To provide a vehicle control apparatus configured to select an appropriate inter-vehicle gap from among multiple inter-vehicle gaps appearing in an intersection, in turning to the right or left at the intersection.SOLUTION: A vehicle control apparatus includes: vehicle outside detection means 1 which detects an inter-vehicle gap G formed between a preceding oncoming vehicle VP and a following oncoming vehicle VF at an intersection I; total candidate calculation means 31 which calculates the total number of candidates of inter-vehicle gap into which a vehicle VE is to turn right/left; prescribed skip calculation means 32 which calculates the number of prescribed skips from the total number of candidates; safety calculation means 33 which calculates a degree of safety of the detected inter-vehicle gaps; safety threshold setting means 34 which sets the maximum value of degree of safety of inter-vehicle gaps of candidate numbers equal to or less than the number of prescribed skips, as a safety threshold; and inter-vehicle gap selection means 35 which selects, as an inter-vehicle gap into which the vehicle is to turn right/left, an inter-vehicle gap having a degree of safety equal to or higher than the safety threshold.SELECTED DRAWING: Figure 2
【課題】 交差点において右左折を行う際に、交差点に現れる複数の車両間ギャップの中から好適な車両間ギャップを選択し得る車両制御装置を提供する。【解決手段】 車両制御装置は、交差点Iにおいて先行対向車両VPと後続対向車両VFの間に形成される車両間ギャップGを検知する車両外部検知手段1と、自車両VEが右左折を行う車両間ギャップの総候補数を算出する総候補数算出手段31と、総候補数から規定スキップ数を算出する規定スキップ数算出手段32と、検知された車両間ギャップの安全度を算出する安全度算出手段33と、規定スキップ数以下の候補番号の車両間ギャップの安全度の最大値を安全度閾値に設定する安全度閾値設定手段34と、安全度閾値以上の安全度を有する車両間ギャップを、右左折を行う車両間ギャップに選択する車両間ギャップ選択手段35を備える。【選択図】 図2
VEHICLE CONTROL APPARATUS
車両制御装置
2023-08-30
Patent
Electronic Resource
Japanese
Vehicle control apparatus and vehicle equipped with vehicle control apparatus
European Patent Office | 2022
|CONTROL APPARATUS OF VEHICLE, VEHICLE INCLUDING CONTROL APPARATUS, AND CONTROL METHOD OF VEHICLE
European Patent Office | 2020
|VEHICLE CONTROL APPARATUS, VEHICLE, METHOD FOR OPERATING VEHICLE CONTROL APPARATUS, AND PROGRAM
European Patent Office | 2020
|European Patent Office | 2018
|Vehicle control apparatus, vehicle, and vehicle control method
European Patent Office | 2023
|