DRIVING SUPPORT DEVICE FOR VEHICLE STEERING SYSTEMS IN LANE ASSIST AND COLLISION AVOIDANCE MODES

In a driving support device for a vehicle including a collision avoidance support system and a lane travel support system, a steering control amount is set while maintaining an appropriate relationship between both of the systems. This is by setting a lower upper limit value for the steering torque command during collision avoidance as compared to lane travel support. However, a gradient (i.e., rate of change) of the collision avoidance is set to be greater than a gradient of the lane travel support. As a result, the driving support device balances collision avoidance and lane travel support to have quick response during collision avoidance, and maintaining the ability to adapt to wide changes in road condition during lane travel support.