| 摘要 |
<p>According to the prior art, when an obstacle exists on the left hand of a local vehicle, a control threshold value is established which is used to cause the local vehicle to avoid the obstacle, and when the local vehicle exceeds the control threshold value, the local vehicle is so controlled, in accordance with the deviation amount, as to remove to such a position that the local vehicle does not exceed the control threshold value. However, even when another vehicle, which is a risk on the right hand of the local vehicle, is running in the opposite direction, the local vehicle is so controlled as to remove toward the other vehicle, so that the driver of the local vehicle may disadvantageously have a fear or a sense of incompatibility. A vehicle control apparatus comprises a calculating unit that calculates a first risk existing on the left hand of a local vehicle and a second risk existing on the right hand of the local vehicle; an establishing unit that establishes, based on the first risk, a first control threshold value on the left hand of the local vehicle and also establishes, based on the second risk, a second control threshold value on the right hand of the local vehicle; a changing unit that changes, based on the first and second risks, at least one of the first and second control threshold values; and a control unit that controls, based on the control threshold value as changed, the local vehicle.</p> |
