A vehicle control apparatus that controls a vehicle, comprising: a division line detector configured to detect a division line of a road; a road boundary detector configured to detect a road boundary of the road; and a controller configured to execute first lane departure suppression control to suppress the departure of the vehicle from the division line and second lane departure suppression control to suppress the departure of the vehicle from the road boundary, wherein the controller executes the first lane departure suppression control in accordance with a distance in a lateral direction from the vehicle to a predetermined position based on the division line, and executes the second lane departure suppression control based on a time until the vehicle arrives at a predetermined position based on the road boundary.
VEHICLE CONTROL APPARATUS, VEHICLE, OPERATION METHOD OF VEHICLE CONTROL APPARATUS, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
2020-12-10
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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