| CPC B60W 30/0953 (2013.01) [B60W 30/06 (2013.01); B60W 30/09 (2013.01); B60W 2420/42 (2013.01); B60W 2554/20 (2020.02); B60W 2554/801 (2020.02)] | 4 Claims |
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1. A control apparatus of a vehicle, the apparatus comprising:
at least one processor circuit with a memory comprising instructions, that when executed by the at least one processor circuit, causes the at least one processor circuit to at least:
determine whether or not the vehicle is to be parked in a parking space; and
provide an avoidance function for avoiding collision with an object that is moving in a direction intersecting a front-and-rear direction of the vehicle; and
alert a driver of the vehicle using a display apparatus or decrease a speed of the vehicle by causing a brake apparatus of the vehicle to operate in a case where the avoidance function is active and it is determined that there is a possibility that the vehicle will collide with the object,
wherein, while the vehicle is to be parked in the parking space,
in a case where an angle between the front-and-rear direction of the vehicle and a longer direction of the parking space is larger than a threshold value, the avoidance function is inactivated, the longer direction of the parking space being a direction that matches the front-and-rear direction of the vehicle in a case where the vehicle is parked in the parking space by being moved in a straight line, and
in a case where the angle between the front-and-rear direction of the vehicle and the longer direction of the parking space is smaller than the threshold value, the avoidance function is activated.
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