The purpose of the present invention is to provide, in a vehicle driving support system that provides support to avoid collisions between the vehicle and obstructing three-dimensional objects, a technique making it possible to avoid support that would guide the vehicle into areas where the presence or absence of three-dimensional objects is unclear. In order to solve this problem, a grid map is created enabling identification of avoidance areas where three-dimensional objects are present, unclear areas where the presence of three-dimensional objects is unclear, and safe areas where no three-dimensional objects are present, and, if there are avoidance areas on the road where the vehicle is travelling, a path is specified by which said avoidance areas may be avoided and in which the distance passing through unclear areas is less than or equal to a threshold value, and the steering angle is controlled to allow the vehicle to travel along the specified path.