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

Claim 0:
1. 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;
calculate, as a post-avoidance route, a route along which said own vehicle is predicted to travel for a time period from a first time point at which said own vehicle passes through a termination position of said avoidance route to a second time point at which a setting time elapses since said first time point, 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;
determine, on the assumption that said own vehicle travels along said post-avoidance route, whether another obstacle that interferes with said post-avoidance route is present; and
prohibit performing said automatic turn control when said another obstacle is determined to be present.