Vehicle control apparatus and vehicle provided with the same

摘要

A vehicle control apparatus includes: a straight-ahead cruising determining unit that determines whether or not a vehicle is in a straight-ahead cruising state; a detecting unit that detects a target object that meets a predetermined condition related to at least either of a current positional relationship or a future predicted positional relationship with the vehicle, among objects ahead of the vehicle, when the vehicle is determined to be in the straight-ahead cruising state; an operation control unit that makes the vehicle perform a predetermined operation related to the detected target object; and a condition setting unit that sets the condition to be applied to the left side in relation to a center line of the vehicle to differ from the condition to be applied to the right side, based on a cruising trajectory of the vehicle.

主权项

1. A vehicle control apparatus comprising:
a control unit including a processor, the control unit being configured to:
acquire a yaw rate of a vehicle from a yaw rate sensor;determine whether or not the vehicle is traveling in a straight-ahead cruising state based on the acquired yaw rate;detect a target object that meets at least a predetermined condition related to a current positional relationship with the vehicle, among objects ahead of the vehicle, when the vehicle is determined to be traveling in the straight-ahead cruising state;set a condition to be applied to a left side in relation to a center line of the vehicle to differ from a condition to be applied to a right side, based on a cruising trajectory of the vehicle, the control unit being further configured to set the at least the predetermined condition related to the current positional relationship so that, when a current position of the vehicle is not on a trajectory straight line that approximates a past cruising trajectory of the vehicle, as compared to a first condition that is a condition to be applied to a side in a direction towards the current position of the vehicle from the trajectory straight line in relation to the center line of the vehicle, a second condition that is a condition applied to an opposite side in relation to the center line of the vehicle is more frequently met by the objects; andcontrol the vehicle to perform a predetermined operation related to the detected target object, including control of at least one of a throttle system, a brake system, and a steering system of the vehicle, based on the at least the predetermined condition related to the current positional relationship with the vehicle.