Patent ID: 8620571

Claim:
A driving assistance apparatus comprising: a road recognition unit that determines whether a host vehicle is traveling on a restricted eligibility road including a lane that has a travel eligibility restriction; an eligibility acquisition unit that obtains at least one of information relating to a travel eligibility restriction of a host vehicle traveling lane and information relating to a travel eligibility restriction of an adjacent lane to the host vehicle traveling lane when the host vehicle is determined to be traveling on the restricted eligibility road; an other vehicle recognition unit that recognizes another vehicle traveling in the adjacent lane; an other vehicle eligibility acquisition unit that obtains information relating to a travel eligibility of the other vehicle; and a guidance unit that determines whether to provide guidance relating to the other vehicle on the basis of the information relating to the travel eligibility of the other vehicle and at least one of the obtained information relating to the travel eligibility restriction of the host vehicle traveling lane and the obtained information relating to the travel eligibility restriction of the adjacent lane.