Vehicle control apparatus
A vehicle control apparatus selects at least one oncoming vehicle and sets the selected oncoming vehicle as a control target vehicle when an own vehicle turns right or left in a traffic intersection, acquires a first index value which represents a collision probability, and executes a collision avoiding control when the first index value satisfies a predetermined condition. The vehicle control apparatus calculates a second index value which represents a degree of turning of the own vehicle, moves an area used to select the control target vehicle toward the own vehicle in an opposite direction to a turning direction of the own vehicle as the second index value increases, and selects, as the control target vehicle, the oncoming vehicle which has been in the area for a predetermined time threshold or more.
1. A vehicle control apparatus, comprising:
at least one sensor which acquires object information on objects in a surrounding area around an own vehicle, including a forward area ahead of the own vehicle; and
a processor configured to:
select at least one oncoming vehicle which is in the forward area and moves toward the own vehicle and set the selected at least one oncoming vehicle as a control target vehicle when the own vehicle turns right or left in a traffic intersection;
acquire a first index value which represents a collision probability that the own vehicle collides with the control target vehicle; and
execute a collision avoiding control of avoiding collision of the own vehicle with the control target vehicle when the first index value satisfies a predetermined condition,
wherein the processor is further configured to:
calculate a second index value which represents a degree of turning of the own vehicle since the own vehicle starts turning right or left in the traffic intersection;
move an area used to select the control target vehicle toward the own vehicle in an opposite direction to a turning direction of the own vehicle as the second index value increases; and
select, as the control target vehicle, the oncoming vehicle which has been in the area for a predetermined time threshold or more.
2. The vehicle control apparatus as set forth in claim 1 , wherein:
the processor is further configured to move a center position of the area from a first position to a second position;
the first position is a position which is ahead of the own vehicle and remote from a longitudinal axis of the own vehicle in the turning direction of the own vehicle; and
the second position is a position which is ahead of the own vehicle and remote from the longitudinal axis of the own vehicle in an opposite direction to the turning direction of the own vehicle.
3. The vehicle control apparatus as set forth in claim 1 , wherein the processor is further configured to decrease a size of the area as the second index value increases.
4. The vehicle control apparatus as set forth in claim 3 , wherein the processor is further configured to decrease a length of the area in a longitudinal direction of the own vehicle and a length of the area in a right-left direction of the own vehicle.
5. The vehicle control apparatus as set forth in claim 1 , wherein the processor is further configured to decrease the predetermined time threshold as a moving speed of the own vehicle increases.
6. The vehicle control apparatus as set forth in claim 1 , wherein:
the vehicle control apparatus comprises a storing section which stores road information; and
the processor is further configured to:
determine whether a particular lane condition that at least one turn-only lane is provided on a road on which the oncoming vehicle moves, is satisfied, based on the road information; and
set the area such that the area does not cover the turn-only lane when the particular lane condition is satisfied.