This paper presents the identificatio technique of the personalized potential map to design the obstacle avoidance assisting control. First of all, the parameters in the personalized potential map which is considered to represent the driver’s risk feeling to environment is learned by using the obstacle avoidance driving data. Next, the reference path is calculated with gradient method considering the vehicle dynamics in the identifie potential field and the avoidance assistance system is achieved based on the obtained path. Finally, the validity of the proposed assistance system is verified