Patent ID: 11926316
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A vehicle control apparatus comprising:
a sensor configured to obtain information on an object that is present ahead of a host vehicle and on a road marking line; and
a control unit configured to:
in a case in which a first object is detected that is likely to collide with said host vehicle based on said information obtained by said sensor, perform a vehicle control to cause said host vehicle enter an adjacent lane that is adjacent to a host vehicle lane in which said host vehicle is traveling so as to avoid a collision between said host vehicle and said first object, when: (i) collision avoidance space in which no second object likely to collide with said host vehicle is present in said adjacent lane, (ii) said road marking line that defines said adjacent lane is detected near an edge of a host vehicle road that is a road on which said host vehicle is traveling, and (iii) no third object is detected near said edge of said host vehicle road,

wherein said edge of the host vehicle road is located on a side of said adjacent lane relative to that is opposite from said host vehicle lane; and
in a case in which the first object is detected that is likely to collide with said host vehicle based on said information obtained by said sensor, not perform said vehicle control, when: (i) said collision avoidance space is present in said adjacent lane, (ii) said road marking line is detected near said edge of said host vehicle road, and (iii) said third object is detected near said edge of said host vehicle road.