DRIVING ASSISTANCE APPARATUS

A driving assistance apparatus configured to perform a driving assistance for a first vehicle and a second vehicle traveling at an intersection where no traffic light is installed. The driving assistance apparatus includes an electronic control unit including a microprocessor, wherein the microprocessor is configured to perform: recognizing a surrounding environment around the first vehicle; determining a presence or absence of the second vehicle in the surrounding environment; setting a display mode of the virtual traffic light for the first vehicle and the second vehicle, based on information acquired through a communication unit of each of the first vehicle and the second vehicle and a determination result of the presence or absence of the second vehicle; and transmitting information indicating the display mode to the first vehicle and the second vehicle through the communication unit.