| CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/105 (2013.01); G01S 13/42 (2013.01); G01S 13/584 (2013.01); G01S 13/931 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4029 (2020.02); B60W 2554/80 (2020.02); G01S 2013/932 (2020.01); G01S 2013/93271 (2020.01)] | 6 Claims |
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1. A vehicle control apparatus, comprising:
at least one first sensor which acquires object information on objects in a surrounding area around an own vehicle;
a second sensor which detects a moving speed of the own vehicle; and
an electronic control unit configured to:
select, as a first object group, objects in a predetermined area from objects included in the object information;
select, as a second object group, a predetermined upper limit number of the objects from the first object group in descending order of a priority value when the number as a first number of the objects included in the first object group is greater than the predetermined upper limit number; and
execute a collision avoidance control when an index value representing a collision probability that the own vehicle collides with the object included in the second object group, satisfies a predetermined condition,
wherein the priority value represents a probability that the own vehicle collides with the object,
wherein the electronic control unit is configured to reduce the priority value of a particular object included in the first object group when the moving speed of the own vehicle is equal to or lower than a predetermined moving speed threshold, and
wherein the particular object is an object which is deemed to have a moving speed lower than a moving speed of a four-wheel vehicle.
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