Driving assistance apparatus

A driving assistance apparatus comprising:

• a first object detecting sensor device for detecting an object present in a travelling direction of a vehicle as a first object, and obtaining a position and a certainty value of said first object such that said certainty value increases as reliability of said obtained position increases;
• a second object detecting sensor device for detecting an object present in said travelling direction as a second object, and obtaining a position of said second object and information on a type of said second object;
• and
• a control unit which is implemented by at least one programmed processor and configured to:
• determine whether or not a monitoring target object satisfies a predetermined executing condition on the basis of at least said position obtained by said first object detecting sensor device, said monitoring target object being said first object whose certainty value is determined to be higher than a certainty threshold;
• and
• execute collision avoidance control in order to avoid collision between said monitoring target object and said vehicle when it is determined that said monitoring target object satisfies said executing condition,
• said control unit further configured to:
• obtain determination result as to whether or not said type of said second object is a specific type;
• determine whether or not said second object is also detected as said first object on the basis of said obtained position of said first object and said obtained position of said second object;
• determine whether or not a threshold application condition is satisfied, said threshold application condition including a condition which is satisfied when it is determined that said second object is also detected as said first object and that said type of said second object is said specific type;
• set said certainty threshold to a predetermined first certainty threshold when it is determined that said threshold application condition is not satisfied;
• and
• set said certainty threshold to a predetermined second certainty threshold which is smaller than said first certainty threshold when it is determined that said threshold application condition is satisfied.