Patent ID: 9714032
Date: 2017-07-25
CPC Classifications: B60W,G01S

Claim:
1. A driving assistance apparatus to be mounted on a vehicle, comprising: a clearance sonar to detect an object outside the vehicle and acquire object information including a distance to the object; a vehicle speed sensor to detect a vehicle speed of the vehicle; and an electronic control unit configured to the condition includes a first condition and a second condition, the first condition is that a distance that the vehicle has traveled in a state where the object has been continuously detected by the clearance sonar exceeds a predetermined distance, the second condition is that a time during which the object has been continuously detected by the clearance sonar exceeds a predetermined time, and the electronic control unit is configured to select the first condition when the vehicle speed detected by the vehicle speed sensor is lower than or equal to a predetermined vehicle speed, and select the second condition when the vehicle speed detected by the vehicle speed sensor exceeds the predetermined vehicle speed.