Patent ID: 11897459
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 9:
10. A collision avoidance assist apparatus comprising:
a sensor that detects an obstacle which is present ahead of an own vehicle; and
one or more processors programmed to:
calculate an avoidance route for avoiding a collision between said own vehicle and said detected obstacle;
perform an automatic turn control based on a distance between said own vehicle and said detected obstacle, said automatic turn control being a control for changing a traveling direction of said own vehicle in such a manner that said own vehicle travels along said avoidance route; and
prohibit performing said automatic turn control based on a determination that another obstacle is present ahead of a termination position of the avoidance route in the vehicle's direction of travel, wherein the termination position is a position at which the collision between said own vehicle and said detected obstacle is predicted to have been avoided.