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OBSTACLE AVOIDANCE PATH COMPUTING APPARATUS, OBSTACLE AVOIDANCE PATH COMPUTING METHOD, AND OBSTACLE AVOIDANCE CONTROL SYSTEM EQUIPPED WITH OBSTACLE AVOIDANCE PATH COMPUTING SYSTEM

  • US 20070288133A1
  • Filed: 06/11/2007
  • Published: 12/13/2007
  • Est. Priority Date: 06/13/2006
  • Status: Active Grant
First Claim
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1. An obstacle avoidance path computing apparatus comprising:

  • a preceding object detecting section configured to detect a preceding object state and a movement velocity of a preceding object existing in front of a host vehicle as preceding object information;

    a host vehicle information detecting section configured to detect a host vehicle traveling state as host vehicle information;

    a preceding object arrival region estimating section configured to calculate an estimated arrival region within which the preceding object could arrive after a prescribed amount of time has elapsed since the preceding object was detected, based on an estimated attribute of the preceding object from the preceding object state and the movement velocity of the preceding object; and

    a preceding object avoidance path setting section configured to calculate an avoidance path that will not encroach on the estimated arrival region based the preceding object information and the host vehicle information.

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