US Patent 11507085 Vehicle control apparatus

A vehicle control apparatus is configured to perform a steering assistance control of steering a vehicle to move away from an obstacle to avoid when the obstacle is in a steering assistance range. The vehicle control apparatus is provided with: a determinator configured to determine a steering assistance amount associated with the steering assistance control for the obstacle, on the basis of a distance between two of a plurality of obstacles in a direction of travel of the vehicle, when the plurality of obstacles are in the steering assistance range: and a controller programmed to control the vehicle to perform the steering assistance control by using the steering assistance amount determined by the determinator.