Driving assistance apparatus, and vehicle for safe automated pulling out

A driving assistance apparatus for a vehicle, comprising:

• an input circuit configured to be coupled with a first sensor monitoring an ambient area of the vehicle, and a second sensor detecting a user operation;
• and
• an output circuit configured to be coupled with a vehicle driving device of the vehicle, the vehicle driving device controlling at least a steering and an accelerator of the vehicle, wherein
• the driving assistance apparatus generates a travel path from a first position in a parking space to a second position in a road region of a road using a first input received from the first sensor, the travel path having a third position between the first position and the second position, the parking space being adjacent to the road region of the road,
• the driving assistance apparatus travels the vehicle a first part of the travel path from the first position to the third position using a second input received from the first sensor in a first autonomous traveling mode, in which a first steering operation and a first accelerator operation of the vehicle, are controlled automatically,
• the driving assistance apparatus travels the vehicle a second part of the travel path from the third position to the second position using a third input received from the first sensor in a second autonomous traveling mode, in which at least a second steering operation of the vehicle is controlled automatically, while the vehicle is travelling in the first autonomous traveling mode and when the vehicle reaches the third position where the vehicle has entered the road region by a predetermined distance from the first position and when a second accelerator operation of the vehicle is performed by the user, and
• the driving assistance apparatus switches from the second autonomous traveling mode to a manual driving mode in response to a third steering operation of the vehicle being performed by the user while the vehicle is travelling the second part of the travel path in the second autonomous traveling mode.