Apparatus and method for controlling vehicle

An apparatus for controlling an own vehicle that is a vehicle equipped with a radar device and an imaging device as object detection sensors configured to detect an object around the own vehicle, the apparatus comprising:

• a first acquirer, performed by an electric control unit, configured to acquire a first predicted time to collision that is an estimated time until a collision of the own vehicle with a target detected by the radar device, the target detected by the radar device being referred to as a first target;
• a second acquirer, performed by an electric control unit, configured to acquire a second predicted time to collision that is an estimated time until a collision of the own vehicle with a target in a captured image detected by the imaging device, the target detected by the imaging device being referred to as a second target, the second predicted time being calculated using one of a plurality of calculation methods;
• an identity determiner, performed by an electric control unit, configured to, based on the first predicted time to collision and the second predicted time to collision, perform an identity determination as to whether or not the first target and the second target correspond to a same object;
• a scene determiner, performed by an electric control unit, configured to, upon acquiring the second predicted time to collision from the second acquirer, determine whether or not one of at least one specific scene is matched depending on the one of the plurality of calculation methods corresponding to the second predicted time to collision, the at least one specific scene being a scene where large calculation errors in the second predicted time to collision corresponding to the one of the plurality of calculation methods may be generated;
• and
• a determination aspect setter, performed by an electric control unit, configured to, based on the one of the plurality of calculation methods and a result of determination by the scene determiner, set an aspect of the identity determination.