Patent ID: 7487020

Claim:
A driving assist apparatus for a vehicle comprising: a detecting portion that detects an initial deflection angle at an initial position of the vehicle, the deflection angle being an angle formed between a direction of the vehicle at a target position and a direction of the vehicle at a present direction of the vehicle; a setting portion that sets a basic path along which the deflection angle is changed from the initial deflection angle to a state of the deflection angle of 0 by steering under a predetermined condition in accordance with a running distance, wherein the running distance changes with respect to one of a steering angle and a turning curvature; and a computing portion that computes a target path that extends from the initial position to the target position by using the basic path as a basis and adding a straight-line path to at least one of a site forward of the basic path and a site rearward of the basic path under a predetermined condition, wherein the computing portion computes a target path by similarity-enlarging the basic path.