A driving support system according to the present invention is provided with an actuator for steering steered wheels of a vehicle and is used for supporting driving of the vehicle by making use of steering by means of the actuator. The driving support system has an image taking device for taking a forward image ahead the vehicle, a determiner for determining a controlled variable of the actuator on the basis of the forward image acquired by the image taking device, a limiter for limiting the controlled variable when a time change of the controlled variable of the actuator determined by the determiner is off a predetermined range, and a controller for controlling the actuator. The limiter sets a limit value for limiting the time change of the controlled variable of the actuator so that the limit value at a start (or at an end) of the driving support control is different from the limit value in continuation of the driving support control. In this configuration, the limit value to prevent a driver from sensing discomfort is set at the start (or at the end) of the driving support control, while the limit value suitable for the driving support control is set during continuous execution of the driving support control. This permits the system to achieve suppression of the discomfort at the start (or at the end) of the support control and improvement in performance of the support control in continuation of the control together.