Described herein is a driving assistance system for vehicles, which operates both during normal driving in a given lane and during lane-change manoeuvres. The system comprises a lane-keeping-support module (LKSM), a lane-change-assistance module (LCAM), a driver-state-monitoring module (DSMM), and a decision module (DCM), which is responsible for all the decisions taken by the system both in the form of warnings and in the form of active interventions. In the case of situations of risk of involuntary exit from the lane, or of risk of lateral collision in lane-change manoeuvres, or of distraction from driving on the part of the driver, the system intervenes by applying an active steering torque to the vehicle or by intervening on some on-board systems or by supplying appropriate warning signals.
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