Patent Document ID: 9707959
Application ID: 15310903
Patent Status: 1

Claim One:
1. A driving assistance apparatus used in a vehicle, comprising: a control target detection section that detects as a target obstacle an obstacle that is existing within a set distance from the vehicle using an obstacle sensor detecting an obstacle around the vehicle; an obstacle handling section that performs at least either a report or an automatic behavior control of the vehicle when the control target detection section detects the target obstacle; an arrangement memory that stores a past obstacle arrangement around a parking region that serves as a target; an arrangement acquisition section that acquires a present obstacle arrangement around the parking region in a parking-region driving operation, the parking-region driving operation being at least either a driving operation to cause the vehicle to enter into the parking region or a driving operation to cause the vehicle to exit from the parking region; and an obstacle specification section that specifies a non-stationary obstacle that is an obstacle being not stationary around the parking region, based on a difference between the past obstacle arrangement stored in the arrangement memory and the present obstacle arrangement acquired by the arrangement acquisition section, wherein: the control target detection section assigns a non-stationary obstacle with a first set distance as the set distance; the control target detection section assigns a stationary obstacle with a second set distance as the set distance, the second set distance being smaller than the first set distance; the control target detection section detects as the target obstacle a stationary obstacle when the stationary object is within the second set distance from the vehicle; and the control target detection section detects as the target obstacle a non-stationary obstacle when the non-stationary object is within the first set distance from the vehicle.