CONTROL APPARATUS FOR VEHICLE IN WHICH TRAVELING ENVIRONMENT RECOGNITION APPARATUS IS INSTALLED

摘要

In a control apparatus for a vehicle in which a traveling environment recognition apparatus is installed, a road shape prediction section configured to predict a road shape of a traveling road in a forward direction of the vehicle on a basis of a result of recognition by an object recognition section; a travel trajectory predicting section configured to predict a travel trajectory of the vehicle; a point of intersection calculation section configured to calculate a point of intersection between a road end of the road predicted by the road shape prediction section and a travel trajectory predicted by the travel trajectory prediction section; and a speed control section configured to control a speed of the vehicle with the point of intersection calculated by the point of intersection calculation section as a target point of place.