Parking assistance system

Abstract

Parking assistance system configured to assist in parking one's own vehicle in a parking space, including: a first parking assistance device (1) to be attached to the owner's vehicle; and a second parking assistance device (2) which is to be attached to a different vehicle, different from the owner's own vehicle, the second parking assistance device (2) comprising: a second size information acquisition unit (24) configured to acquire information about the size of the parking space in which the other vehicle is parked or about the size of the other vehicle, in order to output the acquired information as size information about the other vehicle; a second position detection unit (25) configured to determine and output information about the position of the parking space of the other vehicle; and a second communication unit (21) configured to transmit size information about the other vehicle and information about the position of the other vehicle's parking space when the other vehicle leaves the parking space, the first parking assistance device (1) comprising: a first communication unit (11) which is configured to receive the size information about the other vehicle and the information about the position of the parking space of the other vehicle, which are transmitted by the second communication unit (21), a first position detection unit (15) configured to detect the position of the own vehicle in order to output information about the position of the own vehicle; a selection unit (12) configured to select parking spaces into which the vehicle can be parked, based on the size information about the other vehicle received from the first communication unit (11); a determination unit (12) configured to determine the parking space closest to the vehicle's own vehicle from among the parking spaces selected by the selection unit (12), based on information about the position of the other vehicle's parking space received from the first communication unit, and information about the vehicle's own position; and a parking assistance control unit (13) which is configured to control the guidance of the own vehicle to the parking space determined by the determination unit (12).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention

[0001] The present invention relates to a parking assistance system, and more particularly to a parking assistance system configured to assist in parking a vehicle and other mobile bodies. 2. Description of the state of the art

[0002] Previously, a parking assistance system for assisting with parking has been proposed. As an example, the structure and operation of a prior art parking assistance system disclosed in Japanese Patent Application Laid-Open No. JP 2014-240244 A is described below.

[0003] The prior art parking assistance system disclosed in Japanese Patent Application Laid-Open No. 2014-240244 A is configured to assist a host vehicle in parking a parking space. In Japanese Patent Application Laid-Open No. 2014-240244 A, a direction sensor is configured to detect an exit direction of another vehicle that is about to leave a parking space based on vehicle-to-vehicle communication from and to the other vehicle. Furthermore, a route calculation unit is configured to detect a position of the host vehicle relative to a parking space.

[0004] Specifically, the prior art parking assistance system disclosed in Japanese Patent Application Laid-Open No. 2014-240244A is configured to determine a stopping position of the own vehicle based on the exit direction detected by the direction sensor and the position of the own vehicle relative to the parking space detected by the route calculation unit. With this structure and operation, the prior art parking assistance system disclosed in Japanese Patent Application Laid-Open No. 2014-0240244A can determine an appropriate stopping position of the own vehicle based on the exit direction of the other vehicle and the position of the own vehicle, thereby enabling the own vehicle to smoothly park in the parking space without interfering with the other vehicle's exit.

[0005] As described above, the prior art parking assist system disclosed in Japanese Patent Application Laid-Open No. 2014-0240244 is configured to determine the stopping position of the own vehicle based on the exit direction detected by the direction sensor and the position of the own vehicle relative to the parking space detected by the route calculation unit. As a result, the stopping position of the own vehicle can be determined in accordance with the exit direction of the other vehicle, and the own vehicle can smoothly park in the parking space with minimal interference to the other vehicle's exit.

[0006] If your own vehicle enters the parking space vacated by the other vehicle (it is parked), but your own vehicle cannot enter the parking space vacated by the other vehicle (it cannot be parked) if your own vehicle is larger (i.e., width, length, or height) than the parking space. This raises the problem that even if your own vehicle's stop position has been determined, this determination may be meaningless.

[0007] DE 10 2015 214 610 A1 describes a parking assistant and, in particular, a method for finding a parking space for a first motor vehicle, wherein the parking space is bounded on one side by a second motor vehicle and comprises: steps of determining a required minimum length of a parking space in which the first motor vehicle can park, scanning, by the second motor vehicle, a length of the adjacent parking space; and guiding the first motor vehicle to the parking space bounded by the second motor vehicle if the length of this parking space corresponds at least to the minimum length.

[0008] US 2016 / 0 284 217 A1 shows a mobile terminal for assisting in parking a vehicle, wherein the mobile terminal contains a camera, a display unit and a control for finding parking areas.

[0009] DE 10 2011 122 191 A1 teaches a method and a device for assisting a driver of a vehicle in searching for a parking space in a road network.

[0010] DE 10 2015 218 803 A1 relates to a communication system for a motor vehicle. The communication system comprises a V2X communication module for communicating with at least one other motor vehicle and a processor configured to send communication data to the other motor vehicle via the V2X communication module in response to the motor vehicle releasing or occupying a parking space or parking bay. The communication data includes position data of the parking space or parking bay.

[0011] DE 20 2015 104 709 U1 discloses a mobile communication device, in particular a mobile radio telephone, with a display means, with input means, a vehicle connection interface for a connection to a vehicle and an infrastructure interface for a connection to a structure, in particular a parking garage, wherein the vehicle and the structure have sensors and / or actuators and / or data which can be queried via the vehicle connection interface and / or the infrastructure interface, SUMMARY OF THE INVENTION

[0012] The present invention was conceived to solve the aforementioned problem, and it is an object of the present invention to provide a parking assistance system capable of detecting and determining a parking space corresponding to the size of the own vehicle. According to one embodiment of the present invention, a parking assistance system is provided configured to assist the parking of an own vehicle into a parking space. The parking assistance system includes: a first parking assistance device attached to the own vehicle; and a second parking assistance device mounted on vehicles other than the host vehicle. The second parking assistance device includes: a second size information acquisition unit configured to acquire information about the sizes of the parking spaces in which other vehicles are parked and the sizes of the other vehicles, and output the acquired information as size information of the other vehicles; a second position detection unit configured to detect and output information of a position of the parking spaces of the other vehicles; and a second communication unit configured to transmit the size information of the other vehicles and the information regarding the positions of the parking spaces of the other vehicles when the other vehicles leave the parking spaces. The first parking assistance device includes: a first communication unit configured to receive the size information of the other vehicles and the information regarding the positions of the parking spaces of the other vehicles transmitted from the second communication unit; a first position detection unit configured to detect a position of the own vehicle to output information regarding the position of the own vehicle;a selection unit configured to select parking spaces in which the vehicle can be parked based on the size information of the other vehicles received from the first communication unit; a determination unit configured to determine the parking space closest to the own vehicle from the parking spaces selected by the selection unit based on the information about the positions of the other vehicles received from the first communication unit and the information about the position of the own vehicle; and a parking assistance control unit configured to control the guidance of the own vehicle to the parking space determined by the determination unit.

[0013] The parking assistance system according to one embodiment of the present invention is configured to select the parking spaces in which the own vehicle can be parked based on the size information of the other vehicles and to determine the parking space closest to the own vehicle from the selected parking spaces, so as to detect and determine the parking space corresponding to the size of the own vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a configuration of a parking assist system according to a first embodiment of the present invention. Fig. 2 is a flowchart illustrating the operation of the parking assist system according to the first embodiment of the present invention. Fig. 3 is a block diagram showing a configuration of a parking assist system according to a second embodiment of the present invention. Fig. 4 is a flowchart showing the operation of the parking assist system according to the second embodiment of the present invention. Fig. 5 is a flowchart illustrating the operation of a parking assist system according to a third embodiment of the present invention. DESCRIPTION OF THE EMBODIMENTSFirst embodiment

[0014] Hereinafter, a parking assist system according to a first embodiment of the present invention will be explained with reference to the accompanying drawings. Fig. 1 is a block diagram showing a configuration of the parking assist system according to the first embodiment. Fig. 2 shows a processing flowchart illustrating a processing flow of the parking assist system according to the first embodiment.

[0015] First, the configuration of the parking assist system according to the first embodiment and a configuration of a parking assist device included in the parking assist system will be explained with reference to Fig. 1.

[0016] Fig. 1 shows a schematic block diagram illustrating a configuration of a parking assistance system 100. As in Fig. As shown in Figure 1, the parking assistance system 100 includes a plurality of parking assistance devices (hereinafter, e.g., parking assistance devices 1 and 2). The parking assistance system 100 is a system device configured to assist in parking an automobile or other such mobile vehicle to which the parking assistance device 1 is attached (hereinafter referred to as "own vehicle") into a parking space.

[0017] As in Fig. 1, the parking assistance device 1 comprises a communication device 11, a route calculation unit 12, a parking space sensor 14, a position sensor 15 and a parking assistance control unit 13. The communication device 11 is capable of communicating with the parking assistance device 2, which is present within a predetermined distance range from the communication device 11, e.g. by means of wireless communication.

[0018] To simplify the drawings, Fig. 1 illustrates a case where one parking assistance device 2 is present. In reality, however, there are one or more parking assistance devices 2. A parking assistance device 2 is attached to each of the vehicles (hereinafter referred to as "other vehicles") other than the host vehicle. The parking assistance system 100 is configured to select one or more parking spaces in which the host vehicle can be parked from the empty parking spaces and to assist the host vehicle in parking the parking space.

[0019] The parking assistance device 2 comprises the same individual components as the parking assistance device 1. Specifically, the parking assistance device 2 comprises a communication device, a route calculation unit, various sensors, and a parking assistance control unit. However, to simplify a description of the processing to be performed between the parking assistance device 1 and the parking assistance device 2, it is assumed below that the parking assistance device 2 comprises a communication device 21, a route calculation unit 22, a parking space sensor 24, a position sensor 25, and a parking assistance control unit 23.

[0020] The communication device 11 is a communication functional part configured to transmit and receive various types of information by performing vehicle-to-vehicle communication to and from corresponding communication devices 21 present within a predetermined distance range. The communication range of the communication device 11 is the inner area of ​​a circle around the position of the communication device 11, which serves as the "center of the circle," with a predetermined distance serving as the "radius of the circle." Therefore, the communication device 11 is configured to perform communication with the corresponding communication devices 21 present within the communication range.

[0021] The communication device 11 is configured to perform 700 MHz vehicle-to-vehicle communication, 5 GHz vehicle-to-vehicle communication, and communication via Bluetooth (trademark), Wi-Fi, or a mobile phone. It is desirable that the communication range encompasses the entire parking lot, and therefore, the communication range has a radius of approximately 10 m to approximately 300 m.

[0022] The parking space sensor 14 is configured to detect the size of the parking space in which the vehicle is currently parked and to output the detection result as information about the parking space size. The parking space sensor 14 is configured to detect at least a width, a length, or a height of the parking space as information about the parking space size. The parking space sensor 14 is composed of, for example, a peripheral camera, a SONAR device, a millimeter-wave radar, and a LIDAR (light detection and ranging) device.

[0023] The position sensor 15 is configured to detect the position of the vehicle and output the detection result as information about the position of the vehicle or as information about the position of the vehicle's parking space. The position sensor 15 is comprised, for example, of a GPS (Global Positioning System) device.

[0024] The route calculation unit 12 is an arithmetic processing part configured to select and determine a parking space in which the own vehicle is to be parked and calculate a movement route along which the own vehicle moves. The route calculation unit 12 is configured to select a parking space with a size in which the own vehicle can be parked from the empty parking spaces based on the information about the parking spaces of other vehicles received from the communication devices 21 through the communication device 11, and calculate the movement route of the own vehicle to the parking space. To select a parking space with a size in which the own vehicle can be parked, the route calculation unit 12 is configured to store a lower threshold value for the size of the parking space (i.e., the width, length, or height of the parking space) in advance.The route calculation unit 12 is thus configured to select a parking space with a size larger than the lower threshold as the parking space in which the host vehicle can be parked. When there are a plurality of parking spaces, the route calculation unit 12 selects a parking space closest to the host vehicle based on the information about the positions of other vehicles' parking spaces received from the communication devices 21 through the communication device 11 and the information about the position of the host vehicle detected by the position sensor 15.

[0025] The parking assistance control unit 13 is a control processing part configured to perform movement assistance (assistance including automatic driving control, e.g., autocruise (automatic cruise control) or automatic braking control) when the host vehicle travels (including, e.g., exiting a parking space and entering a parking space) or stops (i.e., remains stationary) on the movement route calculated by the route calculation unit 12. The parking assistance control unit 13 is configured to cause the host vehicle to travel based on the movement route calculated by the route calculation unit 12 and to park the host vehicle in the parking space selected by the route calculation unit 12.

[0026] The parking assistance device 1 includes, for example, a processor and a memory for performing processes of the route calculation unit 12 and the parking assistance control unit 13. The memory stores a program executed by the processor for performing processes of the route calculation unit 12 and the parking assistance control unit 13.

[0027] The parking assist device 2 has the same functions as the parking assist device 1. Specifically, the communication devices 21, the route calculation units 22, the parking assist control units 23, the parking space sensors 24, and the position sensors 25 provided in the parking assist device 2 have the same functions and perform the same operations as those of the communication device 11, the route calculation unit 12, the parking assist control unit 13, the parking space sensor 14, and the position sensor 15, respectively. Therefore, the description of these parts is omitted.

[0028] The operation of the respective parts of the parking assistance device 1 is described below with reference to Fig. 2.

[0029] First, when other vehicles to which the parking assist device 2 is attached intend to leave their respective parking spaces, information about the other vehicles is transmitted to the communication device 11 of the host vehicle from the communication devices 21 attached to the respective other vehicles (step S1). The information about the other vehicles is information indicating that the other vehicles intend to leave their respective parking spaces. The information about the other vehicles includes information about the exit directions of the other vehicles. The information about the other vehicles also includes information about the sizes (e.g., width, length, or height) of the other vehicles' parking spaces detected by the corresponding parking space sensors 24, and information about the positions of the other vehicles' parking spaces detected by the position sensor 25.

[0030] Next, the communication device 11 sequentially receives the other-vehicle information concerning the respective other vehicles transmitted from the corresponding communication devices 21 of the plurality of other vehicles (step S2).

[0031] Next, the route calculation unit 12 compares the information about the sizes (e.g., widths, lengths, or heights) of the parking spaces of the plurality of other vehicles with each other by using the received information about the other vehicles, and selects the parking spaces in which the own vehicle can be parked from these parking spaces (step S3).

[0032] Subsequently, the route calculation unit 12d determines the parking space nearest to the own vehicle by comparing the information about the positions of the corresponding parking spaces selected in step S3 and the information about the position of the own vehicle detected by the position sensor 15 (step S4).

[0033] Then, the route calculation unit 12 calculates the movement route to the parking space determined in step S4, and the parking assistance control unit 13 controls the guidance of the own vehicle to the parking space based on the calculated movement route (step S5).

[0034] As described above, according to the first embodiment, the parking spaces in which the own vehicle can be parked and their sizes (ie, width, length or height) agree with the size of the own vehicle and can be determined from the parking spaces of the plurality of other vehicles intending to leave the parking spaces. Second embodiment

[0035] Hereinafter, a parking assist system according to a second embodiment of the present invention will be explained with reference to the accompanying drawings. Fig. Fig. 3 is a block diagram showing a configuration of the parking assistance system according to the second embodiment. Fig. 4 is a flowchart showing a processing sequence of the parking assistance system according to the second embodiment.

[0036] The configuration of the parking assist system according to the second embodiment and a configuration of a parking assist device included in the parking assist system will be described with reference to Fig. 3 explained. Fig. 3 shows a schematic block diagram illustrating a configuration of a parking assistance system 200. The parking assistance system 200 includes a plurality of parking assistance devices (hereinafter, e.g., parking assistance devices 1 and 2). The parking assistance system 200 is a system device configured to assist in the parking operation of an automobile or other such mobile vehicle to which the parking assistance device 1 is attached (hereinafter referred to as "own vehicle") into a parking space.

[0037] As in Fig. 3, the parking assistance device 1 comprises a communication device 11, a route calculation unit 12, a storage device 16, a position sensor 15 and a parking assistance control unit 13. Similar to the first embodiment, the communication device 11 is capable of communicating with the parking assistance device 2, which is present in a communication range of the communication device 11, e.g., by means of wireless communication. To simplify the drawings, Fig. 3, only one parking assistance device 2 is shown. In fact, however, there are one or more parking assistance devices 2. A parking assistance device 2 is attached to each of the one or more other vehicles (hereinafter referred to as "other vehicles") other than the own vehicle.

[0038] The parking assistance device 2 includes the same functions as the parking assistance device 1. Specifically, the parking assistance device 2, similar to the parking assistance device 1, includes a communication device, a route calculation unit, various sensors, and a parking assistance control unit.

[0039] However, in order to simplify a description of the processing performed between the parking assistance device 1 and the parking assistance device 2, it is assumed below that the parking assistance device 2 includes a communication device 21, a route calculation unit 22, a storage device 26, a position sensor 25, and a parking assistance control unit 23.

[0040] The communication device 21, the route calculation unit 22, the parking assistance control unit 23, the storage device 26, and the position sensor 25 provided in the parking assistance device 2 have the same functions and perform the same operations as those of the communication device 11, the route calculation unit 12, the parking assistance control unit 13, the storage device 16, and the position sensor 15, respectively.

[0041] The storage device 16 in the parking assistance device 1 is configured to store information about the size of the host vehicle. The storage device 16 is configured to store at least one of the information items, e.g., the width, length, or height of the host vehicle, as information about the size of the host vehicle. The storage device 16 is formed, for example, by a non-volatile memory.

[0042] The configuration and operation of the individual components of the parking assistance device 1, shown in Fig. 3, are the same as the configuration and operation of the respective individual components of the parking assistance device 1 shown in Fig. 1.

[0043] Therefore, in the second embodiment, the description of the individual components, which are provided with the same reference numbers, is omitted.

[0044] The parking assistance device 2 has the same functions as the parking assistance device 1. The storage device 26 of the parking assistance device 2 has the same function and performs the same operations as those of the storage device 16 of the parking assistance device 1.

[0045] Specifically, the respective storage devices 26 are configured to store the information about the sizes of the other vehicles to which the parking assistance device 2 is attached. The storage devices 26 are configured to store at least one of the information, e.g., the width, length, or height of the other vehicles, as information about the sizes of the other vehicles.

[0046] The configuration and operation of the individual components of the parking assistance device 2, shown in Fig. 3, are the same as the configuration and operation of the respective individual components of the parking assistance device 2 shown in Fig. 1. Therefore, in the second embodiment, a description of the individual components which are provided with the same reference numbers is omitted.

[0047] The following describes the operations of the respective parts of the parking assistance device 1 with reference to Fig. 4.

[0048] First, when other vehicles to which the parking assist device 2 is attached intend to leave the parking spaces, information about the other vehicles is transmitted to the communication device 11 of the host vehicle from the communication devices 21 attached to the respective other vehicles (step S21). The information about the other vehicles is information indicating that the other vehicles intend to leave the parking spaces. The information about the other vehicles includes information about the exit directions of the other vehicles. The information about the other vehicles also includes information about the sizes (e.g., widths, lengths, or heights) of the other vehicles detected by the storage device 26 and information about the positions of the parking spaces of the other vehicles detected by the position sensors 25.

[0049] Next, the communication device 11 sequentially receives the information about the corresponding other vehicles transmitted from the plurality of other vehicles (step S22).

[0050] Subsequently, the route calculation unit 12 compares the information about the sizes of the respective other vehicles by using the information about the other vehicles received from the plurality of other vehicles with the information about the size of the own vehicle that can be obtained from the storage device 16, and selects the parking spaces in which other vehicles that are equal to or larger than the own vehicle are parked from the empty parking spaces (step S23).

[0051] Steps S24 and S25 are the same as steps S4 and S5 in Fig. 2 and therefore the description of them is omitted.

[0052] As described above, according to the second embodiment, a parking space having a size (ie, width, length, or height) in which the own vehicle can be parked can be determined from the parking spaces of the plurality of other vehicles leaving parking spaces. Third embodiment

[0053] Hereinafter, a parking assistance system according to a third embodiment of the present invention will be explained with reference to the accompanying drawings. The configuration of the parking assistance device according to the third embodiment is the same as that shown in Fig. 1 shown configuration and therefore can be used for the description of those on Fig. 1 can be obtained.

[0054] Fig. 5 is a processing flowchart showing the processing flow of the parking assist device according to the third embodiment.

[0055] First, the configuration of the parking assist system according to the third embodiment and the configuration of a parking assist device included in the parking assist system will be explained with reference to Fig. 1.

[0056] In the third embodiment, the parking space sensor 14 of the parking assistance device 1 is configured to detect whether the parking space of the own vehicle is a parking space for the disabled and to output the detection result as information about a parking space type. Therefore, the information about the parking space type is information indicating whether or not a parking space is a parking space for the disabled.

[0057] The configuration and operation of the respective individual components of the parking assistance device 1 of the third embodiment are the same as the configuration and operation of the respective individual components of the parking assistance device 1 shown in Fig. 1. Therefore, their description is omitted.

[0058] The parking assist device 2 includes the same functions and performs the same operations as the parking assist device 1. Specifically, the parking space sensor 24 of the parking assist device 2 mounted on other vehicles is configured to detect whether the parking spaces of the other vehicles are parking spaces for disabled people and outputs the detection result as information about the parking space type.

[0059] The operation of the respective parts of the parking assistance device 1 is described below with reference to Fig. 5.

[0060] First, when the other vehicles to which the parking assist device 2 is attached intend to leave the parking spaces, information about the other vehicles is transmitted to the communication device 11 of the host vehicle from the communication devices 21 attached to the respective other vehicles (step S31). The information about the other vehicles is information indicating that the other vehicles intend to leave a parking space. The information about the other vehicles includes information about the exit directions of the other vehicles. The information about the other vehicles also includes information about the parking space types detected by the parking space sensor 24 and information about the positions of the parking spaces detected by the position sensor 25.

[0061] Next, the communication device 11 receives the information about the parking space types and the information about the positions of the parking spaces of the respective other vehicles, which are sent from the plurality of other vehicles (step S32).

[0062] Next, the route calculation unit 12 accesses the information about the parking space types received from the plurality of other vehicles and selects the parking spaces that are parking spaces for disabled people from the received parking space types (step S33).

[0063] Steps S34 and S35 are the same as steps S4 and S5 in Fig. 2 and therefore the description of them is omitted.

[0064] As previously described, according to the third embodiment, the own vehicle can be promptly guided to a parking space for disabled people from among the parking spaces of the plurality of other vehicles leaving parking spaces.

[0065] In the third embodiment, an example will be described in which the route calculation unit 12 selects the parking spaces for disabled people as parking spaces based on the information about the parking space types in step S33.

[0066] However, the present invention is not limited to such a case, and step S3 of the first embodiment may be combined with step S33.

[0067] Specifically, in step S33, the route calculation unit 12 first compares the information about the sizes (e.g., widths, lengths, or heights) of the parking spaces of the corresponding plurality of other vehicles with each other, selects the parking spaces in which the own vehicle can be parked from the parking spaces, and then selects the parking spaces for disabled people from the selected parking spaces as the parking spaces based on the information about the parking space types.

[0068] In addition, in the third embodiment, an example will be described in which the embodiment is in the configuration of the first embodiment shown in Fig. 1. However, the present invention is not limited thereto, and the third embodiment may be implemented in the configuration of the second embodiment shown in Fig.3, can be applied. Step S23 of the second embodiment can also be combined with step S33. Specifically, in step S33, the route calculation unit 12 selects parking spaces in which the other vehicles larger than the own vehicle are parked based on the information about the sizes (e.g., widths, lengths, or heights) of the corresponding plurality of other vehicles and the size of the own vehicle, and then selects the parking spaces for the disabled as the parking spaces from the selected parking spaces based on the information about the parking space types.

[0069] The present invention is suitable for a parking assistance system capable of detecting a suitable parking space for the host vehicle. Embodiments one to three describe examples in which the parking assistance system according to the present invention is used for parking automobiles or other similar vehicles. However, the present invention is not limited thereto, and the parking assistance system according to the present invention can be applied, for example, to parking various types of mobile bodies, such as carts for transporting goods and drones.

Claims

[1] Parking assistance system configured to assist in parking a vehicle into a parking space, comprising: a first parking assistance device (1) to be attached to the own vehicle; and a second parking assistance device (2) to be attached to another vehicle, different from the own vehicle, the second parking assistance device (2) comprising: a second size information acquisition unit (24) configured to acquire information about a size of the parking space in which the other vehicle is parked or about a size of the other vehicle to output the acquired information as size information about the other vehicle; a second position detection unit (25) configured to determine and output information about a position of the parking space of the other vehicle; and a second communication unit (21) configured to transmit the size information about the other vehicle and the information about the position of the parking space of the other vehicle when the other vehicle leaves the parking space, the first parking assistance device (1) comprising: a first communication unit (11) configured to receive the size information about the other vehicle and the information about the position of the parking space of the other vehicle transmitted from the second communication unit (21), a first position detection unit (15) configured to detect a position of the own vehicle to output information about the position of the own vehicle; a selection unit (12) configured to select parking spaces in which the vehicle can be parked based on the size information about the other vehicle received from the first communication unit (11); a determination unit (12) configured to determine the parking space closest to the own vehicle from the parking spaces selected by the selection unit (12) based on the information about the position of the other vehicle's parking space received from the first communication unit and the information about the position of the own vehicle; and a parking assistance control unit (13) configured to control the guidance of the own vehicle to the parking space determined by the determination unit (12). [2] The parking assistance system according to claim 1, wherein the second size information acquisition unit (24) comprises a second parking space recognition unit (24) configured to acquire the size of the parking space in which the vehicle is parked to output the information about the size of the parking space as the size information about the other vehicle. [3] Parking assistance system according to claim 1, wherein the second size information acquisition unit (24) comprises a second storage unit (26) configured to store the information about the size of the other vehicle, and wherein the second size information acquisition unit (24) is configured to output the information about the size of the other vehicle stored in the second storage unit (26) as the size information about the other vehicle. [4] Parking assistance system according to one of claims 1 to 3, wherein the first parking assistance device (1) further comprises a first size information acquisition unit (14) configured to acquire information about a size of the own vehicle to output the acquired information as size information about the own vehicle, and wherein the selection unit (12) is configured to select the parking space in which the own vehicle can be parked based on the size information about the other vehicle and the size information about the own vehicle. [5] Parking assistance system according to one of claims 1 to 4, wherein the second parking assistance device (2) further comprises a type information recognition unit (14) configured to determine whether the parking space of the other vehicle is a parking space for disabled persons or not, to output a determination result as parking space type information, and wherein the determination unit (12) is configured to select a parking space for disabled people from the parking space selected by the selection unit (12) based on the parking space type information from the type information recognition unit (14).

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