Patent ID: 7283907

Claim:
A vehicle operation assisting system which assists an obstacle avoiding operation of a vehicle and a restoring operation following the avoiding operation, comprising: obstacle detecting means for detecting an obstacle ahead of a vehicle; avoiding operation determining means for determining the obstacle avoiding operation by a driver; avoiding moving amount calculating means for calculating an avoiding moving amount necessary to avoid the obstacle based on an output of the obstacle detecting means; actual vehicle moving amount calculating means for calculating an actual vehicle moving amount from a yaw rate and a lateral acceleration of the vehicle; target vehicle moving amount setting means for replacing a standard moving amount based on an avoiding operation of the driver with an avoiding moving amount calculated by the avoiding moving amount calculating means when the avoiding operation determining means determines that the avoiding operation has been performed by the driver; and vehicle movement control means for controlling lateral movement of the vehicle so that the actual vehicle moving amount calculated by the actual vehicle moving amount calculating means agrees with the avoiding moving amount.