A driving assistance apparatus mounted to a vehicle is disclosed. The apparatus determines whether an amount of change in tire wheel speed of each tire wheel of the vehicle exceeds a threshold. The apparatus specifies a tire wheel crossing order, which is an order in which the tire wheels of the vehicle cross over a level difference between a road and a parking lot when the vehicle crosses over the level difference. The apparatus determines whether or not the vehicle has crossed over the level difference between the road and the parking lot, based on whether a threshold-exceeding order is identical to the specified tire wheel crossing order. The threshold-exceeding order is an order in which the amounts of change in the tire wheel speed of the respective tire wheels exceed the threshold.