Importance

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Abstract

An object of the present invention is to provide a vehicle control device capable of avoiding the collision with an obstacle by performing an appropriate collision assessment and appropriate driving assistance having considered a detection error of the obstacle. The vehicle control device 100 includes a collision assessment unit 3 which assesses whether or not there is a possibility of an ego vehicle and an obstacle colliding with each other, and a driving assistance control unit 4 which performs driving assistance for avoiding the collision. The collision assessment unit 3 includes a region setting unit 31 which sets an ego vehicle region and an obstacle region, a location prediction unit 33 which predicts future locations of the ego vehicle region and the obstacle region, and an overlap assessment unit 34 which assesses that there is a possibility of collision when the ego vehicle region and the obstacle region overlap at the future location. The region setting unit 31 changes, on the basis of a moving speed of the obstacle, the size of the ego vehicle region and/or the obstacle region from the size of the ego vehicle and/or the obstacle, to thereby set the ego vehicle region and the obstacle region.

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First Claim