Patent ID: 8150581

Claim:
A driving assistance system that includes an actuator for steering steered wheels of a vehicle, comprising: a vehicle speed detecting unit that detects a speed of the vehicle; an information acquiring unit that acquires information about the environment around the vehicle; a positional deviation detecting unit that detects a deviation of a position of the vehicle from a forward travel path of the vehicle based on the information acquired by the information acquiring unit, wherein the deviation of the position of the vehicle from the forward travel path is at least one of a transverse positional displacement of the vehicle and an angular displacement of the vehicle with respect to the forward travel path; a steering control variable determination unit that determines a steering control variable to correct the deviation of the position of the vehicle from the forward travel path of the vehicle, wherein the steering control variable determination unit includes a target transverse acceleration determination unit for calculating a target transverse acceleration of the vehicle that corrects the detected deviation of the position of the vehicle from the forward travel path, and the steering control variable determination unit determines the steering control variable based on the target transverse acceleration calculated; and a steering control unit for controlling the actuator based on the steering control variable, wherein, if the vehicle speed detected by the vehicle speed detecting unit is equal to or greater than a first predetermined speed, the steering control variable for the detected deviation of the position of the vehicle from the forward travel path decreases with increasing vehicle speed.