Patent ID: 8838371

Claim:
A driving assisting apparatus which performs driving assistance so that collision with an obstacle around a vehicle is avoided by a pre-intervention control which is an intervention control executed before a driver's operation is allowed for a predetermined time, comprising: an obstacle detecting unit that detects a region including an obstacle around the vehicle; a course calculating unit that calculates a plurality of post-intervention control courses, which can be taken by the vehicle, when a post-intervention control is executed after a driver's operation is allowed for the predetermined time, the post-intervention control is the intervention control executed after the driver's operation is allowed for the predetermined time; a determination unit that determines a degree of overlap of each of the post-intervention control courses with respect to the region including the obstacle on the basis of the region including the obstacle detected by the obstacle detecting unit and the plurality of post-intervention control courses calculated by the course calculating unit, and the determination unit determines the degree of overlap in consideration of vehicle information on the vehicle; and an intervention control executing unit that executes the pre-intervention control along an intervervention control course when the determination unit determines that the number of post-intervention control courses not overlapping the region including the obstacle is equal to or smaller than a predetermined value.