A driving assistance apparatus comprising: a traveling mode determinator configured to determine a traveling mode to be applied among a plurality of traveling modes in accordance with a selection mode by a driver of a vehicle; a traction controller configured to reduce slip of a driving wheel by controlling at least one of an engine and a brake system in accordance with a plurality of traction control conditions defined for each traveling mode, when slip amount of the driving wheel exceeds an intervention threshold; and an adaptive cruise controller configured to perform adaptive cruise control that causes the vehicle to follow a preceding vehicle in accordance with a plurality of adaptive cruise control conditions defined for each traveling mode, wherein the plurality of traveling modes includes: a first mode in which at least one of traction control amount and an intervention threshold of the slip amount defined in the traction control condition is a default value, and at least one of the engine torque and the braking force defined in the adaptive cruise control condition is a default value; and at least one traveling mode that has the traction control condition different from the first mode, wherein the at least one traveling mode comprises a plurality of traveling modes, characterize in that the plurality of traveling modes include a second mode in which the intervention threshold of the slip amount with respect to the braking force in the traction control condition is set smaller than that in the first mode; and wherein, when the traveling mode is changed, the adaptive cruise controller performs the adaptive cruise control by changing an adaptive cruise control condition included in the plurality of adaptive cruise control conditions so as to correspond to the traveling mode after change, the adaptive cruise control condition of the second mode is set in such a manner that the engine torque at a start is set smaller than that in the first mode, and an increase rate of the engine torque is set larger than that in the first mode when a vehicle speed equal to or faster than a predetermined speed. a traveling mode determinator configured to determine a traveling mode to be applied among a plurality of traveling modes in accordance with a selection mode by a driver of a vehicle; a traction controller configured to reduce slip of a driving wheel by controlling at least one of an engine and a brake system in accordance with a plurality of traction control conditions defined for each traveling mode, when slip amount of the driving wheel exceeds an intervention threshold; and an adaptive cruise controller configured to perform adaptive cruise control that causes the vehicle to follow a preceding vehicle in accordance with a plurality of adaptive cruise control conditions defined for each traveling mode, wherein the plurality of traveling modes includes: a first mode in which at least one of traction control amount and an intervention threshold of the slip amount defined in the traction control condition is a default value, and at least one of the engine torque and the braking force defined in the adaptive cruise control condition is a default value; and at least one traveling mode that has the traction control condition different from the first mode, wherein the at least one traveling mode comprises a plurality of traveling modes, a first mode in which at least one of traction control amount and an intervention threshold of the slip amount defined in the traction control condition is a default value, and at least one of the engine torque and the braking force defined in the adaptive cruise control condition is a default value; and at least one traveling mode that has the traction control condition different from the first mode, wherein the at least one traveling mode comprises a plurality of traveling modes,