Driving support apparatus including collision avoidance braking control

A driving support apparatus comprising:

• a radar sensor and a camera sensor configured to detect a three-dimensional object present in front of an own vehicle and a lane on which said own vehicle is travelling and to acquire information indicating said detected three-dimensional object and lane as object information;
• and
• a controller configured to perform collision avoidance braking control for automatically applying braking force to said own vehicle when it is determined, based on said object information, that said own vehicle is highly likely to collide with said detected three-dimensional object and lane deviation suppressing control for automatically changing a steered angle of steered wheels of said own vehicle such that said own vehicle travels in said lane when a deviation suppressing control performing condition is satisfied, said deviation suppressing control performing condition being a condition satisfied when it is determined, based on said object information, that said own vehicle is highly likely to deviate from said detected lane and/or a condition satisfied when it is determined, based on said object information, that said own vehicle has deviated from said detected lane,
• wherein,
• said controller is configured to:
• when said deviation suppressing control performing condition is satisfied in a case when it is determined that said own vehicle is highly likely to collide with said detected three-dimensional object, execute direction determination processing for determining, provided that said steered wheels are turned by said lane deviation suppressing control, whether said own vehicle travels to a direction toward which said own vehicle will collide with said three-dimensional object or said own vehicle travels to a collision avoidance direction toward which said own vehicle will avoid colliding with said three-dimensional object,
• when it is determined that said own vehicle travels to said direction toward which said own vehicle will collide with said three-dimensional object and a collision avoidance effect will be reduced due to said lane deviation suppressing control, stop said lane deviation suppressing control and perform said collision avoidance braking control, and
• when it is determined that said own vehicle travels to said collision avoidance direction and said collision avoidance effect will be improved due to said lane deviation suppressing control, perform both of said collision avoidance braking control and said lane deviation suppressing control.