US Patent 10049579 Vehicle driving assist apparatus

The vehicle driving assist apparatus of the invention provides a display device with an attention display command when an attention condition that a time predicted for a vehicle to reach a target is larger than a lower limit threshold time and smaller than or equal to a display start threshold time is satisfied. The lower limit threshold time is larger than or equal to a display time required for one attention display operation to be completed. The display start threshold time is larger than the lower limit threshold time. When the attention display condition is not satisfied, the apparatus does not provide the display device with the attention display command.