Patent ID: 11970207
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The vehicle control apparatus according to claim 1,
wherein the data selector for trajectory generation determines back side positions of the target object, which are located on a back side of the present own vehicle, among the plural positions of the target object,
calculates the change direction of the positions of the target object in the second order, about each of the back side positions of the target object,
determines a position where the absolute value of the angle of the change direction of the positions of the target object with respect to the back direction becomes greater than or equal to the determination angle, among the back side positions of the target object, and
further selects positions located on a first order side of the determined position among the back side positions of the target object, as the target object positions for trajectory generation.