| CPC B60W 60/0016 (2020.02) [B60W 30/085 (2013.01); B60W 30/09 (2013.01); B60W 60/00272 (2020.02)] | 7 Claims |
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1. A vehicle control apparatus comprising:
a frontward detection section configured to detect, as a frontward object, an object that is located in a frontward detection area that is an area in front of a vehicle;
a sideward detection section configured to detect, as a sideward object, an object that is located in a sideward detection area that is a side area of said vehicle, said sideward detection area having an overlapping area that is a part of said sideward detection area that overlaps with said frontward detection area; and
a control section configured to perform a front collision avoidance control to avoid a collision between said frontward object and said vehicle or to mitigate a damage caused by said collision between said frontward object and said vehicle, when said frontward object satisfies a predetermined front collision condition; and configured to perform a side collision avoidance control to avoid a collision between said sideward object and said vehicle or to mitigate a damage caused by said collision between said sideward object and said vehicle, when said sideward object satisfies a predetermined side collision condition,
wherein,
recognition accuracy regarding said sideward object of said sideward detection section is lower than recognition accuracy regarding said frontward object of said frontward detection section; and
said control section is configured to suppress performing said side collision avoidance control in a case where said sideward object is located in said overlapping area, as compared to a case where said sideward object is located in a non-overlapping area that is a rest of said sideward detection area other than said overlapping area,
wherein said control section is configured to:
perform said front collision avoidance control when said frontward object satisfies said front collision condition, regardless of whether or not said frontward object is moving; and
perform said side collision avoidance control when said sideward object is moving and said sideward object satisfies said side collision condition, and
said frontward detection section and said sideward detection section are configured to have said overlapping area in such a manner that said overlapping area is an area where an erroneously determined object that is located in said overlapping area has a possibility of colliding with said vehicle, said erroneously determined object being an object having a possibility that it is erroneously determined to be moving although it is stationary, and in such a manner that said non-overlapping area is an area where said erroneously determined object that is located in said non-overlapping area does not have a possibility of colliding with said vehicle.
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