Collision avoidance apparatus

1. A collision avoidance apparatus, comprising:

an object information acquisition device configured to acquire, as object information, information on a three-dimensional object present in front of an own vehicle and dividing lines defining a lane extending in front of the own vehicle;

a steering input value acquisition device configured to acquire a steering input value being an input value based on a steering operation, which is an operation of a steering wheel by a driver of the own vehicle; and

a control unit configured to calculate each of a trajectory of the own vehicle and a trajectory of the three-dimensional object based on at least the object information, and to execute, as collision avoidance control, at least one of autonomous emergency braking control of autonomously applying a braking force to the own vehicle or autonomous steering control of autonomously changing a steered angle of steered wheels of the own vehicle when a collision condition is satisfied, the collision condition being satisfied when it is determined based on the trajectory of the own vehicle and the trajectory of the three-dimensional object that a possibility of the own vehicle colliding with the three-dimensional object exists, wherein the control unit is configured to, when the steering input value of a steering operation to right by the driver is defined as a positive value and the steering input value of a steering operation to left by the driver is defined as a negative value, perform one of: avoiding executing the collision avoidance control even when the collision condition is satisfied; and changing a threshold value to be used for the collision condition so that satisfaction of the collision condition becomes more difficult, in a first case in which a right side adjacent lane being a lane adjacent to right of a current lane in which the own vehicle is currently positioned is present, a same-direction condition satisfied when a travel direction of another vehicle traveling on the right side adjacent lane is the same as a travel direction of the own vehicle is satisfied, and the steering input value is equal to or more than a predetermined steering threshold value having a positive value.

2. The collision avoidance apparatus according to claim 1 ,

wherein the object information acquisition device is further configured to acquire information on a three-dimensional object present in rear of the own vehicle as the object information, and

wherein the control unit is configured to execute, when it is determined based on the object information that the collision condition is satisfied for another vehicle present in the right side adjacent lane in the first case, emergency lane keeping control of autonomously changing the steered angle of the steered wheels of the own vehicle so that the own vehicle is prevented from departing from the current lane to the right side adjacent lane.

3. The collision avoidance apparatus according to claim 1 , wherein the control unit is configured to, when a curvature of a center line obtained when the center line curves to the right is defined as a positive value, and when a curvature of the center line obtained when the center line curves to the left is defined as a negative value:

calculate a curvature of the center line being a dividing line between the current lane and the right side adjacent lane in a second case in which the right side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate, when a curvature condition which is satisfied when the curvature of the center line is equal to or more than a predetermined curvature threshold value having a positive value is satisfied, a trajectory of another vehicle traveling on the right side adjacent lane in front of the own vehicle based on the curvature of the center line.

4. The collision avoidance apparatus according to claim 2 , wherein the control unit is configured to, when a curvature of a center line obtained when the center line curves to the right is defined as a positive value, and when a curvature of the center line obtained when the center line curves to the left is defined as a negative value:

calculate a curvature of the center line being a dividing line between the current lane and the right side adjacent lane in a second case in which the right side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate, when a curvature condition which is satisfied when the curvature of the center line is equal to or more than a predetermined curvature threshold value having a positive value is satisfied, a trajectory of another vehicle traveling on the right side adjacent lane in front of the own vehicle based on the curvature of the center line.

5. The collision avoidance apparatus according to claim 1 , wherein the control unit is configured to:

calculate the curvature of the center line being a dividing line between the current lane and the right side adjacent lane in a second case in which the right side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate a trajectory of another vehicle traveling on the right side adjacent lane in front of the own vehicle based on the curvature of the center line.

6. The collision avoidance apparatus according to claim 2 , wherein the control unit is configured to:

calculate the curvature of the center line being a dividing line between the current lane and the right side adjacent lane in a second case in which the right side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate a trajectory of another vehicle traveling on the right side adjacent lane in front of the own vehicle based on the curvature of the center line.

7. The collision avoidance apparatus according to claim 3 , wherein the control unit is configured to calculate the trajectory of the another vehicle so that a curvature of the trajectory of the another vehicle matches the curvature of the center line.

8. A collision avoidance apparatus, comprising:

an object information acquisition device configured to acquire, as object information, information on a three-dimensional object present in front of an own vehicle and dividing lines defining a lane extending in front of the own vehicle;

a steering input value acquisition device configured to acquire a steering input value being an input value based on a steering operation, which is an operation of a steering wheel by a driver of the own vehicle; and

a control unit configured to calculate each of a trajectory of the own vehicle and a trajectory of the three-dimensional object based on at least the object information, and to execute, as collision avoidance control, at least one of autonomous emergency braking control of autonomously applying a braking force to the own vehicle or autonomous steering control of autonomously changing a steered angle of steered wheels of the own vehicle when a collision condition is satisfied, the collision condition being satisfied when it is determined based on the trajectory of the own vehicle and the trajectory of the three-dimensional object that a possibility of the own vehicle colliding with the three-dimensional object exists,

wherein the control unit is configured to, when the steering input value of a steering operation to left by the driver is defined as a positive value and the steering input value of a steering operation to right by the driver is defined as a negative value, perform one of: avoiding executing the collision avoidance control even when the collision condition is satisfied; and changing a threshold value to be used for the collision condition so that satisfaction of the collision condition becomes more difficult, in a third case in which a left side adjacent lane being a lane adjacent to left of a current lane in which the own vehicle is currently positioned is present, a same-direction condition satisfied when a travel direction of another vehicle traveling on the left side adjacent lane is the same as a travel direction of the own vehicle is satisfied, and the steering input value is equal to or more than a predetermined steering threshold value having a positive value.

9. The collision avoidance apparatus according to claim 8 ,

wherein the object information acquisition device is further configured to acquire information on a three-dimensional object present in rear of the own vehicle as the object information, and

wherein the control unit is configured to execute, when it is determined based on the object information that the collision condition is satisfied for another vehicle present in the left side adjacent lane in the third case, emergency lane keeping control of autonomously changing the steered angle of the steered wheels of the own vehicle so that the own vehicle is prevented from departing from the current lane to the left side adjacent lane.

10. The collision avoidance apparatus according to claim 8 , wherein the control unit is configured to, when a curvature of a center line obtained when the center line curves to the left is defined as a positive value, and when a curvature of the center line obtained when the center line curves to the right is defined as a negative value:

calculate a curvature of the center line being a dividing line between the current lane and the left side adjacent lane in a fourth case in which the left side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate, when a curvature condition which is satisfied when the curvature of the center line is equal to or more than a predetermined curvature threshold value having a positive value is satisfied, a trajectory of another vehicle traveling on the left side adjacent lane in front of the own vehicle based on the curvature of the center line.

11. The collision avoidance apparatus according to claim 9 , wherein the control unit is configured to, when a curvature of a center line obtained when the center line curves to the left is defined as a positive value, and when a curvature of the center line obtained when the center line curves to the right is defined as a negative value:

calculate a curvature of the center line being a dividing line between the current lane and the left side adjacent lane in a fourth case in which the left side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate, when a curvature condition which is satisfied when the curvature of the center line is equal to or more than a predetermined curvature threshold value having a positive value is satisfied, a trajectory of another vehicle traveling on the left side adjacent lane in front of the own vehicle based on the curvature of the center line.

12. The collision avoidance apparatus according to claim 8 , wherein the control unit is configured to:

calculate the curvature of the center line being a dividing line between the current lane and the left side adjacent lane in a fourth case in which the left side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate a trajectory of another vehicle traveling on the left side adjacent lane in front of the own vehicle based on the curvature of the center line.

13. The collision avoidance apparatus according to claim 9 , wherein the control unit is configured to:

calculate the curvature of the center line being a dividing line between the current lane and the left side adjacent lane in a fourth case in which the left side adjacent lane is present, the same-direction condition is not satisfied, and the steering input value is equal to or more than the steering threshold value; and

calculate a trajectory of another vehicle traveling on the left side adjacent lane in front of the own vehicle based on the curvature of the center line.

14. The collision avoidance apparatus according to claim 10 , wherein the control unit is configured to calculate the trajectory of the another vehicle so that a curvature of the trajectory of the another vehicle matches the curvature of the center line.