Patent ID: 8410919

Claim:
A driving support apparatus, mounted in a vehicle and operable to output driving support information to a driver, comprising: a white line detection part for detecting a lane marking installed on at least one of a right side and a left side of a lane in which the vehicle is running; a roadside object detection part for detecting, in a case where one of lane markings on one of the right side and the left side is detected and the other of the lane markings on the other of the right side and the left side is not detected by the white line detection part, a roadside object installed on the other of the right side and the left side in parallel with the one of the lane markings on the one of the right side and the left side: a white line estimation part for estimating a position of the other of the lane markings on the other of the right side and the left side based on the roadside object detected by the roadside object detection part and installed on the other of the right side and the left side in parallel with the one of the lane markings on the one of the right side and the left side; and an information outputting part for outputting the driving support information based on the position of the other of the lane markings on the other of the right side and the left side, the position estimated by the white line estimation part, wherein the information outputting part does not output the driving support information in a case where the roadside object installed on the other of the right side and the left side in parallel with the one of the lane markings on the one of the right side and the left side is not detected by the roadside object detection part.