Driving support apparatus

A driving support apparatus mounted on a vehicle comprising:

• an image capturing unit configured to acquire a plurality of images captured by an imaging device, the imaging device periodically capturing, at a predetermined period, ahead of the vehicle with a predetermined image capturing range;
• a lane recognition unit configured to recognize, for each of the images, a location and a shape of actual boundary lines as lane boundary lines existing on both sides of an own lane where the vehicle travels;
• a travelling road calculation unit configured to estimate a location and a shape of the own lane by using the location and the shape of the actual boundary line recognized by the lane recognition unit, so as to calculate a travelling road parameter indicating the location and the shape of an estimated lane as the own lane which has been estimated;
• a control process execution unit configured to perform a lane keep control as a vehicle control based on the location and the shape of the estimated lane indicated by a control parameter which is the travelling road parameter calculated by the travelling road calculation unit;
• an error calculation unit configured to calculate a travelling road error as an error between an estimated position which is a position of the own lane indicated by the estimated lane and an actual location which is a location of the own line indicated by the actual boundary line;
• and
• a control changing unit configured to change the vehicle control of the control process execution unit, based on the travelling road error calculated by the error calculation unit and an error threshold which is a predetermined threshold.