Patent ID: 11970207
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 4:
5. A vehicle control apparatus comprising at least one processor configured to implement:
a target object position acquisitor that obtains positions of a target object;
a data selector for trajectory generation that sets a trajectory generation range which is a continuous range including a position of the target object closest to a position of a present own vehicle, and selects positions of the target object included in the trajectory generation range among plural positions of the target object, as target object positions for trajectory generation;
a trajectory generator that generates a trajectory of the target object based on the target object positions for trajectory generation; and
a steering controller that controls a steering angle of the present own vehicle so that the present own vehicle follows the trajectory,
wherein the trajectory generator generates the trajectory by approximation using a polynomial, and
wherein the steering controller performs the trajectory tracking steering control, when a number of the target object positions for trajectory generation is greater than or equal to a value obtained by adding 1 to a maximum order of the polynomial, and
does not perform the trajectory tracking steering control, when the number of the target object positions for trajectory generation is smaller than the value obtained by adding 1 to the maximum order.