Patent ID: 11938930
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A vehicle control apparatus, comprising:
at least one first sensor which acquires object information on objects in a surrounding area around an own vehicle;
a second sensor which detects a moving speed of the own vehicle; and
an electronic control unit configured to:
select, as a first object group, objects in a predetermined area from objects included in the object information;
select, as a second object group, a predetermined upper limit number of the objects from the first object group in descending order of a priority value when the number as a first number of the objects included in the first object group is greater than the predetermined upper limit number; and
execute a collision avoidance control when an index value representing a collision probability that the own vehicle collides with the object included in the second object group, satisfies a predetermined condition,

wherein the priority value represents a probability that the own vehicle collides with the object,
wherein the electronic control unit is configured to reduce the priority value of a particular object included in the first object group when the moving speed of the own vehicle is equal to or lower than a predetermined moving speed threshold, and
wherein the particular object is an object which is deemed to have a moving speed lower than a moving speed of a four-wheel vehicle.