Driver assistance apparatus for vehicle

A driver assistance apparatus for a vehicle equipped with a manual transmission, the driver assistance apparatus comprising:

• a recognizer including a sensor and configured to recognize information on a traveling environment outside the vehicle using the sensor;
• and
• circuitry configured to:
• execute driver assistance control, based on the information on the traveling environment, the driver assistance control including contact avoidance control against an obstacle;
• determine whether an engine stall has occurred in an engine of the vehicle;
• when the engine stall has occurred, output a cancellation request to cancel the driver assistance control;
• and
• when the engine stall has occurred during execution of the contact avoidance control, maintain the cancellation request without canceling the driver assistance control from occurrence of the engine stall until the vehicle stops,
• wherein, while the cancellation request is maintained, the driver assistance control continues to be executed.

A driver assistance apparatus for a vehicle equipped with a manual transmission, the driver assistance apparatus comprising:

• a traveling ECU configured to execute driver assistance control including contact avoidance control against an obstacle, based on information on a traveling environment outside the vehicle;
• and
• an engine control ECU configured to output an engine RPM signal to the traveling ECU,
• wherein the traveling ECU is configured to:
• determine whether an engine stall has occurred in an engine of the vehicle, based on the engine RPM signal;
• when the engine stall has occurred, generate a cancellation request to cancel the driver assistance control;
• determine whether the contact avoidance control is being executed;
• when the contact avoidance control is being executed, maintain the cancellation request without canceling the driver assistance control from occurrence of the engine stall until the vehicle stops;
• and
• after the vehicle stops, cancel the driver assistance control based on the cancellation request.