Vehicle driving assistance system for helping keep or change the travel lane, the vehicle being equipped with directional indicator devices which can be selectively operated by the driver in order to signal a change in the direction of travel of the vehicle and with signalling means adapted to inform the driver as to the current driving condition, wherein the vehicle driving assistance system comprises in combination: - means (10a, 10b) for detecting the environment surrounding the vehicle, including: - first detection means adapted to provide first signals indicating the position of the vehicle with respect to the configuration of the road travelled along; and - second detection means adapted to provide second signals indicating the presence of vehicles close by; - sensor means indicating an activated condition of the directional indicator devices; and - electronic processing and control means connected to said sensor means and to said detection means (10a, 10b) for acquiring information relating to the driving scenario of the vehicle, and adapted to operate said signalling means depending on said scenario information, characterized in that said processing and control means are arranged for: - firstly assessing the current driving condition on the basis of said first signals; and - when said first signals indicate a manoeuvre involving a change in the travel lane and said sensor means sense that said directional indicator devices have not been activated, operating said signalling means so as to assume a first activated state indicating an incorrect driving manoeuvre, for signalling to the driver an anomalous driving condition so that a manoeuvre or actuation of a vehicle driving system is required; or else alternatively when said first signals indicate a manoeuvre involving a change in the travel lane and said sensor means sense that said directional indicator devices have been activated, then subsequently - assessing the current driving condition on the basis of the second signals; and - when said sensor means detect that said directional indicator devices are activated and said second signals indicate the presence of approaching vehicles, operating said signalling means so as to assume a first activated state indicating an incorrect driving manoeuvre, for signalling to the driver an anomalous driving condition so that a manoeuvre or actuation of a vehicle driving system is required, or alternatively, if the first signals indicated a condition where the same travel lane is maintained, then subsequently assessing the current driving condition on the basis of the second signal and - when said second signals indicate the presence of approaching vehicles, operating said signalling means so as to assume a second activated state providing a danger warning, for signalling to the driver an alert condition. - means (10a, 10b) for detecting the environment surrounding the vehicle, including: - first detection means adapted to provide first signals indicating the position of the vehicle with respect to the configuration of the road travelled along; and - second detection means adapted to provide second signals indicating the presence of vehicles close by; - sensor means indicating an activated condition of the directional indicator devices; and - electronic processing and control means connected to said sensor means and to said detection means (10a, 10b) for acquiring information relating to the driving scenario of the vehicle, and adapted to operate said signalling means depending on said scenario information, - firstly assessing the current driving condition on the basis of said first signals; and - when said first signals indicate a manoeuvre involving a change in the travel lane and said sensor means sense that said directional indicator devices have not been activated, operating said signalling means so as to assume a first activated state indicating an incorrect driving manoeuvre, for signalling to the driver an anomalous driving condition so that a manoeuvre or actuation of a vehicle driving system is required; or else alternatively when said first signals indicate a manoeuvre involving a change in the travel lane and said sensor means sense that said directional indicator devices have been activated, then subsequently - assessing the current driving condition on the basis of the second signals; and - when said sensor means detect that said directional indicator devices are activated and said second signals indicate the presence of approaching vehicles, operating said signalling means so as to assume a first activated state indicating an incorrect driving manoeuvre, for signalling to the driver an anomalous driving condition so that a manoeuvre or actuation of a vehicle driving system is required, or alternatively, if the first signals indicated a condition where the same travel lane is maintained, then subsequently assessing the current driving condition on the basis of the second signal and - when said second signals indicate the presence of approaching vehicles, operating said signalling means so as to assume a second activated state providing a danger warning, for signalling to the driver an alert condition.