US 11,834,046 B2
Vehicle control apparatus
Yuta Komoguchi, Kariya (JP); Yohei Masui, Kariya (JP); Mitsuhiro Tokimasa, Kariya (JP); and Takumi Uematsu, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Nov. 24, 2020, as Appl. No. 17/103,791.
Application 17/103,791 is a continuation of application No. PCT/JP2019/020045, filed on May 21, 2019.
Claims priority of application No. 2018-100546 (JP), filed on May 25, 2018.
Prior Publication US 2021/0094548 A1, Apr. 1, 2021
Int. Cl. B60W 30/18 (2012.01)
CPC B60W 30/18159 (2020.02) [B60W 30/18154 (2013.01); B60W 2552/53 (2020.02); B60W 2555/60 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A vehicle control apparatus that is installed in an own vehicle and controls the own vehicle, the apparatus comprising:
an intersection information detection section that detects information on an intersection through which the own vehicle travels, and includes a traveling route detection section that detects a traveling route of the own vehicle and a cross road detection section that detects a cross road intersecting the traveling route;
an operation detection section that detects a plan of operation including movement of the own vehicle at the intersection;
a waiting position setting section that sets a waiting position where the own vehicle is caused to wait at the intersection until the own vehicle becomes possible to perform the operation;
a determination section that determines whether the own vehicle is able to perform the operation by the time when a traffic light on the traveling route at the intersection turns red, wherein
the intersection information detection section includes a stop line detection section that detects a stop line that is on the traveling route and is located at an overlapping region between the traveling route and the crossing road,
the waiting position setting section sets a position, where another vehicle is not hindered from traveling on the crossing road by the own vehicle stopped at the waiting position, as the waiting position,
the waiting position setting section sets a position in the traveling route and before an overlapped position between the detected traveling route and crossing road as the waiting position,
when the determination section determines that the own vehicle is not able to perform the operation, the waiting position setting section sets the waiting position, and
when the determination section determines that the own vehicle is able to perform the operation, the waiting position setting section sets the detected stop line as the waiting position, and
the vehicle control apparatus further comprising a guidance section that controls the own vehicle based on the set waiting position.