VEHICLE DRIVING ASSISTANCE APPARATUS

A vehicle driving assistance apparatus includes a traveling environment recognizer and an adaptive cruise controller. The traveling environment recognizer recognizes traveling environment information regarding an outside of a vehicle. Based on the traveling environment information, the adaptive cruise controller performs a follow-up traveling control of causing the vehicle to travel to follow a preceding vehicle, if recognized, and performs a constant-speed traveling control of causing the vehicle to travel at constant speed. If the vehicle starts a lane change to a traveling lane during traveling based on the follow-up traveling control, the adaptive cruise controller keeps a target vehicle speed at a start of the lane change at least until the lane change ends, and thereafter accelerates the vehicle, by setting a set vehicle speed as a new target vehicle speed, and setting a target acceleration rate based on the new target vehicle speed.