In addition to maintaining a constant speed, Dynamic Radar Cruise Control uses the millimeter-wave radar and monocular camera sensors to detect a vehicle driving ahead and maintain an appropriate distance between vehicles. When the driver operates the turn signal lamp at approximately 80km/h or over, preliminary acceleration is applied when following a preceding vehicle that is travelling slower than the preset vehicle speed, or preliminary deceleration is applied when changing lanes into a lane where there is a preceding vehicle that is travelling slower than the preset vehicle speed, helping smooth overtaking and lane change.