US 12,227,226 B2
Collision avoidance support apparatus
Yumi Shimanaka, Kasugai (JP); and Sho Hashimoto, Shizuoka-ken (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 7, 2023, as Appl. No. 18/230,946.
Application 18/230,946 is a continuation of application No. 17/574,267, filed on Jan. 12, 2022, granted, now 11,767,057.
Claims priority of application No. 2021-008156 (JP), filed on Jan. 21, 2021.
Prior Publication US 2023/0382455 A1, Nov. 30, 2023
Int. Cl. B62D 15/02 (2006.01); B62D 6/00 (2006.01)
CPC B62D 15/0265 (2013.01) [B62D 6/002 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle control apparatus that performs a collision avoidance control for avoiding a collision between a host vehicle and a frontward vehicle by controlling an actuator for the collision avoidance control, when it is determined that there is a high possibility of the collision, comprising a controller that is configured to:
obtain information on an expected moving direction of the frontward vehicle;
prohibit executing the collision avoidance control when it is determined that the obtained expected moving direction of the frontward vehicle is the same as a planned collision avoidance direction of the host vehicle by the collision avoidance control; and
make a start timing at which a start condition for the collision avoidance control is satisfied in a case where it is determined that the expected moving direction of the frontward vehicle is different from the planned collision avoidance direction be later than the start timing in a case where the information on the expected moving direction of the frontward vehicle is not obtained.