{
  "$type": "site.standard.document",
  "description": "Collision avoidance assist apparatus comprises an object information acquiring apparatus for acquiring, as object information, information on a three-dimensional object as well as dividing lines defining a travelling lane in front of a vehicle, and a control unit configured to, when a collision…",
  "path": "/patents/1297810",
  "publishedAt": "2021-08-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "Collision avoidance assist apparatus comprises an object information acquiring apparatus for acquiring, as object information, information on a three-dimensional object as well as dividing lines defining a travelling lane in front of a vehicle, and a control unit configured to, when a collision possibility with a three-dimensional object is high, identify this object as a target object. When one of the dividing lines has been detected without any discontinuation in a predetermined region as well as a part of an other dividing line has not been detected therein, if the control unit determines, based on the object information, that a second condition which is satisfied when the target object is positioned on the other dividing line and is moving in a same direction as an extending direction is satisfied and an avoidance route exists, the control unit performs automatic steering control so that the vehicle travels along the avoidance route.",
  "title": "COLLISION AVOIDANCE ASSIST APPARATUS"
}