Vehicle controlling apparatus and method

摘要

An obstacle existing ahead of a vehicle is recognized to detect information on the obstacle. Information on travelling conditions of the vehicle is detected. The steering performance of the vehicle is changed for controlling behaviour of the vehicle. It is determined whether the vehicle can avoid collision with the obstacle only by a driver's braking operation based on at least the information on the obstacle and the vehicle. The vehicle enters into an evasive driving mode in accordance with a driver's steering operation when it is determined that the vehicle cannot avoid collision with the obstacle only by the driver's braking operation. The steering performance of the vehicle is changed for controlling behaviour of the vehicle. A preliminary information is given to the driver to indicate that the vehicle will enter into the evasive driving mode. The driver is then informed that the vehicle has entered into the evasive driving mode.