Vehicle control apparatus

A vehicle control apparatus to be applied to a vehicle, the vehicle control apparatus comprising:

• a contact detector including a first sensor, the contact detector being configured to detect a contact of the vehicle with an object;
• a gripping state detector including a second sensor, the gripping state detector being configured to detect a state of gripping of a steering operation device by a driver who drives the vehicle;
• one or more processors;
• and
• one or more memories storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• in response to determining that, after the contact detector detects the contact, i) there is a deviation between a target yaw rate and an actual yaw rate, the target yaw rate being calculated based on a steering angle of a steering device, ii) the gripping of the steering operation device by the driver is detected by the gripping state detector, and iii) a steering direction of the steering device is in an opposite direction to a yaw rate generated at a body of the vehicle by the contact, execute an attitude stabilization control for generating a yaw moment at the body of the vehicle based on a basis of a the deviation between the target yaw rate and the actual yaw rate;
• and
• in response to not determining that, after the contact detector detects the contact, i) the gripping of the steering operation device by the driver is detected by the gripping state detector, and ii) a steering direction of the steering device is in an opposite direction to a yaw rate generated at the body of the vehicle by the contact, stop the generating of the yaw moment by the attitude stabilization control or reduce the yaw moment to be generated by the attitude stabilization control after the contact detector detects the contact.

A vehicle control apparatus to be applied to a vehicle, the vehicle control apparatus comprising:

• a contact detector including a first sensor, the contact detector being configured to detect a contact of the vehicle with an object;
• a gripping state detector including a second sensor, the gripping state detector configured to detect a state of gripping of a steering operation device by a driver who drives the vehicle;
• a steering torque detector including a third sensor, the steering torque detector configured to detect a steering torque to be applied to the steering operation device;
• one or more processors;
• and
• one or more memories storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• in response to determining that after the contact detector detects the contact, i) there is a deviation between a target yaw rate and an actual yaw rate, the target yaw rate being calculated based on a steering angle of a steering device, ii) the gripping of the steering operation device by the driver is detected by the gripping state detector, and iii) the steering torque detected by the steering torque detector is equal to or greater than a predetermined value, execute an attitude stabilization control for generating a yaw moment at a body of the vehicle based on the deviation between the target yaw rate and the actual yaw rate;
• and
• in response to not determining that, after the contact detector detects the contact, i) the gripping of the steering operation device by the driver is detected by the gripping state detector, and ii) the steering torque detected by the steering torque detector is equal to or greater than the predetermined value, stop the generating of the yaw moment by the attitude stabilization control or reduce the yaw moment to be generated by the attitude stabilization control after the contact detector detects the contact.

A vehicle control apparatus to be applied to a vehicle, the vehicle control apparatus comprising:

• a contact detector including a sensor, the contact detector being configured to detect a contact of the vehicle with an object;
• one or more processors;
• and
• one or more memories storing instructions that, when executed by the one or more processors, cause the one or more processors to:
• in response to determining that, after the contact detector detets the contact, i) there is a deviation between a target yaw rate and an actual yaw rate, the target yaw rate being calculated based on a steering angle of a steering device, and ii) a steering direction of the steering device and a direction of the actual yaw rate are in a same direction as each other, execute an attitude stabilization control for generating a yaw moment at a body of the vehicle based on the deviation between the target yaw rate and the actual yaw rate;
• and
• in response to not determining that, after the contact detector detects the contact, the steering direction of the steering device and the direction of the actual yaw rate are in the same direction as each other, stop the generating of the yaw moment by the attitude stabilization control or reduce the yaw moment to be generated by the attitude stabilization control after the contact detector detects the contact.