Obstacle avoidance path calculating means, obstacle avoidance path calculating method and obstacle avoidance control system with obstacle avoidance path calculating system

摘要

An obstacle avoidance path calculating device is provided with preceding object detection means, host vehicle information detection means, arrival area estimation means with respect to a preceding object, and avoidance path setting means with respect to a preceding object. The detection device with respect to a preceding object detects a preceding object. The host vehicle information acquirer acquires host vehicle information. The arrival area estimating means with respect to a preceding object estimates the arrival area in which the preceding object could arrive when a set amount of time has elapsed since the preceding object was detected based on an estimated property of the preceding object from the information about the preceding object , The avoidance path setting means with respect to a preceding object calculates an avoidance path that will not enter the estimated arrival area based on the information about the preceding object and the host vehicle information.