US Patent 10953882 Steering assist system

A steering assist system includes: a first sensor; a second sensor; and an electronic control unit. The electronic control unit is configured to start a lane change assist control when another vehicle obstructing a lane change is detected; detect a progress status of the lane change; stop the lane change assist control, when the first sensor detects an approaching vehicle; execute a center return assist control when the lane change assist control is stopped in a former part of the lane change; and execute a collision avoidance assist control when the lane change assist control is stopped in a latter part of the lane change.