Patent ID: 11912269
Assignee: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. 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 at least one lane shape parameter which represents a degree of a curvature of the moving lane, based on each of the pair of lane markings; and
determine the shape of the moving lane based on the calculated lane shape parameter; and

while the electronic control unit executes the emergency steering control,
calculate the at least one lane shape parameter, based on the avoidance-side lane marking, the calculation omitting consideration of the non-avoidance-side lane marking; and
determine the shape of the moving lane based on the calculated lane shape parameter.