Honda Motor Co., Ltd.
Vehicle control apparatus, vehicle control method, and vehicle control program

Abstract:

A vehicle control apparatus includes: a first detection part that detects a peripheral vehicle which is traveling around a vehicle; a control plan generation part that is configured to generate a control plan of the vehicle according to the peripheral vehicle; and a travel control part that is configured to control acceleration, deceleration, or steering of the vehicle according to the control plan, wherein the control plan generation part generates the control plan of the vehicle according to a peripheral vehicle that satisfies a predetermined condition among one or more peripheral vehicles that are detected by the first detection part, and wherein when it is not possible to detect the peripheral vehicle that satisfies the predetermined condition, the control plan generation part is configured to set a virtual vehicle which virtually simulates the peripheral vehicle that satisfies the predetermined condition and generate the control plan of the vehicle.