Departure prevention support apparatus

A departure prevention support apparatus, comprising:

• a lane boundary sign recognizing part configured to analyze a captured image of a scene around a host vehicle to recognize a lane boundary sign;
• a departure detecting part configured to detect a departure of the host vehicle from the lane boundary sign;
• a target travel line generating part configured to generate a target travel line if the departure detecting part detects the departure, wherein the target travel line includes a first target travel line for reducing the departure, and a second target travel line for modifying a direction of the host vehicle whose departure has been reduced after having traveled along the first target travel line;
• a control output calculating part configured to calculate a control output for traveling along the target travel line;
• and
• a control output instructing part configured to determine the control output for traveling along the second target travel line according to the control output for traveling along the first target travel line.