Vehicle driving support control apparatus

A vehicle driving support control apparatus comprising:

• a first environment recognizer to detect lane line information on a driving lane in front, on the basis of image information;
• a second environment recognizer to detect information on a three-dimensional object by a side of a road of the driving lane in front, on the basis of radio wave information transmitted and received;
• a visual range estimator to estimate the visual range of a driver on the basis of the lane line information;
• a driving lane estimator to estimate the driving lane on the basis of at least either one of the lane line information and the three-dimensional object information;
• a driving track estimator to estimate the driving track of the vehicle;
• a deviation position estimator to estimate a deviation position where the vehicle will deviate from the driving lane, on the basis of the driving lane estimated by the driving lane estimator and the driving track estimated by the driving track estimator;
• and
• a lane deviation prevention controller to execute at least either one of notification to the driver and automatic braking in accordance with a possibility of deviation from the driving lane when the deviation position is beyond the visual range.