Vehicle collision avoidance assist apparatus

A vehicle control method of executing a control based on a collision probability that an own vehicle collides with an object ahead of the own vehicle,

• wherein the vehicle control method comprises steps of:
• determining whether a driver of the own vehicle can see the object ahead of the own vehicle based on an image of a face of the driver;
• and
• based upon the determination that the driver cannot see the object ahead of the own vehicle based on the image of the face of the driver, setting a start timing of starting executing of the control to a timing earlier than the start timing set when the driver can see the object ahead of the own vehicle,
• further comprising:
• detecting a grasping state of the driver of the own vehicle grasping a steering wheel of the own vehicle;
• determining whether the driver grasps the steering wheel, based on the grasping state;
• and
• based upon the determination that the driver does not grasp the steering wheel, setting the start timing to a timing earlier than the start timing set when the driver grasps the steering wheel.

A non-transitory computer-readable storage medium storing a vehicle control program which executes a control based on a collision probability that an own vehicle collides with an object ahead of the own vehicle,

• wherein the vehicle control program is configured to:
• determine whether a driver of the own vehicle can see the object ahead of the own vehicle based on an image of a face of the driver;
• and
• when the electronic control unit determines that the driver cannot see the object ahead of the own vehicle based on the image of the face of the driver, set a start timing of starting executing of the control to a timing earlier than the start timing set when the electronic control unit determines that the driver can see the object ahead of the own vehicle,
• wherein the electronic control unit is configured to:
• detect a grasping state of the driver of the own vehicle grasping a steering wheel of the own vehicle;
• determine whether the driver grasps the steering wheel, based on the grasping state;
• and
• when the electronic control unit determines that the driver does not grasp the steering wheel, set the start timing to a timing earlier than the start timing set when the electronic control unit determines that the driver grasps the steering wheel.