Patent ID: 8615351

Claim:
A driving assistance apparatus mounted to a vehicle, comprising: a tire wheel speed detection section that is configured to successively detect tire wheel speed of each tire wheel of tire wheels of the vehicle, wherein the tire wheels of the vehicle include at least one front tire wheel and at least one rear tire wheel; a tire wheel speed change calculation section that is configured to calculate an amount of change in the tire wheel speed, which is detected with the tire wheel speed detection section, of each tire wheel; a threshold determination section that is configured to determine whether or not the amount of change in the tire wheel speed of each tire wheel, which is calculated by the tire wheel speed change calculation section, exceeds a threshold; an order specifying section that is configured to specify a tire wheel crossing order, wherein the tire wheel crossing order is an order in which the tire wheels of the vehicle cross over a level difference between a road and a parking lot when the vehicle crosses over the level difference; and a level difference crossing determination section that is configured to determine whether or not the vehicle has crossed over the level difference between the road and the parking lot, based on whether or not a threshold-exceeding order is identical to the tire wheel crossing order specified by the order specifying section, wherein the threshold-exceeding order is an order in which the threshold determination section determines that the amounts of change in the tire wheel speed of the respective tire wheels exceed the threshold.