Patent ID: 11897462
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 a plurality of first routes for avoiding a collision between said own vehicle and said detected obstacle;
perform one of a plurality of automatic turn controls based on a distance between said own vehicle and said detected obstacle, said automatic turn controls being controls for changing a traveling direction of said own vehicle in such a manner that said own vehicle travels along said plurality of first routes;
calculate, as a respective position of each of said plurality of first routes, 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 each respective first route of said plurality of first routes, and calculate, as a respective second route for each of said plurality of first routes, 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 respective 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 routes, whether another obstacle that interferes with said second routes is present; and
select one of said first routes for said automatic turn control, which is connected with said second route in which said another obstacle is not determined to be present, for its respective said automatic control.