Assist apparatus and control method of the same
Provided is an assist apparatus for a vehicle leaving a parking space, including an automatic leaving execution unit configured to execute automatic leaving by automatic travel control mode of the vehicle and a switching control unit configured to switch driving of the vehicle from the automatic travel control mode to driver's driving operation mode, in which a state of the vehicle is determined and whether or not to perform a predetermined automatic travel control before switching the drive of the vehicle to the driver's driving operation mode is determined based on the determination result of the state of the vehicle.
1. An assist apparatus for a vehicle leaving a parking space, comprising: a processor that includes:
an automatic leaving execution unit configured to execute automatic leaving by automatic travel control mode of the vehicle;
a switching control unit configured to switch driving of the vehicle from the automatic travel control mode to driver's driving operation mode;
a state determining unit configured to determine a state of the vehicle;
an automatic travel control determining unit configured to determine, according to a determination result of the state of the vehicle, whether or not to perform a predetermined automatic travel control before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode; and
a release operation determining unit configured to determine input of a release operation for giving an instruction to stop the automatic travel control mode, wherein
the automatic travel control determining unit makes determination based on the state of the vehicle when the release operation is inputted,
the state determining unit determines a leaving state of the vehicle from the parking space, and
when a leaving degree of the vehicle from the parking space when the release operation is inputted is equal to or less than a first threshold value, the automatic travel control determining unit determines to perform the predetermined automatic travel control to brake the vehicle before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode.
2. The assist apparatus according to claim 1 , wherein
when the leaving degree of the vehicle from the parking space when the release operation is inputted is equal to or more than a second threshold value, the automatic travel control determining unit determines not to perform the predetermined automatic travel control before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode.
3. The assist apparatus according to claim 1 , wherein:
a plurality of feature points are set in advance on an external shape of the vehicle; and
the state determining unit determines the leaving state based on the number of feature points out of the parking space.
4. A control method of an assist apparatus for a vehicle leaving a parking space, the assist apparatus comprising a processor that includes an automatic leaving execution unit configured to execute automatic leaving by automatic travel control mode of the vehicle, and a switching control unit configured to switch driving of the vehicle from the automatic travel control mode to driver's driving operation mode, the control method comprising:
a first step of determining a state of the vehicle;
a second step of determining, according to a determination result of the state of the vehicle, whether or not to perform a predetermined automatic travel control before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode; and
a third step of determining input of a release operation for giving an instruction to stop the automatic travel control mode, wherein
in the second step, determination is made based on a state of the vehicle when the release operation is inputted,
in the first step, a leaving state of the vehicle from the parking space is determined, and
in the second step, when a leaving degree of the vehicle from the parking space when the release operation is inputted is equal to or less than a first threshold value, it is determined to perform the predetermined automatic travel control to brake the vehicle before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode.
5. The control method of the assist apparatus according to claim 4 , wherein
in the second step, when the leaving degree of the vehicle from the parking space when the release operation is inputted is equal to or more than a second threshold value, it is determined not to perform the predetermined automatic travel control before switching the driving of the vehicle from the automatic travel control mode to the driver's driving operation mode.
6. The control method of the assist apparatus according to claim 4 , wherein
in the first step, the leaving state is determined based on the number of feature points that are out of the parking space among a plurality of the feature points set in advance on an external shape of the vehicle.