Patent ID: 11912269
Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The collision avoidance assist apparatus as set forth in claim 1, wherein the electronic control unit is further configured to:
before the electronic control unit starts executing the emergency steering control,
calculate an overall lane marking recognition reliability level which represents overall recognition results on the pair of lane markings, based on each of the pair of lane markings; and
execute the emergency steering control when (i) the electronic control unit determines that the vehicle has the high probability of colliding with the obstacle, (ii) the moving lane is the straight lane, and (iii) the calculated lane marking recognition reliability level is equal to or higher than a threshold reliability level; and

while the electronic control unit executes the emergency steering control,
calculate an avoidance-side lane marking recognition reliability level which represents recognition results on the avoidance-side lane marking, based on the avoidance-side lane marking; and
stop executing the emergency steering control when the calculated avoidance-side lane marking recognition reliability level becomes lower than the threshold reliability level.