Vehicle control apparatus
A vehicle control apparatus executes a collision avoidance control when a collision condition becomes satisfied. The collision condition includes a condition that a lap rate of the own vehicle and the object is equal to or greater than a lap rate threshold. The threshold set when the own vehicle turns, is greater than the threshold set when the own vehicle does not turn. The threshold set when a condition satisfaction period of time is equal to or greater than a predetermined period of time, is smaller than the threshold set when the condition satisfaction period of time is smaller than the predetermined period of time. The condition satisfaction period of time is a period of time that a collision probability condition continues being satisfied while the own vehicle is turning. The collision probability condition is a condition that the own vehicle has a probability of colliding with the object.
1. A vehicle control apparatus, comprising an electronic control unit configured to execute a collision avoidance control to avoid a collision of an own vehicle with an object ahead of the own vehicle by autonomously decelerating the own vehicle when a collision condition that the own vehicle is predicted to collide with the object, becomes satisfied,
the collision condition including a condition that a lap rate of the own vehicle and the object is equal to or greater than a lap rate threshold, and
the electronic control unit being configured to set the lap rate threshold to be greater when the own vehicle turns compared to when the own vehicle does not turn,
wherein the electronic control unit is configured to set the lap rate threshold to be smaller when a condition satisfaction period of time is equal to or greater than a predetermined period of time compared to when the condition satisfaction period of time is smaller than the predetermined period of time,
wherein the condition satisfaction period of time is a period of time that a collision probability condition continues being satisfied while the own vehicle is turning, and
wherein the collision probability condition is a condition that the own vehicle is turning, and a predicted moving route of the own vehicle crosses a predicted moving route of the object.
2. The vehicle control apparatus as claimed in claim 1 , wherein the electronic control unit is configured to set the lap rate threshold, depending on the condition satisfaction period of time when the condition satisfaction period of time is equal to or greater than the predetermined period of time.
3. The vehicle control apparatus as claimed in claim 2 , wherein the electronic control unit is configured to set the lap rate threshold such that the lap rate threshold decreases as the condition satisfaction period of time increases when the condition satisfaction period of time is equal to or greater than the predetermined period of time.
4. The vehicle control apparatus as claimed in claim 1 , wherein the lap rate corresponds to a degree that the own vehicle and the object overlap in a width direction of the own vehicle, and the lap rate threshold corresponds to a threshold degree at which the own vehicle and the object overlap in the width direction of the own vehicle.