Driving assistance apparatus

A driving assistance apparatus comprising:

• a first processor programmed to:
• recognize a surrounding environment of a vehicle, including a traffic lane on which the vehicle is traveling;
• and
• perform a steering assist when a pedestrian is recognized within a predetermined range from the vehicle, wherein an avoidance steering torque for steering the vehicle in a direction which is a width direction of the traffic lane, on which the vehicle is driving;
• and in which the vehicle goes away from the pedestrian, is applied to the vehicle during the steering assist;
• and
• a second processor programmed to:
• determine whether a first condition is met, wherein the first condition is that at least a part of the traffic lane is not recognized by the first processor while the steering assist is being performed by the first processor;
• determine whether a second condition is met, wherein the second condition is a vehicle operation is performed by a driver of the vehicle while the steering assist is being performed by the first processor;
• when the first condition is met, cancel the steering assist and apply a steering torque, which changes a first change amount per unit time, in an opposite direction from a direction of the avoidance steering torque applied by the steering assist, to the vehicle,
• when the second condition is met, cancel the steering assist and apply a steering torque, which changes a second change amount per unit time, in the opposite direction from the direction of the avoidance steering torque applied by the steering assist, to the vehicle,
• wherein the first change amount is greater than the second change amount.