Driving assistance apparatus, driving assistance method, and non-transitory storage medium

A method for controlling a driving assistance apparatus, executed by a processor mounted on a reversing vehicle that is reversing, the method comprising the steps of:

• acquiring a first braking force enabling avoidance of a collision between the reversing vehicle and a moving object approaching the reversing vehicle;
• acquiring a second braking force on the basis of an amount of brake pedal depression;
• and
• causing the reversing vehicle to generate the first braking force if the first braking force is smaller than a maximum braking force of the reversing vehicle and the second braking force is smaller than the first braking force.

A non-transitory storage medium storing a program for causing a processor, mounted on a reversing vehicle that is reversing, to function as:

• a first acquisition part that acquires a first braking force enabling avoidance of a collision between the reversing vehicle and a moving object approaching the reversing vehicle;
• a second acquisition part that acquires a second braking force on the basis of an amount of brake pedal depression;
• and
• a braking control part that causes the reversing vehicle to generate the first braking force if the first braking force is smaller than a maximum braking force of the reversing vehicle and the second braking force is smaller than the first braking force.