US Patent 10974736 Control assist vehicle

A drive assist controller verifies the driving intention of a driver on the basis of whether or not the driver is contacting the steering wheel when a lane-maintaining control is being executed. An automatic driving controller verifies the driving intention of the driver on the basis of whether or not the driver is gripping the steering wheel when automatic driving is being performed. This configuration makes it possible to appropriately determine the driving intention of a driver, by changing the method of verifying the driving intention of the driver between cases when the driver has driving authority and cases when the vehicle has driving authority.