Driving assistance apparatus

A driving assistance apparatus for a mobile object, the mobile object having a first sensor and a second sensor configured to detect objects around the mobile object, the driving assistance apparatus comprising:

• a fusion unit configured to fuse a first object detected by the first sensor and a second object detected by the second sensor and output a fusion object into which the first and second objects are fused;
• a speed calculation unit configured to calculate both a first speed that is a speed of the first object and a second speed that is a speed of the second object;
• a speed determination unit configured to determine whether the first speed is lower than a first threshold that is a predetermined threshold and determine whether the second speed is lower than a second threshold that is another predetermined threshold;
• a turning determination unit configured to determine whether the mobile object is turning;
• and
• a collision prediction unit configured to predict, based on a movement trajectory of the fusion object outputted from the fusion unit and a movement trajectory of the mobile object, whether a collision will occur between the fusion object and the mobile object,
• wherein
• when (i) it is determined by the turning determination unit that the mobile object is turning and (ii) it is determined by the speed determination unit that one of a condition that the first speed is lower than the first threshold and a condition that the second speed is lower than the second threshold is satisfied, the collision prediction unit predicts that the fusion object and the mobile object will not collide with each other even if the movement trajectory of the fusion object and the movement trajectory of the mobile object intersect each other.