<p>An irradiation apparatus (10) includes a shielded object detecting unit (30), an illumination setting unit (42), an irradiating device (50, 52), and an illumination controlling unit (46). The shielded object detecting unit detects a shielded object. Glare is allowable to the shielded object at an upper limit of illumination brightness or less. A driver can visually recognize the shielded object at an lower limit of the illumination brightness or more. The illumination setting unit sets the illumination brightness based on the upper limit and the lower limit of the illumination brightness. The illumination controlling unit controls the irradiating device such that light is emitted in a predetermined irradiation pattern in which a first part of the shielded object is illuminated at the illumination brightness set by the illumination setting unit and a second part of the shielded object is illuminated at a higher illumination brightness than that of the first part.</p>
