Disclosed is a driving assistance apparatus for assisting a driving operation by outputting a reverse sound at the time of a reversing maneuver of a vehicle. The apparatus includes an information acquisition unit for acquiring driving assistance information including a vehicle condition and a vehicle surrounding condition, a reverse sound management unit for managing reverse sounds belonging in a musical scale including the reverse sound as the tonic note thereof as musical scale reverse sounds, an output reverse sound determination unit for determining a sequence of musical scale in the form of temporal sequence corresponding to the driving assistance information, and a reverse sound output control unit configured to select from the reverse sounds managed by the reverse sound management unit and output to a speaker reverse sounds suitable for the sequence of the musical scale determined by the reverse sound determination unit.