Apparatus for controlling vehicle

摘要

The invention relates to an apparatus for controlling a vehicle (50) which can perform proper vehicle control and can issue a proper warning without causing abrupt behaviors of a vehicle. A plurality of range sensors (1; 1A, 1B; 2-8) are installed in an outer peripheral portion of a vehicle (50) for sensing a target object including another vehicle. The controller includes a sensor signal failure/ deterioration determining circuit (70) to select, of signals outputted from the plurality of range sensors, a signal from at least one range sensor, which is neither failed nor deteriorated in sensor characteristics, for control using the selected signal with priority. A warning is issued to a driver when the target object, e.g., another vehicle, comes into a preset danger detection area. When the range sensors are installed in front and rear portions of the vehicle (50), control is carried out using a signal from at least one range sensor with priority, which is positioned on the same side as a steering wheel. When the range sensors are installed on both lateral sides of the vehicle, control is carried out using a signal from at least one range sensor with priority, which has detected a shorter distance from the target object.