Patent ID: 7711466

Claim:
A vehicle driving control unit comprising: a three-dimensional object detection portion for detecting three-dimensional objects in a driving environment; an obstacle recognition portion for recognizing an obstacle which interferes with traveling of the vehicle among the three-dimensional objects detected by the three-dimensional object detection portion; a steering torque detection portion for detecting a steering torque exerted by a driver in said vehicle; a driving target setting portion for setting a driving target point on a side of the obstacle recognized by the obstacle recognition portion based on at least the steering torque; and a control portion for setting vehicle motion parameters based on a vehicle motion model and controlling an automatic steering control of the vehicle so as to direct the vehicle toward the driving target point, wherein the control portion does not cancel the automatic steering control until a preset period has elapsed since the automatic steering control was started, and wherein the control portion cancels the automatic steering control when the steering torque in the opposite direction to the direction for avoiding the obstacle is input after the preset period has elapsed since the automatic steering control was started.