Driving assist apparatus and method for vehicle

A driving assist method for a vehicle comprising the steps of:

• detecting a deflection angle that is an angle formed between a direction of the vehicle at a present position and a direction of the vehicle at a target position;
• setting a basic path that extends until the deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate;
• computing a target path that extends from the present position to the target position based on the basic path;
• performing a driving assist by using the target path;
• and
• re-calculating a basic path during the driving assist, and checking whether it is possible to set a path that reaches the target position through similarity transformation of the basic path based on a relationship between the present position of the vehicle and the target position of the vehicle, and re-setting a path that reaches the target position through similarity transformation if it is possible to set a path.

A driving assist apparatus for a vehicle comprising:

• detecting means for detecting a deflection angle that is an angle formed between a direction of the vehicle at a present position and a direction of the vehicle at a target position;
• setting means for setting a basic path that extends until the deflection angle is changed to a state of 0 by steering the vehicle at a predetermined steering rate;
• computing means for computing a target path that extends from the present position to the target position based on the basic path;
• driving assist means for executing a driving assist by using the target path;
• and
• transforming means for re-calculating a basic path during the driving assist, and for determining whether it is possible to set a path that reaches the target position through similarity transformation of the basic path based on a relationship between the present position of the vehicle and the target position of the vehicle, and for, if it is possible to set a path, re-setting a path that reaches the target position through similarity transformation.