A driving assistance apparatus comprising: an obstacle detecting unit configured to detect an obstacle outside a host vehicle and acquire obstacle information including a distance to the obstacle; a collision avoidance control unit configured to execute driving force suppression control for intervening to suppress driving force on the basis of the obstacle information acquired by the obstacle detecting unit; and a driving force return control unit configured to execute driving force return control for returning the driving force suppressed by the driving force suppression control, have a plurality of return modes in which the driving force is returned by the driving force return control, and return the driving force in one return mode selected from among the plurality of return modes on the basis of a possibility that there is an obstacle around the host vehicle, characterized in that the plurality of return modes include a first return mode in which a return of the driving force is started at a predetermined rate of increase and the driving force is returned to a driving force corresponding to an accelerator opening degree during a state where no driving assistance is carried out while the rate of increase in the driving force is reduced with a lapse of time, a second return mode in which a return of the driving force is started at a rate of increase lower than the predetermined rate of increase and the driving force is returned to the driving force corresponding to the accelerator opening degree during a state where no driving assistance is carried out while the rate of increase in the driving force is increased with a lapse of time, and a third return mode in which the driving force is returned to a limited driving force smaller than the driving force corresponding to the accelerator opening degree during a state where no driving assistance is carried out. an obstacle detecting unit configured to detect an obstacle outside a host vehicle and acquire obstacle information including a distance to the obstacle; a collision avoidance control unit configured to execute driving force suppression control for intervening to suppress driving force on the basis of the obstacle information acquired by the obstacle detecting unit; and a driving force return control unit configured to execute driving force return control for returning the driving force suppressed by the driving force suppression control, have a plurality of return modes in which the driving force is returned by the driving force return control, and return the driving force in one return mode selected from among the plurality of return modes on the basis of a possibility that there is an obstacle around the host vehicle, characterized in that the plurality of return modes include a first return mode in which a return of the driving force is started at a predetermined rate of increase and the driving force is returned to a driving force corresponding to an accelerator opening degree during a state where no driving assistance is carried out while the rate of increase in the driving force is reduced with a lapse of time, a second return mode in which a return of the driving force is started at a rate of increase lower than the predetermined rate of increase and the driving force is returned to the driving force corresponding to the accelerator opening degree during a state where no driving assistance is carried out while the rate of increase in the driving force is increased with a lapse of time, and a third return mode in which the driving force is returned to a limited driving force smaller than the driving force corresponding to the accelerator opening degree during a state where no driving assistance is carried out.