Patent ID: 8836492

Claim:
A driving support apparatus comprising: a controller that sets a running road, on which a vehicle is able to run, on the basis of a road marking that indicates a lane boundary or a prohibited area and that, when the vehicle deviates from the running road, issues a warning or performs assisting so as to cause the vehicle to run within the running road, the controller changing a determination criterion, based on which a warning is issued or assisting is performed so as to cause the vehicle to run within the running road, on the basis of a degree of curve of the running road, wherein when the degree of curve of the running road is larger than a curve degree threshold, the controller uses a distance or arrival allowance time to a boundary of the running road in a widthwise direction of the vehicle as the determination criterion based on which a warning is issued or assisting is performed so as to cause the vehicle to run within the running road; whereas when the degree of curve of the running road is smaller than or equal to the curve degree threshold, the controller uses a distance or arrival allowance time to a boundary of the running road in a traveling direction of the vehicle as the determination criterion based on which a warning is issued or assisting is performed so as to cause the vehicle to run within the running road.