Patent ID: 11932248
Assignee: DENSO CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 7:
8. The vehicle control apparatus according to claim 1, further comprising a departure vehicle determination section that uses the detection information acquired by the surrounding object detection section to determine whether a first preceding vehicle that is the preceding vehicle as the vehicle to be followed that is followed in the following travel mode is a departure vehicle that departs from the own lane to enter the free space, wherein
the setting condition includes a determination by the departure vehicle determination section, and
when the departure vehicle determination section determines that the departure vehicle is present and a second preceding vehicle that is the second other vehicle that travels in front of the departure vehicle is present, when a predetermined positional relationship is established by which it is determined that the departure vehicle and the own vehicle are unlikely to collide with each other, the automated driving control section changes the vehicle to be followed from the departure vehicle to the second preceding vehicle to set the second preceding vehicle as the vehicle to be followed.