A vehicle control apparatus includes: an estimation part that estimates a lane change by a peripheral vehicle which is traveling around a vehicle; a virtual vehicle-setting part that sets a virtual vehicle, which virtually simulates the peripheral vehicle as a target of the estimation, on a lane of a lane change destination of the peripheral vehicle when the lane change of the peripheral vehicle is estimated by the estimation part; a control plan generation part that generates a control plan of the vehicle based on the virtual vehicle which is set by the virtual vehicle-setting part; and a travel control part that controls acceleration, deceleration, or steering of the vehicle based on the control plan which is generated by the control plan generation part.
VEHICLE CONTROL APPARATUS, VEHICLE CONTROL METHOD, AND VEHICLE CONTROL PROGRAM
2019-01-10
Patent
Electronic Resource
English
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