| 摘要 |
<p>An object of the present invention is to provide a technique wherein a traveling lane is set as definitely as possible to perform the warning or the support so that a vehicle is allowed to travel smoothly in the traveling lane. The present invention resides in a driving support apparatus for setting a traveling lane in which a vehicle can travel on the basis of a traveling-prohibited region and performing warning or support so that the vehicle is allowed to travel in the traveling lane if the vehicle is to be departed from the traveling lane; wherein the traveling lane is set while raising a level of reliability as information to recognize the traveling lane from the traveling-prohibited region if the traveling-prohibited region is continuous in a travel direction of the vehicle as compared with if the traveling-prohibited region is discontinuous in the travel direction of the vehicle.</p> |
