| 摘要 |
In avoiding an obstacle on a travel path, the obstacle is avoided safety and efficiently without interfering with travel of vehicles in an adjacent lane disposed to the side of the lane in which the subject vehicle is traveling. An obstacle avoidance system in which a traveling lane 210 of a subject vehicle and an adjacent lane 510 are disposed side by side, and in which an obstacle 401 to the front on the traveling lane 210 is avoided by passing on the side of the obstacle 401 closest to the adjacent lane, wherein the relative position of the obstacle 401 relative to the subject vehicle 12, and the size wo of the obstacle 401 in the width direction of the vehicle are detected on the basis of an output from an external environment sensor mounted in the subject vehicle 12. Further, a maximum movement amount Dt of the subject vehicle 12 in the width direction of the vehicle in order to avoid the obstacle 401 is calculated on the basis of the relative position of the obstacle 401, the size of the obstacle in the width direction of the vehicle, and the width of the subject vehicle 12. Then a location displaced from the position of the obstacle 401 toward the adjacent lane, through the maximum movement amount, is obtained as an avoidance location 250, and if a distance d between the avoidance location 250 and the adjacent lane 510 is greater than the vehicle width Wm of the subject vehicle 12, then an avoidance route for the subject vehicle 12 to pass through the avoidance location 250 is created. |
