Driving assistance apparatus and vehicle

1. An in-vehicle driving assistance apparatus that can execute driving assistance on the basis of any one of a plurality of control modes having mutually-different degrees of driving assistance, and that can be installed in a vehicle along with a control apparatus which is configured to make a transition instruction on the basis of a signal from a predetermined in-vehicle apparatus,

the driving assistance apparatus comprising at least one processor circuit with a memory comprising instructions, that when executed by the processor circuit, cause the at least one processor circuit to at least:

receive the transition instruction from the control apparatus;

set the control mode based on the transition instruction;

determine whether or not a transition scheme for the control mode indicated by the transition instruction has a pre-registered detail;

suppress the setting of the control mode when the transition scheme for the control mode indicated by the transition instruction does not have the pre-registered detail; and

make a predetermined notification to an occupant when the setting of the control mode has been suppressed, wherein

the pre-registered detail indicates a permissive condition pertaining to a time required to transition from one of the plurality of control modes to another control mode,

the at least one processor circuit further

receives the signal from the in-vehicle apparatus before the transition instruction from the control apparatus,

makes the determination on the basis of an amount of time that has passed from when the signal has been received from the in-vehicle apparatus,

suppresses the setting of the control mode while the notification is being made, and

cancels the suppressing after a predetermined amount of time has passed following the start of the notification.

2. The driving assistance apparatus according to claim 1 ,

wherein the driving assistance apparatus is installed in a vehicle along with a predetermined in-vehicle apparatus, and

the transition instruction is an instruction signal based on an output signal from the in-vehicle apparatus.

3. The driving assistance apparatus according to claim 2 ,

wherein the in-vehicle apparatus includes an information obtaining apparatus that obtains information indicating a travel environment of the vehicle, and

the transition instruction is an instruction signal based on a result of the obtaining by the information obtaining apparatus.

4. The driving assistance apparatus according to claim 2 ,

wherein the in-vehicle apparatus includes a monitoring apparatus that monitors a surrounding environment of the vehicle, and

the transition instruction is an instruction signal based on a result of the monitoring by the monitoring apparatus.

5. The driving assistance apparatus according to claim 2 ,

wherein the in-vehicle apparatus includes a detecting apparatus that detects a driving operation by an occupant, and

the transition instruction is an instruction signal based on a result of the detecting by the detecting apparatus.

6. The driving assistance apparatus according to claim 1 ,

wherein a number of the control modes is at least three, and the pre-registered detail indicates a permissive condition for transitioning from each of the at least three control modes to other control modes.

7. The driving assistance apparatus according to claim 6 ,

wherein the permissive condition includes whether or not it is possible to transition from one of the at least three control modes to another control mode.

8. The driving assistance apparatus according to claim 6 ,

wherein the plurality of control modes include a first mode of performing driving assistance in which monitoring is required of the driver, and a second mode of performing driving assistance in which monitoring is not required of the driver, and

the permissive condition includes a condition for determining whether or not it is possible to transition from the second mode to the first mode.

9. A moving body comprising:

the driving assistance apparatus according to claim 1 , and a power source.