US 12,110,012 B2
Vehicle control apparatus and vehicle control method
Yu Maeda, Nisshin (JP); and Atsushi Baba, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Jan. 24, 2022, as Appl. No. 17/648,768.
Application 17/648,768 is a continuation of application No. PCT/JP2020/028590, filed on Jul. 23, 2020.
Claims priority of application No. 2019-138146 (JP), filed on Jul. 26, 2019.
Prior Publication US 2022/0144257 A1, May 12, 2022
Int. Cl. G08G 1/09 (2006.01); B60W 10/04 (2006.01); B60W 10/20 (2006.01); B60W 30/095 (2012.01); B60W 40/02 (2006.01); B60W 50/02 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/095 (2013.01) [B60W 10/04 (2013.01); B60W 10/20 (2013.01); B60W 40/02 (2013.01); B60W 50/0205 (2013.01); B60W 60/0015 (2020.02); B60W 2554/4046 (2020.02); B60W 2555/20 (2020.02); B60W 2556/65 (2020.02); B60W 2710/20 (2013.01); B60W 2720/10 (2013.01); B60W 2720/12 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A vehicle control apparatus mounted in a subject vehicle provided with a running planning unit configured to calculate one or more candidate routes on which the subject vehicle is to travel, the vehicle control apparatus comprising:
an action prediction unit configured to predict an action of a prediction target moving body that includes the subject vehicle and at least one moving body present in a vicinity of the subject vehicle; and
a responsibility determination unit configured to determine responsibility for a potential accident assumed when the subject vehicle travels on a candidate route of the one or more candidate routes based on the action predicted by the action prediction unit, wherein
when the action prediction unit predicts a deviation behavior in which at least either the subject vehicle or a nearby vehicle present in the vicinity of the subject vehicle deviates from a behavior according to a travel control, the action prediction unit predicts the action of the prediction target moving body when the deviation behavior occurs, and the responsibility determination unit determines responsibility for a potential accident when the deviation behavior occurs.