DRIVING SUPPORT APPARATUS, DRIVING SUPPORT METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

A driving support apparatus comprises a sensor configured to detect an object, and a controller configured to execute a collision control when the object satisfies a first collision condition. The controller determines whether or not the object satisfies a second collision condition which is more difficult to be satisfied than the first collision condition when both an angle condition and a steering condition are satisfied in a case where the object is a three-dimensional object which is in a roadside or a median strip of a road. The angle condition is a condition that an entry angle formed by a traveling direction of the vehicle and the three-dimensional object is equal to or smaller than a threshold angle. The steering condition is a condition for determining that a driver performs an avoidance steering operation. The controller executes the collision control when the three-dimensional object satisfies the second collision condition.