To provide a vehicle driving assist apparatus that can warn a driver at an early timing after a lane change start in accordance with the positional relationships of his/her own vehicle with other vehicles running behind and beside.
An own vehicle information detection means 1 acquires steering speed information in an initial phase of steering. An external vehicle information detection means 2 detects information about another vehicle existing about the own vehicle. A collision warning computation means 5 estimates a time and position to enter the route of the other vehicle by a lane change from the steering speed information in the initial phase of steering acquired by the own vehicle information detection means 1, and determines a risk of collision between the own vehicle and the other vehicle according to the estimated entering time and entering position. A warning means 4 warns the driver.
IMURA SHINYA
YAMAZAKI MASARU
YOSHIDA TATSUYA
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