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

Claim 8:
9. The vehicle control apparatus according to claim 8, further comprising a cut-in vehicle determination section that uses the detection information acquired by the surrounding object detection section to determine presence or absence of a cut-in vehicle that is the first other vehicle and cuts in a space in front of the own vehicle from the free space, wherein
the setting condition includes a determination by the cut-in vehicle determination section,
when the cut-in vehicle determination section determines that the cut-in vehicle is present, the automated driving control section sets the cut-in vehicle as the vehicle to be followed to perform the following travel mode,
when the own vehicle is performing the following travel mode in which the own vehicle follows the preceding vehicle located in front of the own vehicle and if the cut-in vehicle determination section has determined that the cut-in vehicle is present, the automated driving control section changes the vehicle to be followed from the preceding vehicle to the cut-in vehicle at a predetermined time point before the whole cut-in vehicle enters the own lane to set the cut-in vehicle as the vehicle to be followed, and
when the cut-in vehicle determination section determines that the cut-in vehicle is present and when the departure vehicle determination section determines that the departure vehicle is present, the automated driving control section changes the vehicle to be followed from the departure vehicle to the cut-in vehicle at a time point when the departure positional relationship between the departure vehicle and the own vehicle is established and which is the predetermined time point, regardless of presence or absence of the second preceding vehicle.