VEHICLE CONTROL APPARATUS, VEHICLE, AND VEHICLE CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a vehicle control apparatus that can suppress a sense of incompatibility in vehicle control that a driver has, and to provide a vehicle and a vehicle control method.SOLUTION: A perceived relative distance Ds that shows a relative distance between a perception object TA perceived by a driver and a host vehicle CA is calculated on the basis of an actual relative distance Dr. A perceived relative velocity Vs that shows a relative velocity between the perception object TA perceived by the driver and the host vehicle CA is calculated on the basis of an actual relative velocity Vr (step ST2). A perceived relative ratio X that is a ratio between the perceived relative distance Ds and the perceived relative velocity Vs is calculated (step ST3). If the perceived relative ratio X exceeds a threshold value X0, a vehicle control is performed (steps ST4 and ST5). The vehicle control is performed based on the perceived relative ratio X (a control value on which the perceived relative ratio X is reflected), so that the sense of incompatibility in the vehicle control that the driver has can be suppressed.