DRIVING ASSIST SYSTEM

To execute override within a permissible range of a driver's feeling of wrongness during implementation of steering support control.SOLUTION: A driving assist system includes override execution means that determines whether a condition for execution of override has been established during implementation of steering support control, and executes override when the condition for execution has been established, relational expression storage means that stores in advance a relational expression which stipulates a relationship between an input value relating to a driver's steering manipulation and an expected output value of an own vehicle which a driver expects, and feeling-of-wrongness factor arithmetic means that computes a feeling-of-wrongness factor, which is an index representing a degree to which a driver perceives a feeling of wrongness with respect to a behavior of the own vehicle, as a value which gets larger as an actual output value of the own vehicle relative to the input value is dissociated from the expected output value relative to the input value. The override execution means integrates feeling-of-wrongness factors computed during implementation of steering support control. When the integrated value is equal to or larger than a predetermined permissible threshold, the override execution means determines that the condition for execution has been established.SELECTED DRAWING: Figure 5 【課題】 操舵支援制御の実行中において運転者の違和感の許容範囲内でオーバーライドを実行する。【解決手段】 運転支援装置は、操舵支援制御の実行中にオーバーライドの実行条件が成立しているか否かを判定し、実行条件が成立している場合にオーバーライドを実行するオーバーライド実行手段と、運転者の操舵操作に関連した入力値と、運転者が期待する自車両の期待出力値と、の関係を規定した関係式を予め記憶している関係式記憶手段と、自車両の挙動に対して運転者が覚える違和感の度合いを示す指標である違和感ファクタを、入力値に対する自車両の実出力値が、入力値に対する期待出力値から乖離しているほど大きくなる値として演算する違和感ファクタ演算手段とを備え、オーバーライド実行手段は、操舵支援制御の実行中に演算された違和感ファクタを積算し、当該積算値が所定の許容閾値以上の場合に実行条件が成立していると判定する。【選択図】 図５