Driving assistance apparatus, driving assistance method, and driving assistance program

摘要

A driving assistance apparatus comprising a road recognition unit (11) that determines whether or not a host vehicle (C1) is traveling on road (L1) including a lane (L10, L20) that has a travel eligibility restriction, an eligibility acquisition unit (11) that obtains information relating to a travel eligibility restriction of a host vehicle traveling lane (L10, L20) and/or an adjacent lane (L11, L21), an other vehicle recognition unit (11) that recognizes another vehicle (C2) traveling in the adjacent lane (L11, L21), an other vehicle eligibility acquisition unit (11) that obtains information relating to a travel eligibility of the other vehicle (C2), and a guidance unit (11) that determines whether or not to provide guidance relating to the other vehicle (C2) on basis of the travel eligibility of the other vehicle (C2) and the travel eligibility restriction of the host vehicle traveling lane (L10, L20) and/or of the adjacent lane (L11, L21).