Driving assistance apparatus, vehicle, and driving assistance method

1 . A driving assistance apparatus for assisting driving of a vehicle, the driving assistance apparatus comprising:

a processor; and

a memory including a control program that, when executed by the processor, causes the processor to perform functions, the functions including:

storing a movement route traveled by the vehicle according to a driving operation of a user in a teacher traveling mode, and generating teacher data related to a target route that is generated by inverting the movement route in such a way that the target route runs from a side of an end point of the movement route to a side of a start point of the movement route;

estimating a current position of the vehicle based on sensor information from a peripheral sensor that monitors a surrounding environment of the vehicle; and

performing feedback control of the vehicle so that the vehicle travels along the target route when the processor receives a first execution command for a first automatic traveling mode,

wherein the feedback control is performed based on the current position of the vehicle and each of target positions on the target route,

when the processor receives a second execution command for a second automatic traveling mode, the processor performs the feedback control of the vehicle based on the current position of the vehicle and each of positions on the movement route so that the vehicle travels along the movement route,

when the processor receives the second execution command for the second automatic traveling mode, the processor causes the vehicle to travel along the movement route, and stops the vehicle at an end position corresponding to the end point of the movement route,

when the processor receives the second execution command for the second automatic traveling mode, the processor causes the vehicle to travel along the movement route in a direction same as a traveling direction in the teacher traveling mode,

the driving assistance apparatus determines whether to perform the first automatic traveling mode or the second automatic traveling mode according to a selection operation from the user, and

while the vehicle travels in the first automatic traveling mode or the second automatic traveling mode, the processor ends the feedback control of the vehicle when there is an accelerator operation or a steering operation performed by the user.

2 . The driving assistance apparatus according to claim 1 , wherein

the peripheral sensor is a camera that captures an image around the vehicle, and

the processor generates the teacher data while generating map data for estimating the current position of the vehicle from the image captured by the camera.

3 . The driving assistance apparatus according to claim 1 , wherein the functions further include:

further estimating the current position of the vehicle based on a temporal change in a sensor value from an in-vehicle sensor that detects a traveling state of the vehicle, and

the processor operates so as to correct the current position of the vehicle estimated by the further estimating.

4 . The driving assistance apparatus according to claim 1 , wherein

when the processor receives the first execution command for the first automatic traveling mode, the processor causes the vehicle to travel along the target route, and stops the vehicle at a start position corresponding to the start point of the movement route.

5 . The driving assistance apparatus according to claim 1 , wherein

when the processor receives the first execution command for the first automatic traveling mode, the processor causes the vehicle to travel along the target route in a direction opposite to the traveling direction in the teacher traveling mode.

6 . The driving assistance apparatus according to claim 1 , wherein

while the vehicle is in automatic traveling in the first automatic traveling mode, the processor ends control of the automatic traveling of the vehicle when there is a command for stopping the automatic traveling from the user.

7 . The driving assistance apparatus according to claim 1 , wherein

in the first automatic traveling mode, the processor causes the vehicle to travel at a speed lower than a vehicle speed at which the vehicle travels in the teacher traveling mode.

8 . The driving assistance apparatus according to claim 1 , wherein

the processor determines an entering start target position among the target positions on the target route between the start point and the end point on the movement route, moves the vehicle toward the entering start target position, and then causes the vehicle to travel along the target route from the entering start target position on the target route, the entering start target position being determined based on the current position of the vehicle at a start of the first automatic traveling mode.

9 . The driving assistance apparatus according to claim 1 , wherein

while the vehicle is in automatic traveling in the second automatic traveling mode, the processor ends control of the automatic traveling of the vehicle when there is a command for stopping the automatic traveling from the user.

10 . The driving assistance apparatus according to claim 1 , wherein

the driving assistance apparatus is used for at least one of parking the vehicle in a parking lot or pulling out the vehicle from the parking lot.

11 . The driving assistance apparatus according to claim 1 , wherein

the positions of the vehicle on the movement route are stored in a time-series order.

12 . The driving assistance apparatus according to claim 1 , wherein

the processor:

detects an object fixed on a ground; and

estimates the current position of the vehicle based on the object fixed on the ground.

13 . A driving assistance apparatus for assisting driving of a vehicle, the driving assistance apparatus comprising:

a processor; and

a memory including a control program that, when executed by the processor, causes the processor to perform functions, the functions including:

storing a movement route traveled by the vehicle according to a driving operation of a user in a teacher traveling mode, and generating teacher data related to a target route that is generated opposite from a side of an end point of the movement route to a side of a start point of the movement route;

estimating a current position of the vehicle based on sensor information from a peripheral sensor that monitors a surrounding environment of the vehicle; and

performing vehicle control of the vehicle so that the vehicle travels along the target route when the processor receives a first execution command for a first automatic traveling mode,

wherein the vehicle control is performed based on the current position of the vehicle and each of target positions on the target route,

when the processor receives a second execution command for a second automatic traveling mode, the processor performs the vehicle control of the vehicle based on the current position of the vehicle and each of positions on the movement route so that the vehicle travels along the movement route,

when the processor receives the second execution command for the second automatic traveling mode, the processor causes the vehicle to travel along the movement route, and stops the vehicle at an end position corresponding to the end point of the movement route,

when the processor receives the second execution command for the second automatic traveling mode, the processor causes the vehicle to travel along the movement route in a direction same as a traveling direction in the teacher traveling mode, and

while the vehicle travels in the first automatic traveling mode or the second automatic traveling mode, the processor ends the vehicle control of the vehicle when there is an accelerator operation or a steering operation performed by the user.

14 . The driving assistance apparatus according to claim 13 , wherein

in the first automatic traveling mode, the processor causes the vehicle to travel at a speed lower than a vehicle speed at which the vehicle travels in the teacher traveling mode.

15 . The driving assistance apparatus according to claim 13 , wherein

the driving assistance apparatus performs automatic driving for both parking the vehicle and pulling out the vehicle with a single teacher traveling.

16 . The driving assistance apparatus according to claim 13 , wherein

the driving assistance apparatus determines whether to perform the second automatic traveling mode or the first automatic traveling mode according to a selection operation from the user.

17 . A driving assistance method for assisting driving of a vehicle, the driving assistance method comprising:

storing a movement route traveled by the vehicle according to a driving operation of a user in a teacher traveling mode, and generating teacher data related to a target route that is generated opposite from a side of an end point of the movement route to a side of a start point of the movement route;

estimating a current position of the vehicle based on sensor information from a peripheral sensor that monitors a surrounding environment of the vehicle; and

performing vehicle control of the vehicle so that the vehicle travels along the target route based on the teacher traveling mode when a first execution command for a first automatic traveling mode is received,

wherein the vehicle control is performed based on the current position of the vehicle and each of target positions on the target route,

when a second execution command for a second automatic traveling mode is received, the vehicle control is performed based on the current position of the vehicle and each of positions on the movement route so that the vehicle travels along the movement route,

when the second execution command for the second automatic traveling mode is received, the vehicle control causes the vehicle to travel along the movement route, and stops the vehicle at an end position corresponding to the end point of the movement route,

when the second execution command for the second automatic traveling mode is received, the vehicle control causes the vehicle to travel along the movement route in a direction same as a traveling direction in the teacher traveling mode, and

while the vehicle travels in the first automatic traveling mode or the second automatic traveling mode, the vehicle control of the vehicle is ended when there is an accelerator operation or a steering operation performed by the user.

18 . The driving assistance method according to claim 17 , wherein

in the first automatic traveling mode, the vehicle control causes the vehicle to travel at a speed lower than a vehicle speed at which the vehicle travels in the teacher traveling mode.

19 . The driving assistance method according to claim 17 , wherein

the driving assistance method performs automatic driving for both parking the vehicle and pulling out the vehicle with single teacher traveling.

20 . The driving assistance method according to claim 17 , wherein

the driving assistance method determines whether to perform the second automatic traveling mode or the first automatic traveling mode according to a selection operation from the user.