Patent ID: 11904935
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A vehicle control apparatus for controlling a vehicle based on surrounding area information of the vehicle, comprising:
a control unit capable of controlling the vehicle in a first state in which gripping of a steering apparatus by a driver of the vehicle is needed and a second state in which the gripping is not needed, based on the surrounding area information; and
a warning output unit configured to output a deviation warning when the vehicle has approached a boundary of a travel path,
wherein if the vehicle is in the second state, the control unit suppresses output of the deviation warning performed by the warning output unit compared to a case where the vehicle is in the first state,
wherein the control unit calculates a degree of reliability of position information of the vehicle based on the surrounding area information, and
if the degree of reliability is a predetermined value or more, the control unit suppresses output of the deviation warning performed by the warning output unit compared to a case where the degree of reliability is less than the predetermined value,
wherein the control unit determines whether or not the degree of reliability transitions from being less than the predetermined value to being the predetermined value or more, if the vehicle is in the second state and a predetermined amount of time has elapsed since the degree of reliability transitioned from being less than the predetermined value to being the predetermined value or more, the control unit suppresses output of the deviation warning performed by the warning output unit compared to a case where the vehicle is in the second state and a predetermined amount of time has not elapsed since the degree of reliability transitioned from being less than the predetermined value to being the predetermined value or more.