VEHICLE CONTROL APPARATUS, VEHICLE, AND VEHICLE CONTROL METHOD

摘要

A perceived relative distance (Ds) that shows a relative distance between a host vehicle and a perception object (TA) perceived by a driver of the host vehicle is calculated on the basis of an actual relative distance (Dr) therebetween. A perceived relative velocity (Vs) that shows a relative velocity between the host vehicle and the perception object (TA) perceived by the driver is calculated on the basis of an actual relative velocity (Vr) therebetween (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 (XO), a vehicle control is performed (steps ST4 and ST5).