Vehicle control apparatus and vehicle control method

A vehicle control method which is applied to a vehicle equipped with a target detection section for detecting at least one target around an own vehicle,

• the vehicle control method comprising:
• an acquisition step of acquiring, at a predetermined cycle, angle deviation information on angular deviation of the target detection section in a vertical direction, the angle deviation information being calculated on a basis of a detection position where the at least one target has been detected by the target detection section;
• an angle calculation step of calculating an axis deviation angle for the angle deviation information, the axis deviation angle being an amount of deviation of a mounting angle of the target detection section in the vertical direction;
• an execution step which is executed by a vehicle control apparatus for performing collision avoidance control with respect to the at least one target on a basis of a result of detection performed by the target detection section;
• and
• a control step of, until a predetermined initial time period elapses after activation of the vehicle control apparatus, imposing a limitation on the collision avoidance control which is performed with respect to, among the at least one target detected by the target detection section, a stationary target which is a target corresponding to a stationary object and imposing no limitation on the collision avoidance control which is performed with respect to a target other than the stationary target.

A vehicle control apparatus which is applied to a vehicle equipped with a target detection section for detecting at least one target around an own vehicle, the vehicle control apparatus comprising:

• a memory;
• a processor communicable to the memory;
• and
• a set of computer-executable instructions stored on the memory that cause the processor to implement:
• performing collision avoidance control with respect to the at least one target on a basis of a result of detection performed by the target detection section;
• acquiring, at a predetermined cycle, angle deviation information on angular deviation of the target detection section in a vertical direction, the angle deviation information being calculated on a basis of a detection position where the at least one target has been detected by the target detection section;
• calculating an axis deviation angle by performing statistical processing of a history of the angle deviation information acquired after activation of the vehicle control apparatus, the axis deviation angle being an amount of deviation of a mounting angle of the target detection section in the vertical direction;
• and
• until a predetermined initial time period elapses after the activation of the vehicle control apparatus, imposing a limitation on the collision avoidance control which is performed with respect to, among the at least one target detected by the target detection section, a stationary target which is a target corresponding to a stationary object and imposing no limitation on the collision avoidance control which is performed with respect to a target other than the stationary target.