US Patent 7711466 Vehicle driving control unit

A control unit 3 estimates a driving target point Pt based on obstacle information which is recognized by a stereoscopic camera 4 and an environment recognition unit 5, and estimates a position of an obstacle based on a current relative position between a vehicle and the obstacle and information of a traveling of the vehicle. Then, the control unit 3 sets the driving target point Pt to a position by adding a driving target point traveling distance ifx0 over which the vehicle 1 travels in a lateral direction based on a steering torque f0 and a preset safety spacing Sx. The control unit 3 controls the steering of the vehicle 1 so as to be directed toward the driving target point.