Honda Motor Co., Ltd.
Vehicle control apparatus

Abstract:

A vehicle control apparatus including a surrounding circumstances detector detecting surrounding circumstances of a self-driving vehicle and a microprocessor generating an action plan including a target path of the self-driving vehicle based on the surrounding circumstances detected and controlling a driving component so that the self-driving vehicle travels by self-driving in accordance with the action plan. The microprocessor is configured to perform calculating a hindrance time a first action plan is hindered when a second action plan is generated, determining whether the hindrance time is shorter than a predetermined time period, and controlling the driving component to keep a first state according to the first action plan when the hindrance time is shorter than the predetermined time period, while to change to a second state according to the second action plan when the hindrance time is longer than or equal to the predetermined time period.