Patent ID: 11897462
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 a first 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 first route;
calculate, as a position of said first route, a position at which said collision between said own vehicle and said obstacle is predicted to have been avoided on the assumption that said own vehicle travels along said first route, and calculate, as a second 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 said position to a second time point at which a setting time elapses since said first time point;
determine, on the assumption that said own vehicle travels along said second route, whether another obstacle that interferes with said second route is present; and
prohibit performing said automatic turn control when said another obstacle is determined to be present.