Collision avoidance apparatus

A collision avoidance apparatus, comprising:

• a processor to execute a program;
• and
• a memory to store the program which, when executed by the processor, performs processes of:
• defining a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle;
• making a following determination on whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone;
• establishing a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone;
• setting an evaluation function for evaluating at least a route following error and a speed following error as evaluation items so that a degree of evaluation increases as the route following error is smaller and the speed following error is smaller, the route following error being an error in a predicted route with respect to a target route of the subject vehicle, the speed following error being an error in a predicted speed with respect to a target speed of the subject vehicle;
• computing, under the constraint, a solution for increasing the degree of evaluation on the evaluation function;
• computing a predicted value of the state quantity of the subject vehicle based on the solution;
• and
• computing a target value of each of an actuator that controls an amount of steering of the subject vehicle and an actuator that controls an amount of acceleration or deceleration of the subject vehicle, based on at least one of the solution and the predicted value of the state quantity.