Patent ID: 8755983

Claim:
A vehicular control apparatus comprising: a traveling environment measurement section comprising a camera and configured to measure a traveling environment of a forward position of an advance direction of a vehicle in which an actuator for a vehicular control purpose is mounted; and a control unit comprising: a reliability determination section configured to determine a reliability of a stop-line drawn on a road surface or a mark obtained from the result of measurement used for the determination of whether the vehicle should be decelerated; and an actuator control section configured to perform an operation of the actuator with the determined reliability as a requiring condition, wherein: the reliability determination section calculates brilliances of a plurality of points of places within an image of the road surface as the traveling environment photographed by the camera, and determines the reliability of the stop-line drawn on the road surface, according to the brilliances of the image photographed by the camera, the control unit of the vehicular control apparatus further comprises: a proper stop position coefficient setting section configured to set a coefficient corresponding to a kind of a signal or mark which is measured by the traveling environment measurement section, and the reliability determination section calculates the reliability of presence on the measured traveling environment on a basis of the determined reliability and the set coefficient, and the actuator control section operates the actuator in accordance with the calculated reliability of presence.