| CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); G08G 1/166 (2013.01); B60W 2552/53 (2020.02); B60W 2554/404 (2020.02)] | 8 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 processor circuit, cause the processor circuit to at least:
execute an avoidance operation for avoiding collision with an object that is moving in a direction intersecting a longer direction of the vehicle,
wherein, in a case where the vehicle is travelling on a first road, and makes a turn toward a first traffic lane of a second road intersecting the first road, the instructions further cause the processor circuit to
cease to set a vehicle that is travelling on a second traffic lane of the second road that is farther from the vehicle than the first traffic lane, as a target for the avoidance operation, if a predetermined condition is not satisfied,
set a vehicle that is travelling on the first traffic lane, as a target for the avoidance operation, irrespective of whether or not the predetermined condition is satisfied, and
the predetermined condition is that
a width of the first traffic lane is smaller than a first threshold value in a case where an angle at which the vehicle makes a turn toward the first traffic lane is an acute angle, and
the width of the first traffic lane is smaller than a second threshold value that is smaller than the first threshold value in a case where the angle at which the vehicle makes a turn toward the first traffic lane is an obtuse angle.
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