Patent ID: 7734416

Claim:
An automatic vehicle braking device of a vehicle comprising: detection means for detecting a relative distance, lateral position, and speed of an obstacle with respect to the vehicle; an offset amount means for calculating an offset amount between a vehicle travel route and the lateral position of an obstacle; collision judgment means for making a judgment as to whether a possibility of collision between one's vehicle and the obstacle exists based on detection values obtained by the detection means and the position of the obstacle with respect to the offset amount output by the offset amount means; steering operation detecting means for detecting a steering operation by a driver of the vehicle; and braking force control means for causing a braking force to be exerted on each wheel to brake the vehicle when it is judged by the collision judgment means that a possibility of collision exists and when the steering operation detecting means has detected no collision avoidance operation performed by the driver, wherein the braking force control means causes a respective braking force to be exerted on each wheel to turn the vehicle in a direction in which a head-on collision between the vehicle and the obstacle is caused, wherein the vehicle is simultaneously braked and turned based on at least the relative lateral position of the obstacle with respect to the vehicle detected by the detection means.