DRIVING ASSISTANCE APPARATUS

摘要

A driving assistance apparatus includes: an obstacle detecting unit configured to detect an obstacle outside a host vehicle and acquire obstacle information including a distance to the obstacle; a collision avoidance control unit configured to execute driving force suppression control for intervening to suppress driving force on the basis of the obstacle information acquired by the obstacle detecting unit; and a driving force return control unit configured to execute driving force return control for returning the driving force suppressed by the driving force suppression control, have a plurality of return modes in which the driving force is returned by the driving force return control, and return the driving force in one return mode selected from among the plurality of return modes on the basis of a possibility that there is an obstacle around the host vehicle.