Patent ID: 11878688
Assignee: DENSO CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 6:
7. The vehicle control apparatus according to claim 1, further comprising:
a rearward movable object determiner configured to determine whether there is at least one rearward movable object in one or more other movable objects traveling behind the own vehicle in the travel lane, the at least one rearward movable object being enabled to move through a first side of the own vehicle to accordingly have passed through the own vehicle, the first side of the own vehicle being closer to the enterable space than an opposite second side of the own vehicle is,
wherein:
the autonomous driving controller is adapted to perform an inhibition mode in place of the crossing mode, the inhibition mode causing the own vehicle to:
move toward a first side of the travel lane, which is closer to the enterable space than an opposite second side of the travel lane is, and
be stopped at a given distance short of the enterable space; and
the autonomous driving controller is configured to switch the performed one of the following traveling mode or the constant-speed traveling mode to the inhibition mode when:
the entry condition is satisfied,
it is determined that there is at least one rearward movable object, and
a safety condition is satisfied,
the safety condition being a condition that a time to collision between the at least one rearward movable object and the own vehicle is larger or equal to a predetermined time.