公开(公告)号：US12240443B2

公开(公告)日：2025-03-04

申请号：US17641275

申请日：2020-07-09

Applicant: Hitachi Astemo, Ltd.

Inventor： Katsuhiko Hashimoto ,  Satoru Matsuda ,  Satoshi Kashiwamura

IPC: B60W30/09 ,  B60T7/12 ,  B60W30/095 ,  B60W40/068 ,  B60W40/08 ,  B60W60/00

Abstract: A vehicle control apparatus acquires a first collision risk based on a relative distance and a relative speed between an obstacle ahead of a vehicle and the vehicle, outputs a first control instruction for autonomously applying a braking force to the vehicle based on the first collision risk, acquires a second collision risk into which the first collision risk is updated after the braking force is autonomously applied to the vehicle, outputs a second control instruction for autonomously applying a force regarding steering to the vehicle based on the second collision risk, and outputs a third control instruction for controlling the braking force to be generated on a wheel portion of the vehicle based on the second collision risk after the force regarding the steering is autonomously applied to the vehicle.