The present invention aims at providing a steering assistance apparatus which can accurately detect a curve exit of a running path and perform steering assistance control with an excellent running path following capability. The steering assistance apparatus of the present invention is a steering assistance apparatus 1 for providing a steering mechanism with a steering torque such that a vehicle runs along a running path according to an image capturing the running path in front of the vehicle, which estimates a curve direction of the running path by processing the image, estimates a steering direction of a driver of the vehicle according to a steering operation of the driver, and determines that the vehicle is running through a curve exit according to a fact that the estimated curve direction and steering direction do not coincide with each other. This makes it possible to determine the curve exit of the running path accurately and perform appropriate steering assistance control.
