A driving control apparatus for a vehicle, comprising: an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane, neighboring lanes, other vehicles driving in the driving lanes, and surrounding environments and a function for obtaining the vehicle's moving state; a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part ; and a vehicle control part configured to perform speed control and steering control for making the vehicle follow the target path, and having: a function for performing automated in-lane driving by maintaining a set vehicle speed when there is no vehicle ahead in the vehicle's driving lane, and maintaining a set inter-vehicle distance when there is a vehicle ahead; and an EM function for performing emergency avoidance control including operation of an emergency brake when a collision with a vehicle ahead or an obstacle in front in the vehicle's driving lane is predicted, characterized in that when the EM function is activated, when a lateral position of the vehicle ahead or obstacle in the vehicle's driving lane is deviating to either left or right with respect to the vehicle's driving position, a direction of avoidance steering is set to a direction opposite to the deviation and the avoidance steering is performed together with the emergency braking. an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane, neighboring lanes, other vehicles driving in the driving lanes, and surrounding environments and a function for obtaining the vehicle's moving state; a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part ; and a vehicle control part configured to perform speed control and steering control for making the vehicle follow the target path, and having: a function for performing automated in-lane driving by maintaining a set vehicle speed when there is no vehicle ahead in the vehicle's driving lane, and maintaining a set inter-vehicle distance when there is a vehicle ahead; and an EM function for performing emergency avoidance control including operation of an emergency brake when a collision with a vehicle ahead or an obstacle in front in the vehicle's driving lane is predicted, characterized in that when the EM function is activated, when a lateral position of the vehicle ahead or obstacle in the vehicle's driving lane is deviating to either left or right with respect to the vehicle's driving position, a direction of avoidance steering is set to a direction opposite to the deviation and the avoidance steering is performed together with the emergency braking. a function for performing automated in-lane driving by maintaining a set vehicle speed when there is no vehicle ahead in the vehicle's driving lane, and maintaining a set inter-vehicle distance when there is a vehicle ahead; and an EM function for performing emergency avoidance control including operation of an emergency brake when a collision with a vehicle ahead or an obstacle in front in the vehicle's driving lane is predicted, characterized in that when the EM function is activated, when a lateral position of the vehicle ahead or obstacle in the vehicle's driving lane is deviating to either left or right with respect to the vehicle's driving position, a direction of avoidance steering is set to a direction opposite to the deviation and the avoidance steering is performed together with the emergency braking. <EOS>