DRIVING ASSISTANCE APPARATUS FOR VEHICLE

A driving assistance apparatus for a vehicle includes: an environment information acquisitor that acquires environment information ahead of the vehicle; a vehicle position estimator that estimates a vehicle's position; 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 an intersection is ahead of the vehicle; a right-left turn determiner that determines whether the vehicle turns right or left at the intersection; a route generator that generates correct and erroneous routes; a lateral position distance calculator that calculates a correct-route-side lateral position distance and an erroneous-route-side lateral position distance; a lateral position distance comparator that compares the lateral position distances; a control determination comparator that compares the correct-route-side lateral position distance with a threshold; and an intervention controller that returns a traveling direction to the correct route side.