Patent ID: 11904849
Assignee: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A vehicle control apparatus, comprising:
at least one sensor which detects own vehicle forward information on a situation ahead of an own vehicle; and
an electronic control unit configured to execute a steering control for avoiding a collision of the own vehicle with an object recognized, based on the own vehicle forward information,
wherein the electronic control unit is configured to:
determine that a control start condition is satisfied when the at least one sensor detects the object in an area of a moving route of the own vehicle;
determine that a control forbidding condition is satisfied only when the at least one sensor detects an oncoming vehicle which satisfies a predetermined moving condition, the predetermined moving condition being that the at least one sensor detects that the oncoming vehicle moves in an oncoming lane next to a moving lane of the own vehicle and approaches the own vehicle both at an initial detection and at a second detection, the second detection taking place when a second time period elapses from the initial detection;
determine that a forbidding cancelling condition is satisfied when a first time period elapses since the electronic control unit determines that the oncoming vehicle satisfying the predetermined moving condition disappears after the electronic control unit determines that the control forbidding condition is satisfied;
execute the steering control without delay when the control start condition is satisfied, and the control forbidding condition is not satisfied; and
execute the steering control with delay when the control start condition is satisfied, the control forbidding condition is satisfied, and the forbidding cancelling condition is satisfied;

wherein the second time period is a time period sufficient to prevent the electronic control unit from mistakenly determining that the oncoming vehicle is present when the oncoming vehicles actually is not present.