Vehicle control apparatus and vehicle control method

Abstract

A vehicle control apparatus is provided which includes position detecting means for detecting a position of a detected target using reflection information derived from a radar device, first determining means for determining whether the detected target is expected to be an obstacle not based on an intensity of a received reflected wave contained in the reflection information, and second determining means for determining whether an obstacle exists at the position, as detected by the position detecting means, or not using the image information. When the second determining means determines that the obstacle exists, and when a distance between an own vehicle and the detected target is smaller than a given threshold value, the detected target is determined as a target with which collision should be avoided regardless of a result of determination made by the first determining means. Alternatively, when the distance to the detected target is greater than the given threshold value, and when the first determining means determines that the detected target is expected to be the obstacle, the detected target is determined as a target with which collision should be avoided. This minimizes an unnecessary operation in control to avoid the collision when it is determined whether the target is an obstacle to movement of the own vehicle or not.