OBSTACLE AVOIDANCE APPARATUS DURING CROSSING OPPOSITE TRAFFIC LANE

摘要

PROBLEM TO BE SOLVED: To provide an obstacle avoidance apparatus that avoids colliding with an obstacle after crossing an opposite traffic lane and disturbing an opposite vehicle driving on the opposite traffic lane, and also colliding with the opposite vehicle, when an own vehicle crosses the opposite traffic lane.SOLUTION: The obstacle avoidance apparatus includes: an obstacle detection unit for detecting the obstacle after crossing the opposite traffic lane; an opposite traffic lane region estimating unit for estimating a region of the opposite traffic lane; a deceleration calculation unit for calculating a requested deceleration to avoid collision with the obstacle; a stop position estimating unit for estimating a stop position of the own vehicle based on the requested deceleration; a determination unit for determining whether the own vehicle stops or not within the region of the opposite traffic lane based on the stop position of the own vehicle and the opposite traffic lane; and a deceleration correction unit for correcting the requested deceleration of the own vehicle when the own vehicle is determined to stop within the region of the opposite traffic lane.