Patent ID: 7860653

Claim:
An obstacle avoidance control apparatus comprising: an obstacle detecting section arranged to detect first and second obstacles in front of a host vehicle, with the second obstacle being detected as being farther in front of the host vehicle than the first obstacle; a first obstacle proximity distance prediction section configured to predict a first obstacle proximity distance between the host vehicle and the first obstacle at a time of closest proximity between the host vehicle and the first obstacle; a second obstacle avoidance direction determining section configured to determine a second obstacle avoidance direction that is predicted to avoid the second obstacle; a target vehicle body slip angle setting section configured to set a target vehicle body slip angle in a direction at the time of closest proximity with respect to a vehicle body center of the host vehicle, such that the host vehicle faces further inward of the second obstacle avoidance turning direction as the first obstacle proximity distance increases; and a vehicle behavior controlling section configured to control a vehicle behavior of the host vehicle so that an actual vehicle body slip angle with respect to the vehicle body center at the time of closest proximity coincides with the target vehicle body slip angle at the time of closest proximity.