Disclosed is a driving assistance apparatus that includes at least: a first sensing unit that senses a width of a forward object, a distance to the forward object, a speed of the forward object, and a speed of an own vehicle; a first determining unit that determines a risk of collision with the forward object; a second sensing unit that senses a distance to a first corner of the forward object, and a distance to a second corner of the forward object; a calculating unit that calculates a distorted angle of the forward object based on the width of the forward object, the distances; a second determining unit that determines the risk of collision based on a smaller one of the sensed distances; and a control unit that controls the notification device, the braking device, and the steering device.
