A driving assistance apparatus includes a surrounding object recognition unit configured to recognize a surrounding object, a signal recognition unit configured to recognize a state of a light color of a traffic signal, and an assistance unit configured to assist driving of the host vehicle. The assistance unit is configured to determine whether or not there is a possibility that the host vehicle will come into contact with the surrounding object if the state of the light color is a state of prohibiting the host vehicle from proceeding in one or a plurality of specific directions and when the host vehicle proceeds in that specific direction, and calculate a withdrawal route candidate for the host vehicle to leave from the intersection without coming into contact with the surrounding object if it is determined that there is the possibility that the host vehicle will come into contact with the surrounding object.