Patent ID: 8977435
Filing Date: 2015-03-10
Classification: B60J,B60K,B60T,B60W,B62D

Abstract:
1. A vehicle control apparatus comprising: a driver condition detecting unit that detects a condition of a driver; a stop switch that is operated by the driver; and an emergency stop unit that stops a vehicle, regardless of whether the driver operates a brake pedal, wherein, when the driver condition detecting unit detects that the condition of the driver is worsened, the emergency stop unit stops the vehicle while changing a steering angle of the vehicle based on an environment surrounding a vehicle stop position, and when the driver operates the stop switch, the emergency stop unit stops the vehicle while changing the steering angle of the vehicle according to the environment around the vehicle stop position, regardless of the condition of the driver detected by the driver condition detecting unit, wherein, in a case in which a width of a lane in which the vehicle travels is equal to or greater than a predetermined value, when the vehicle travels in a lane furthest from an opposite lane, the emergency stop unit stops the vehicle at a position which is away from the opposite lane in the lane, when the vehicle travels in a lane closest to the opposite lane, the emergency stop unit stops the vehicle at a position which is close to the opposite lane in the lane, and when the vehicle travels in a lane other than the lane furthest from an opposite lane and the lane closest to the opposite lane, the emergency stop unit stops the vehicle at the center of the lane, and in a case in which the width of the lane in which the vehicle travels is less than the predetermined value, when the vehicle travels in a lane other than the lane closest to the opposite lane, the emergency stop unit stops the vehicle at the position which is close to the opposite lane in the lane, and when the vehicle travels in a lane closest to the opposite lane, the emergency stop unit stops the vehicle at the position which is away from the opposite lane in the lane.