Patent ID: 8423277

Claim:
A vehicle running control method comprising: detecting, using an obstacle detector, an obstacle in front of a vehicle; detecting, using a vehicle dynamic state detector, a dynamic state of the vehicle; generating, using an avoidance route generating unit, a plurality of collision avoidance routes for avoiding a collision of the vehicle with the obstacle based on the dynamic state of the vehicle; detecting, using an operation detector, an operation of the vehicle by a driver, the operation being at least one of a braking operation, a steering operation to the right, and a steering operation to the left; judging, using an avoidance route selecting unit, which of the generated collision avoidance routes corresponds to the detected operation of the vehicle; selecting, using the avoidance route selecting unit, a collision avoidance route from the plurality of generated collision avoidance routes, based at least on a result of the judging; and performing, using a vehicle dynamics control unit, a running control of the vehicle based on the selected collision avoidance route.