A driving assistance apparatus includes processing circuit, and a communicator that communicates with the outside. The processing circuitry executes the following processes: identifying a driving state of a driver in a following vehicle behind a subject vehicle on the basis of a rear image containing the back of the subject vehicle; determining circumstances around the subject vehicle on the basis of images around the subject vehicle including the rear image; and controlling the autonomous driving of the subject vehicle on the basis of the driving state of the driver in the following vehicle, identified in the identifying process, and the circumstances, determined in the determining process.