DRIVER ASSISTANCE APPARATUS

A driver assistance apparatus includes an environment recognition unit, a travel state detection unit, a driver assistance control unit, and a driving skill estimation unit. The driver assistance control unit makes a driver assistance control based on an output of the environment recognition unit regarding the environment and an output of the travel state detection unit regarding travel state. The driver assistance control includes assisting a driver in driving in one or both of entering a curved road and traveling along the curved road. The driver assistance control unit changes contents of the driver assistance control, in accordance with the driving skill of the driver estimated by the driving skill estimation unit. The driving skill estimation unit makes the estimation of the driving skill at least once in each driving cycle of the vehicle.