained with respect to the vehicle ahead, and
• the accelerator pedal on mode is a mode in which the subject vehicle stops at the target relative distance with respect to the vehicle ahead by controlling the speed of the subject vehicle and generating the motor torque of the subject vehicle in response to the driver depressing the accelerator pedal within the automatic distance control mode entry distance before the subject vehicle reaches the target relative distance to be maintained with respect to the vehicle ahead.