A driving assistance apparatus that assists a transition from an autonomous driving mode in which a vehicle is driven under autonomous control to a manual driving mode in which the vehicle is driven by a driver, comprising: one or more memories (10, 55); and circuitry (3, 4, 5) that, in operation, performs operations including detecting a driving-unrelated activity by the driver among a plurality of driving-unrelated activities that may be detected, detecting a plurality of conditions of the driver, wherein the plurality of conditions of the driver includes one or more of physiological conditions and/or one or more of psychological conditions of the driver, and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, characterized in that the determining of the take-over request method is based on at least the detected driving-unrelated activity by the driver and a detection result of a combination of one or more particular driver conditions corresponding to the detected driving-unrelated activity by the driver, wherein each of the plurality of driving-unrelated activities is associated with a predetermined combination of one or more particular driver conditions among the plurality of driver conditions, a particular driver condition being a condition deemed necessary in making determination of whether the driver can return from the driving-unrelated activity to manual driving. one or more memories (10, 55); and circuitry (3, 4, 5) that, in operation, performs operations including detecting a driving-unrelated activity by the driver among a plurality of driving-unrelated activities that may be detected, detecting a plurality of conditions of the driver, wherein the plurality of conditions of the driver includes one or more of physiological conditions and/or one or more of psychological conditions of the driver, and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, detecting a driving-unrelated activity by the driver among a plurality of driving-unrelated activities that may be detected, detecting a plurality of conditions of the driver, wherein the plurality of conditions of the driver includes one or more of physiological conditions and/or one or more of psychological conditions of the driver, and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, characterized in that the determining of the take-over request method is based on at least the detected driving-unrelated activity by the driver and a detection result of a combination of one or more particular driver conditions corresponding to the detected driving-unrelated activity by the driver, wherein each of the plurality of driving-unrelated activities is associated with a predetermined combination of one or more particular driver conditions among the plurality of driver conditions, a particular driver condition being a condition deemed necessary in making determination of whether the driver can return from the driving-unrelated activity to manual driving.