COLLISION AVOIDANCE APPARATUS

A collision avoidance apparatus includes an object information acquisition device for acquiring object information including a three-dimensional object and dividing lines, a steering input value acquisition device for acquiring a steering input value based on a driver's steering operation, and control unit for executing collision avoidance control when a collision condition is satisfied based on the object information. When the steering input value of a steering operation to the right is defined to be positive, the control unit is configured to perform one of: avoiding executing the collision avoidance control even when the collision condition is satisfied; and changing a threshold value used for the collision condition so that satisfaction of this condition becomes more difficult, in a case where a right side adjacent lane is present, this lane is a lane in the same direction, and the steering input value is a predetermined positive steering threshold value or more.