Collision avoidance assisting apparatus

A collision avoidance assisting apparatus comprising:

• a central processing unit (CPU);
• and
• a memory coupled to the CPU and configured to store a program that, when executed by the CPU, causes the collision avoidance assisting apparatus to:
• detect an obstacle in a heading direction of a vehicle;
• detect a steering angle of a steering wheel of said vehicle;
• when the obstacle is detected, execute an automatic braking process of decreasing speed of said vehicle by controlling a braking apparatus of said vehicle;
• and
• subsequently when said vehicle is determined not to be able to be stopped only by said automatic braking process at a point in time before said vehicle reaches said detected obstacle, execute an automatic steering process in addition to said automatic braking process, said automatic steering process changing turning angles of turnable wheels of said vehicle by controlling a steering apparatus of said vehicle including said steering wheel,
• wherein the program that, when executed by the CPU, further causes the collision avoidance assisting apparatus to execute an execution state determination process of determining an execution state of said automatic steering process for determining whether said automatic braking process is to be stopped or to be continued when said automatic braking process is executed,
• and wherein,
• in a case where said automatic braking process is executed and said automatic steering process is not being executed, said execution state determination process is a process of stopping the execution of said automatic braking process when magnitude of said detected steering angle becomes greater than a predetermined first angle threshold;
• and
• in a case where said automatic steering process is being executed, said execution state determination process is a process of continuing to execute both said automatic braking process and said automatic steering process even when the magnitude of said detected steering angle becomes greater than said predetermined first angle threshold.