Abstract: A driving assistance apparatus includes a surrounding information acquisition device configured to acquire information on a three-dimensional object present in surroundings of a vehicle and a lane marking extending in front of the vehicle as surrounding information, a vehicle speed detection device, and a control unit configured to execute, as a steering assist control, a lane tracing assist control and a lane changing assist control, in which the control unit is configured to determine whether or not a tow condition that is satisfied in a case where a towed vehicle is coupled to the vehicle is satisfied, based on the surrounding information and vehicle speed, and make a lane change time longer in a case where a tow condition is satisfied when a start condition of the lane changing assist control is satisfied than a case where the tow condition is not satisfied.

Abstract: A driving assistance apparatus includes a surrounding information acquisition device configured to acquire information on a three-dimensional object present in surroundings of a vehicle and a lane marking extending in front of the vehicle as surrounding information, a vehicle speed detection device, and a control unit configured to execute, as a steering assist control, a lane tracing assist control and a lane changing assist control, in which the control unit is configured to determine whether or not a tow condition that is satisfied in a case where a towed vehicle is coupled to the vehicle is satisfied, based on the surrounding information and vehicle speed, and make a lane change time longer in a case where a tow condition is satisfied when a start condition of the lane changing assist control is satisfied than a case where the tow condition is not satisfied.

Abstract: When an object detected by a sensor (20L, 20R) is not an unnecessary object and the object's collision probability index satisfies the predetermined condition, a pre-collision control ECU 10 performs a pre-collision control to prepare for a collision between an own vehicle and this object. The pre-collision control ECU determines that the object is the unnecessary object, when an initially detected location which is a location of the object in relation to the own vehicle when the sensor initially detected the object is in an unnecessary object area NA, and a velocity index value which represents a degree of a velocity change of an initial detected object whose the initially detected location is in the unnecessary object area does not fall within a predetermined range.

Abstract: When an object detected by a sensor (20L, 20R) is not an unnecessary object and the object's collision probability index satisfies the predetermined condition, a pre-collision control ECU 10 performs a pre-collision control to prepare for a collision between an own vehicle and this object. The pre-collision control ECU determines that the object is the unnecessary object, when an initially detected location which is a location of the object in relation to the own vehicle when the sensor initially detected the object is in an unnecessary object area NA, and a velocity index value which represents a degree of a velocity change of an initial detected object whose the initially detected location is in the unnecessary object area does not fall within a predetermined range.