DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A driving assistance apparatus for a vehicle includes: an environment information acquisitor that acquires environment information in front of the vehicle; a target route setter that sets a target route; and a controller that causes the vehicle to travel along the target route. The controller includes: an intersection determiner that determines whether there is an intersection in front of the vehicle; a right-left turn determiner that determines whether the vehicle turns right or left; a multiple intersecting road determiner that checks whether there is a second intersecting road; a route generator that generates a correct route and a quasi-correct route; an estimated traveling route setter that sets an estimated traveling route; a lateral position distance calculator that calculates a correct-route-side lateral position distance and a quasi-correct-route-side lateral position distance; a lateral position distance comparator that compares the lateral position distances; and an intervention controller that sets a traveling direction.