Patent ID: 8560200

Claim:
A driving support apparatus for a vehicle, comprising: a constant speed cruise target acceleration calculating unit configured to calculate a constant speed cruise target acceleration for bringing a subject vehicle speed closer to a set vehicle speed set by a driver; a preceding vehicle recognizing unit configured to recognize a preceding vehicle; a follow-up cruise target acceleration calculating unit configured to calculate a follow-up cruise target acceleration for a follow-up cruise following a preceding vehicle when the preceding vehicle is recognized by the preceding vehicle recognizing unit; an acceleration/deceleration controlling unit configured to control an acceleration/deceleration of the subject vehicle by selectively using the constant speed cruise target acceleration or the follow-up cruise target acceleration; a stop signal recognizing unit configured to recognize a traffic signal displaying an instruction to stop to the subject vehicle; and a traffic signal target acceleration calculating unit configured to calculate a traffic signal target acceleration for stopping the subject vehicle at a stop position of a stop signal when the stop signal is recognized by the stop signal recognizing unit, wherein the follow-up cruise target acceleration calculating unit substitutes a value of the traffic signal target acceleration for the follow-up cruise target acceleration when the follow-up cruise target acceleration is not calculated and the traffic signal target acceleration is calculated, and substitutes the value of the traffic signal target acceleration for the follow-up cruise target acceleration when the follow-up cruise target acceleration and the traffic signal target acceleration are calculated and the traffic signal target acceleration is smaller than the follow-up cruise target acceleration, and wherein, when the proceeding vehicle will not stop before the stop signal, the subject vehicle can be controlled to be decelerated toward the stop signal without being affected by the proceeding vehicle.