Driving support apparatus, driving support method, and vehicle

A driving support method for a vehicle comprising:

• detecting a traveling-prohibited region;
• setting a traveling lane on the basis of the detected traveling-prohibited region;
• determining and giving a level of recognition to the set traveling lane based on an accuracy of the detected traveling-prohibited region, the level of recognition indicating the accuracy of the set traveling lane;
• performing a drive support process in order to avoid a departure of the vehicle from an actual traveling lane based on the set traveling lane when the level of recognition of the set traveling lane is at least a threshold value, and
• raising the level of recognition given to the set traveling lane when the detected traveling-prohibited region is continuous in the travel direction of the vehicle, as compared to the level of recognition given to the set traveling lane when the traveling-prohibited region is discontinuous in the travel direction of the vehicle.

A vehicle comprising:

• a detector configured to detect a traveling-prohibited region;
• and
• an electronic control unit configured to:
• set a traveling lane on the basis of the traveling-prohibited region detected by the detector;
• determine and give a level of recognition to the set traveling lane based on an accuracy of the detected traveling-prohibited region, the level of recognition indicating the accuracy of the set traveling lane;
• perform a drive support process in order to avoid a departure of the vehicle from an actual lane based on the set traveling lane when the level of recognition of the set traveling lane is at least a threshold value;
• and
• raise the level of recognition given to the set traveling lane when the detected traveling-prohibited region is continuous in the travel direction of the vehicle, as compared to the level of recognition given to the set traveling lane when the traveling-prohibited region is discontinuous in the travel direction of the vehicle.