Driving support apparatus

A driving support apparatus for a vehicle comprising:

• a lane line recognition unit configured to recognize a pair of lane lines which define a travel lane in which an own vehicle is traveling, and a pair of lane lines which define an adjacent lane which is adjacent to the travel lane, and to extrapolate a first center line connecting center positions between a pair of the lane lines of the traveling line, and a second center line connecting center positions between a pair of the lane lines of the adjacent lane;
• a determination unit configured to determine a reliability with respect to a recognition result of a pair of the lane lines of the travel lane;
• a lane keeping assist control unit configured to perform a lane keeping assist control for changing a steering angle of the own vehicle in such manner that the own vehicle travels along a target traveling line which is set based on at least the first center line;
• and
• a lane change assist control unit configured to perform a lane change assist control for changing the steering angle of the own vehicle in such a manner that the own vehicle changes lanes from the travel lane to the adjacent lane along a target trajectory which is set based on the first center line and the second center line,
• wherein, when the reliability determined by the determination unit is a predetermined level, the lane keeping assist control unit is configured to lower a responsiveness of the lane keeping assist control for having a position of the own vehicle and a direction of the own vehicle match up with the target traveling line, compared with the responsiveness of the lane keeping assist control when the reliability is a level higher than the predetermined level, and
• wherein, when the reliability determined by the determination unit is a level lower than the predetermined level, the lane change assist control unit is configured to lower a responsiveness of the lane change assist control for having the position of the own vehicle and the direction of the own vehicle match up with the target trajectory, compared with the responsiveness of the lane change assist control when the reliability is the predetermined level.