VEHICLE DRIVING ASSIST APPARATUS
FIG7 is a plan view for showing white lane markings LL and LR, a side distance Ds, and a yaw angel θy used in executing a lane return steering assist control   FIG7 is a plan view for showing white lane markings LL and LR, a side distance Ds, and a yaw angel θy used in executing a lane return steering assist control 
The driving assist ECU 10 realizes the positional relationship of the own vehicle 100 relative to the original movement lane, based on the object information sent from the at least one surrounding sensor 40. As shown in FIG7, the driving assist ECU 10 acquires a yaw angle θy and side distances Ds used for executing the lane return steering assist control. The yaw angle θy is a gap angle between the direction of the extension of the original movement lane and the movement direction of the own vehicle 100. One of the side distances Ds is a distance from a reference point P of the own vehicle 100 to the left white lane marking LL. The other side distance Ds is a distance from the reference point P of the own vehicle 100 to the right white lane marking LR. In this embodiment, the reference point P locates at the center position of the front end of the own vehicle 100. In this regard, the reference point P is not limited to the center position of the front end of the own vehicle 100. The driving assist ECU 10 selects one of the side distances Ds from the reference point P to one of the white lane markings, which the own vehicle 100 is likely to cross. In other words, the driving assist ECU 10 selects one of the side distances Ds from the reference point P to one of the white lane markings, toward which the own vehicle 100 moves. In addition, the driving assist ECU 10 acquires a curvature v of the original movement lane from the at least one surrounding sensor 40. In other words, the driving assist ECU 10 acquires an inverse number of a road radius R of the original movement lane from the at least one surrounding sensor 40.  The driving assist ECU 10 realizes the positional relationship of the own vehicle 100 relative to the original movement lane, based on the object information sent from the at least one surrounding sensor 40. As shown in FIG7, the driving assist ECU 10 acquires a yaw angle θy and side distances Ds used for executing the lane return steering assist control. The yaw angle θy is a gap angle between the direction of the extension of the original movement lane and the movement direction of the own vehicle 100. One of the side distances Ds is a distance from a reference point P of the own vehicle 100 to the left white lane marking LL. The other side distance Ds is a distance from the reference point P of the own vehicle 100 to the right white lane marking LR. In this embodiment, the reference point P locates at the center position of the front end of the own vehicle 100. In this regard, the reference point P is not limited to the center position of the front end of the own vehicle 100. The driving assist ECU 10 selects one of the side distances Ds from the reference point P to one of the white lane markings, which the own vehicle 100 is likely to cross. In other words, the driving assist ECU 10 selects one of the side distances Ds from the reference point P to one of the white lane markings, toward which the own vehicle 100 moves. In addition, the driving assist ECU 10 acquires a curvature v of the original movement lane from the at least one surrounding sensor 40. In other words, the driving assist ECU 10 acquires an inverse number of a road radius R of the original movement lane from the at least one surrounding sensor 40.
plan view
100
vehicle
['1. A vehicle driving assist apparatus comprising: at least one sensor (40) to detect an obstacle existing around a vehicle (100) to which the vehicle driving assist apparatus is applied; and an electronic control unit (10) configured to: start an execution of a collision avoidance steering assist control to automatically steer the vehicle (100) to avoid a collision of the vehicle (100) with the detected obstacle in response to a driver of the vehicle (100) performing a collision avoidance steering operation for steering the vehicle (100) for avoiding the collision of the vehicle (100) with the detected obstacle when there is a possibility that the vehicle (100) collides with the detected obstacle; cancel the execution of the collision avoidance steering assist control in response to the driver performing a counter collision avoidance steering operation for steering the vehicle (100) against automatically steering the vehicle (100) intended to be achieved by the collision avoidance steering assist control after a first predetermined time elapses from starting the execution of the collision avoidance steering assist control; and continue the execution of the collision avoidance steering assist control until the first predetermined time elapses from starting the execution of the collision avoidance steering assist control even when the driver performs the counter collision avoidance steering operation.']