VEHICLE DRIVING ASSIST APPARATUS

A vehicle driving assist apparatus includes a traveling environment recognizer, a target traveling path setting unit, a traveling controller, a lane changing path setting unit, a lane change controller, and a lane change urgency determining unit. The lane changing path setting unit is configured to set a lane changing path that allows an own vehicle to make a lane change when making of the lane change is determined, in an automatic driving mode, as being necessary. The lane change urgency determining unit is configured to change thresholds of a maximum steering speed to a second threshold greater than a first threshold when urgency of making the lane change is high. The lane changing path setting unit is configured to restrain or prohibit the making of the lane change when the maximum steering speed, upon the setting of the lane changing path, is equal to or greater than the second threshold.