DRIVING ASSISTANCE APPARATUS AND DRIVING ASSISTANCE METHOD

Provided is a driving assistance apparatus that makes it possible to correctly estimate an inclination angle of a slope inclined in any direction and perform more accurate automatic parking by performing inclination direction estimation in which an inclination direction is estimated by analyzing a movement amount of a feature point on an image caused by traveling and then performing inclination angle estimation. The driving assistance apparatus includes an inclination detector that detects an inclination direction of a slope or a road surface around a vehicle on the basis of a camera image showing surroundings of the vehicle taken by a camera mounted on the vehicle, and assists driving of the vehicle on the basis of the inclination direction.