Traffic accidents have become social trouble along with the increase in drivers and diversification. In traffic accidents the rear-end collision includes the risk of severe injury. About 30 percent of the cause of traffic accidents is the collision accidents. Therefore this paper proposes the safety inter-vehicular distance control considering the road condition using sensory accelerator pedal and brake pedal. The control system generates the pedal support torque to accelerator or brake pedal in order to prompt the proper pedal operation. In addition, the road condition is considered to accomplish the proper vehicle motion and the vehicle not to be dangerous by the slip. The road condition information is also added to the pedal support torque. These support torques are integrated by using impedance control. In the experiment of the driving simulator the validity of proposed method is confirmed.