US Patent 12071152 Driving support apparatus

A driving support apparatus includes a drive source, a brake detector, a vehicle velocity detector, a wheel velocity detector, and a driving force controller. The drive source is configured to give driving force to each of drive wheels capable of being independently driven. The brake detector is configured to detect depression of a brake pedal. The vehicle velocity detector is configured to detect vehicle velocity of a vehicle. The wheel velocity detector is configured to detect wheel velocity of each of the drive wheels. The driving force controller is configured to control the driving force for each of the drive wheels.