US Patent 10023230 Drive assist device, and drive assist method

A driving assisting section includes a collision avoidance assisting section, which performs collision avoidance assistance for avoiding collision between a vehicle to be assisted and an object by prompting turning of the vehicle. The driving assisting section further includes a lane-keeping assisting section, which performs lane keeping assistance. An assist arbitrating section arbitrates between the collision avoidance assistance by the collision avoidance assisting section and the lane keeping assistance by the lane-keeping assisting section.