VEHICLE DRIVE ASSIST APPARATUS

Surrounding situation information of a vehicle is acquired. A steering torque applied by using a steering mechanism of the vehicle is detected. A steering angle and a steering direction of the vehicle are detected. Traveling control involving steering assist control is executed based on those pieces of information. In a case where a steering torque amount or the steering angle is detected, a new target lane keeping traveling path or a predetermined target lane departure prevention traveling path of the vehicle is created based on the steering torque amount, the steering angle, and the steering direction of the vehicle. In a case where the steering torque amount or the steering angle is detected again within a predetermined period, the new target lane keeping traveling path or the predetermined target lane departure prevention traveling path is set and traveling control is executed along the set traveling path.