Driving support system for a vehicle

A driving support system for a vehicle comprising:

• a recognition unit configured to recognize a solid object existing in a direction of movement of a subject vehicle;
• an acquisition unit configured to acquire an avoidance target path for avoiding a collision between the solid object and the subject vehicle based on a travel state of the subject vehicle, in cases where an existence of the solid object has been recognized by the recognition unit;
• a support control unit configured to perform turning control of the subject vehicle according to the avoidance target path acquired by the acquisition unit;
• and
• a turning permission unit configured to permit execution of the turning control of the subject vehicle by means of the support control unit based on a distance between the position of the subject vehicle under the turning control and the position of the solid object in a turning control zone on the avoidance target path on which the turning control of the subject vehicle is carried out by the support control unit;
• wherein the turning permission unit permits the execution of the turning control of the subject vehicle by the support control unit, in cases where the distance between the position of the subject vehicle under the turning control and the position of the solid object in the turning control zone continuous between a predetermined control starting point on the avoidance target path at which the turning control of the subject vehicle is started by the support control unit and a predetermined control ending point at which the turning control on the avoidance target path ends becomes equal to or less than a predetermined avoidance distance at which it is determined to avoid the collision with the solid object, whereas the turning permission unit prohibits the execution of the turning control of the subject vehicle by the support control unit, in cases where the distance exceeds the predetermined avoidance distance.