Vehicle control apparatus
A vehicle control apparatus is provided with: an acquirer configured to obtain an expected end timing of a first deceleration support control, which is a deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as a deceleration target ahead of a host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and a controller programmed or configured to perform an interpolation deceleration support control of interpolating the first deceleration support control and the second deceleration support control, in a predetermined period including at least a part of an interval between the expected end timing and the predicted start timing, if the interval is less than a first time.
1. A vehicle control apparatus configured to perform a deceleration support control of automatically decelerating a host vehicle on condition that there is a deceleration target, which requires decelerating the host vehicle, ahead in a traveling direction of the host vehicle, said vehicle control apparatus comprising:
a support arbitrator programmed to obtain an expected end timing of a first deceleration support control, which is the deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as the deceleration target ahead of the host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and
a vehicle controller programmed to: receive the expected end timing and the expected start timing from the support arbitrator, and control the host vehicle to decelerate based on an interpolation deceleration support control of interpolating the first deceleration support control and the second deceleration support control, in a predetermined period including at least a part of an interval between the expected end timing and the expected start timing, if the interval is less than a first time.
2. The vehicle control apparatus according to claim 1 , wherein said controller is programmed to perform, as the interpolation deceleration support control, at least one of continuing the first deceleration support control beyond the expected end timing and starting the second deceleration support control before the expected start timing.
3. The vehicle control apparatus according to claim 2 , wherein said controller is programmed to determine a controlled variable associated with the interpolation deceleration support control such that a controlled variable changing gradient is less than a controlled variable changing gradient associated with at least one of the first deceleration support control and the second deceleration support control that are performed if the interval is greater than the first time.
4. The vehicle control apparatus according to claim 1 , wherein said controller is programmed to perform the interpolation deceleration support control as a different control that is different from the first deceleration support control and the second deceleration support control.
5. A vehicle control apparatus configured to perform a deceleration support control of automatically decelerating a host vehicle on condition that there is a deceleration target, which requires decelerating the host vehicle, ahead in a traveling direction of the host vehicle, said vehicle control apparatus comprising:
configured support arbitrator programmed to obtain an expected end timing of a first deceleration support control, which is the deceleration support control for a first target, and an expected start timing of a second deceleration support control, which is the deceleration support control for a second target, if there is the first target as the deceleration target ahead of the host vehicle in the traveling direction and if there is the second target as the deceleration target ahead of the first target; and
a vehicle controller programmed to: receive the expected end timing and the expected start timing from the support arbitrator, and control the host vehicle to decelerate based on at least one of continuing the first deceleration support control beyond the expected end timing and starting the second deceleration support control before the expected start timing, if an interval between the expected end timing and the expected start timing is less than a second time.