To prevent incorrect determination of the possibility of collision based on a target position detected by a radar and to enable to perform slipping-through between targets or the like, without unnecessary driving support, when the radar offset-mounted on a driver's own vehicle misses the target on one side which approaches.

On the occasion when the driver's own vehicle 1 performs passing or the like by poles or bicycles on the right or left shoulder of a road, or through a place under an overpass, a tunnel or the like, for instance, and when the target such as the pole, the bicycle or the like approaches within a prescribed distance set on the basis of a detection angle in the horizontal direction of the radar 5 and the amount of offset of a mounting position thereof and the radar 5 misses the target on one side, information on the target position is obtained in such a condition that it is shifted to the missed target side from the position of the target on one side detected by smoothing processing, and the incorrect determination that the possibility of collision is present is made. At this time, the driving support based on the information on the target position of the radar 5 is prohibited by an operation support processing part 8 so as to prevent incorrect determination of the possibility of collision.

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