Drive assist apparatus, drive assist method, and program

A drive assist method by a computer, comprising:

• recognizing an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road;
• assisting steering of the host vehicle at a time of the host vehicle and the avoidance target passing each other;
• detecting a margin indicating a distance between the host vehicle and the avoidance target at the time of passing each other;
• and
• changing a steering assistance degree of the host vehicle at subsequent times of passing each other based on the detected margin.

A computer-readable non-transitory recording medium which includes a program causing a computer to:

• recognize an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road;
• assist steering of the host vehicle at a time of the host vehicle and the avoidance target passing each other;
• detect a margin indicating a distance between the host vehicle and the avoidance target at the time of passing each other;
• and
• change a steering assistance degree of the host vehicle at subsequent times of passing each other based on the detected margin.