Vehicle driving support apparatus

A vehicle driving support apparatus to be applied to a vehicle, the vehicle driving support apparatus comprising:

• a driving environment information acquirer configured to acquire driving environment information ahead of the vehicle;
• a vehicle state detector configured to detect a state of the vehicle;
• a storage configured to store a variety of data;
• and
• a driving support controller configured to set an indicated target steering angle at which the vehicle is caused to run along a target running path that is set ahead of the vehicle to perform steering control in accordance with the indicated target steering angle,
• wherein the driving support controller comprises
• a steering override determiner configured to determine whether a steering-wheel operation by a driver who drives the vehicle during cornering is steering override,
• a status data acquirer configured to, when the steering override determiner determines that the steering-wheel operation by the driver is the steering override, acquire a variety of status data including curvature data about a corner in time series and store the variety of status data in the storage as current cornering data,
• a cornering operation determiner configured to determine whether the vehicle is to enter a corner or is during cornering based on the driving environment information or the target running path,
• a curvature data coincidence determiner configured to, when the cornering operation determiner determines that the vehicle is to enter a corner or is during cornering, determine whether the curvature data coinciding with a curvature of the corner exists in the status data stored in the storage, the curvature of the corner being acquired based on the driving environment information or the target running path,
• a target steering angle setter configured to, when the curvature data coincidence determiner determines that the curvature data coinciding with the curvature of the corner exists in the status data stored in the storage, correct the indicated target steering angle with the status data that is previously acquired and stored in the storage and includes the curvature data coinciding with the curvature of the corner to set a corrected target steering angle, and
• a steering controller configured to, when the target steering angle setter has set the corrected target steering angle, set the corrected target steering angle as a current indicated target steering angle.