Vehicle control device, vehicle control center and parking assistance system

Abstract

Vehicle control device (100) that controls a vehicle (V) entering a parking space (P) of a parking lot (PA) and exiting a parking space (P) of a parking lot (PA), comprising the following: a calculation unit (110) of the remaining energy quantity (Er), which calculates a remaining energy quantity (Er) for driving the vehicle (V); a parking information acquisition unit (120) that acquires map information and information about other vehicles in the parking lot (PA); a prediction unit (130) that predicts a vehicle speed and travel time (V) at the time of entry and exit based on map information and information about other vehicles; a calculation unit (140) of the required amount of energy (En), which calculates a required amount of energy (En) for the vehicle's entry and exit (V) based on the driving speed and the travel time; and a parking determination unit (150) that determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the required amount of energy (En), wherein, if the parking area (PA) has a supply point (Pr) where energy can be supplied to the vehicle (V), the prediction unit (130) predicts a driving speed and a movement time of the vehicle (V) at the time of entry into the supply point (Pr), the calculation unit (140) of the required amount of energy (En) at the time of entry into the supply point (Pr) calculates an amount of energy for the entry (EI) based on the driving speed and the movement time of the vehicle (V), and the parking determination unit (150) determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the amount of energy required for entry (EI), wherein The parking determination unit (150) determines that parking is possible if the remaining energy (Er) is equal to or greater than the required energy (En), determines that parking is conditionally possible if the remaining energy (Er) is less than the required energy (En) and equal to or greater than the energy required for entry (EI), and determines that parking is not possible if the remaining energy (Er) is less than the energy required for entry (EI).

Description

Technical field

[0001] The present invention relates to a vehicle control device, a vehicle control center and a parking aid system. Technical background

[0002] Traditionally, inventions have been known that are relevant to an automatic parking service device and method that enable a vehicle to be automatically parked in a free space and to park in the vicinity of an exit point from the facility of a facility user (see the following PTL 1).

[0003] PTL 1 discloses an automatic parking service device for operating a vehicle in a parking lot connected to a facility. This conventional automatic parking service device includes a parking map database, a database of information on available spaces, a facility tour information database, first means, second means, and third means (see claim 1 and the like in the same document).

[0004] PTL 2 shows a navigation ECU that calculates a route to the destination and uses a communication device to retrieve environmental information about the route from an information center. The navigation ECU then estimates the electrical energy consumed by the vehicle's auxiliary systems until the destination is reached.

[0005] PTL 3 shows a vehicle navigation device comprising a short-range radio communication unit, a position information acquisition unit and a parking detection unit, which, based on vehicle condition information indicating the state of the vehicle, determines whether a vehicle is parked and, if it is determined that the vehicle is parked, gives an instruction to transmit a parking position of the vehicle, detected by the position information acquisition unit, to a portable terminal via the short-range radio communication unit.

[0006] PTL 4 shows a vehicle device comprising a target setting device for setting the target, a route guidance device for performing route guidance for the vehicle itself up to its parking position corresponding to the target, and a target information transmission device for transmitting target information representing the target to the portable device with a route guidance device for a person after the route guidance for the vehicle has been interrupted.

[0007] PTL 5 demonstrates a method for the optimized use of a parking space. Vehicles to be parked in the parking lot are each assigned a parking space, with the vehicles navigating autonomously to their assigned parking space.

[0008] PTL 6 shows an end device for outputting information about the use of a means of transport for a journey to a destination, a vehicle communicating with the end device, a personal mobility device communicating with the end device, a method for controlling the end device, and a method for controlling the vehicle.

[0009] PTL 7 displays a vehicle management center that searches for multimodal routes, including routes to an EV parking space that is within a car-accessible distance of the current position and where the train ticket to the nearest station is the cheapest among the EV parking spaces available at stations with train connections, and researches the multimodal routes when a predetermined time has elapsed since the search for the multimodal routes.

[0010] The parking map database manages route information for each parking space in the parking lot. The vacancy database manages full / empty information for each parking space. The facility tour information database stores facility tour information that details a parking user's behavior within the facility.

[0011] The first methods detect the complete information for each parking position, search for a route to the parking position, and automatically park the vehicle at the parking position based on the route information to the searched parking area.

[0012] The second method notifies the parking space user via a mobile device with parking space information. The third method searches for an available space as close as possible to the desired conditions based on the parking space user's route information and reflects the result back to the first method.

[0013] In this conventional invention, a free parking space is searched for, with automatic parking performed based on the current location and the intended use information of the parking space user. Additionally, in this embodiment, it is determined whether or not dropping off the vehicle on the street surrounding the parking space and the inner passageway is possible, and the parking space user is notified of the result. Therefore, when the parking space user returns after walking around the facility, they can enter their parked vehicle from the vicinity of their current location, thus improving the convenience of the parking area (see paragraph 0009 et seq. in the same document). List of oppositions patent literature PTL 1: JP 2017-182263 A PTL 2: JP 2010 - 210271 A PTL 3: JP 2015 - 83938 A PTL 4: JP 2010 - 60505 A PTL 5: DE 10 2015 201 205 A1 PTL 6: US 2018 / 0 120 123 A1 PTL 7: JP 2012 - 112828 A Summary of the invention: Technical problem

[0014] With the increase in the number of sprawling suburban retail establishments, the number of large parking lots with a larger surface area than before is also increasing. In such a large parking lot, the distance a vehicle travels within the lot becomes longer than before. Additionally, depending on the parking lot's congestion, vehicles may be temporarily stopped, move at reduced speed, or a traffic jam may occur. If the remaining amount of fuel or cargo is insufficient to power the vehicle, i.e., the remaining energy for driving, the vehicle may become stuck in the parking lot and obstruct the entry and exit of other vehicles.Such a problem, due to insufficient energy remaining in the vehicle, can be a particularly big problem in automatic parking services, where vehicles are driven automatically and parked unmanned.

[0015] The present disclosure provides a vehicle control device, a vehicle control center and a parking assistance system that can avoid the above problem due to insufficient energy remaining in the vehicle while parked. Solution to the problem

[0016] The claimed subject matter is defined by the accompanying claims. In the following, parts of the description and the drawings relating to earlier embodiments, which do not necessarily include all features for implementing embodiments of the claimed subject matter, are understood to mean that they do not represent embodiments of the claimed subject matter, but rather refer to examples that are useful for understanding the embodiments of the claimed subject matter. One aspect of the present disclosure is a vehicle control device that controls a vehicle entering and exiting a parking space in a parking lot.The vehicle control device includes: a remaining energy calculation unit, which calculates the remaining energy required to drive the vehicle; a parking information acquisition unit, which acquires map information and information about other vehicles in the parking lot; a prediction unit, which predicts the vehicle's speed and travel time at the time of entry and exit based on map information and information about other vehicles; a required energy calculation unit, which calculates the required energy for the vehicle's entry and exit based on the speed and travel time; and a parking determination unit, which determines the vehicle's parking availability based on the remaining energy and the required energy. Advantageous effects of the invention

[0017] According to the above aspect of the present disclosure, it is possible to create a vehicle control device that can avoid a problem due to insufficient driving energy of a vehicle in a parking lot. Brief description of the drawings Fig. Figure 1 is a block diagram of a parking aid system according to a first embodiment. Fig. Figure 2 is a top view illustrating an example of a parking lot. Fig. 3 is a flowchart that provides an example of the operation of the in Fig. 1 illustrated parking assistance system. Fig. 4 is a flowchart that provides an example of the operation of the in Fig. 1 illustrated parking assistance system. Fig. 5 is a block diagram that shows a modification example of the one in Fig. 1 illustrated parking assistance system. Fig. Figure 6 is a block diagram of a parking aid system according to a second embodiment. Description of the embodiments

[0018] The embodiments of a vehicle control device, a vehicle control center and a parking aid system according to the present disclosure are described below with regard to the graphical representations. [First embodiment]

[0019] Fig. Figure 1 is a block diagram illustrating a schematic configuration of a parking aid system 300 according to a first embodiment. Fig. Figure 2 is a top view illustrating an example of a parking space PA. The parking aid system 300 of the present embodiment includes a vehicle control device 100 installed in a vehicle V and a vehicle control center 200 that manages the vehicle V. Additionally, in Fig. Figure 1 illustrates only one vehicle V in which the vehicle control device 100 is installed; other vehicles are not illustrated. That is, the vehicle control center 200 is configured to manage several other vehicles in which vehicle control devices similar to the vehicle control device 100 are installed, and several other vehicles that do not contain the vehicle control device 100.

[0020] Although the details will be described later, the vehicle control device 100 of the present embodiment has the following main features. The vehicle control device 100 is a device that controls the vehicle V as it enters and exits a parking space P of parking lot PA and is, for example, part of an electronic control unit (ECU) of the vehicle V. The vehicle control device 100 includes a remaining energy calculation unit 110, a parking information acquisition unit 120, a prediction unit 130, a required energy calculation unit 140, and a parking determination unit 150. The remaining energy calculation unit 110 calculates the remaining energy Er required to drive the vehicle. The parking information acquisition unit 120 acquires map information and information about other vehicles in parking lot PA.

[0021] Prediction unit 130 predicts the vehicle V's speed and travel time at the time of entry and exit based on the captured map information and information about other vehicles. Energy calculation unit 140 calculates the required energy En for vehicle V's entry and exit based on the predicted speed and travel time. Parking determination unit 150 determines whether vehicle V can be parked based on the remaining energy Er and the calculated required energy En.

[0022] The configuration of each unit of the vehicle control unit 100 and the vehicle control center 200 of the present embodiment is described in detail below. In addition to the remaining energy calculation unit 110, the parking information acquisition unit 120, the prediction unit 130, the required energy calculation unit 140, and the parking determination unit 150 described above, the vehicle control unit 100 of the present embodiment includes a vehicle communication unit 160, a location information acquisition unit 170, and a notification unit 180. The respective units of the vehicle control unit 100 are interconnected via a local area network (LAN), e.g., a CAN network or Ethernet (registered trademark).

[0023] Additionally, the vehicle V, which is a control target of the vehicle control device 100 of the present embodiment, is a non-automated vehicle driven by the occupant. The vehicle V has, for example, a display unit Vm for showing various types of information to the occupant. The display unit Vm includes, for example, a touchscreen and also functions as an input unit for entering information. Furthermore, the occupant of the vehicle V has, for example, a mobile device M, which can be connected to the vehicle control device 100 or the vehicle control center 200.

[0024] If the energy for the vehicle V to drive is obtained, for example, from fuels such as gasoline, light oil, natural gas, methanol, and hydrogen, the remaining energy calculation unit 110 calculates the remaining energy Er for driving the vehicle V based on the signal from a fuel gauge that measures the remaining fuel quantity. If the energy for driving the vehicle V is obtained, for example, from a battery such as a lithium-ion battery, the remaining energy calculation unit 110 additionally calculates the remaining energy Er based on the battery's charging rate or the amount of power stored in the battery. If the vehicle V, for example,When the fuel and battery are used together, the remaining energy calculation unit 110 calculates the remaining energy Er based on the amount of power or the charging rate of the battery and the remaining amount of fuel. If the vehicle V contains a battery using an electrolyte solution, the battery capacity also decreases at low temperatures. Therefore, the remaining energy calculation unit 110 can calculate the remaining energy Er, for example, using the outside temperature measured by a thermometer.

[0025] The parking information acquisition unit 120 acquires and stores the parking information, including map information and information about other vehicles in parking lot PA, which is received, for example, by the vehicle communication unit 160. The map information of the parking lot is stored, for example, in a parking information storage unit 220 of the vehicle control center 200. Additionally, information about other vehicles in parking lot PA is acquired, for example, by a parking information acquisition unit 210 of the vehicle control center 200, and stored in the parking information storage unit 220. Furthermore, the parking information includes the parking space P of vehicle V, as determined by a parking space determination unit 240 of the vehicle control center 200.

[0026] Here is the map information of the parking lot PA, e.g., information about the widths, lengths and shapes of several passages A in the parking lot PA, or information about several parking areas P, which are spaces divided by white lines or the like for parking the vehicle V.

[0027] Additionally, the information about other vehicles in parking lot PA includes, for example, information such as the locations, speeds and directions of travel of other vehicles in parking lot PA, or information such as entering, parking, exiting, planned entry or planned exit.

[0028] Prediction Unit 130 predicts the speed and travel time or distance of vehicle V at the time of entry and exit based on map information and information about other vehicles in parking lot PA, which is collected by the parking lot information acquisition unit 120. That is, Prediction Unit 130 predicts, for example, the speed and travel time or distance of vehicle V at the time of entry and exit based on information about parking lot PA, including the status of parking area P (e.g., occupied or unoccupied), the number and flow of other vehicles traveling along passage A, and the degree of congestion caused by other vehicles.In other words, the prediction unit 130 can predict the driving speed and movement time, including waiting time or distance traveled by vehicle V from a given entry starting point PS to a given parking area P of vehicle V based on information received from the vehicle control center 200, taking into account the traffic congestion A at parking lot PA and the like.

[0029] Here, the movement time predicted by the prediction unit 130 includes, for example, an entry time from the specified entry starting point PS until entering the specified parking space P, and an exit time until exiting from the specified parking space P to a specified exit end point PE. Additionally, the driving speed predicted by the prediction unit 130 changes, for example, from the beginning to the end of the movement time. This means that the vehicle V can travel at a low speed or stop temporarily, depending on the traffic situation in the parking lot PA and the shape of the passage A. Therefore, the driving speed of the vehicle V predicted by the prediction unit 130 may, for example, be zero, but it changes based on map information and information about other vehicles in the parking lot PA.

[0030] If the predicted speed by the prediction unit 130 contains zero, the predicted travel time by the prediction unit 130 additionally includes a waiting period during which a state in which the vehicle V is temporarily stopped is maintained. Additionally, for example, the parking information acquisition unit 120 can receive map information, current information about other vehicles, and previous information about other vehicles in parking lot PA that are held in the parking information holding unit 220 from the vehicle control center 200 via the vehicle communication unit 160.In this case, the prediction unit 130 can predict the entry time based on the map information and current information about other vehicles in parking lot PA, and predict the exit time based on the map information of parking lot PA and previous information about other vehicles that best match the date and time when vehicle V exits.

[0031] If the vehicle control device 100 includes the location information acquisition unit 170, which acquires the location information of the vehicle V, such as a global positioning system (GPS), the prediction unit 130 can refer to the location information acquired by the location information acquisition unit 170. Specifically, for example, with respect to the current location information of the vehicle V acquired by the location information acquisition unit 170, the prediction unit 130 begins to predict the vehicle V's speed and travel time at the time of entry and exit at any entry starting point PS within an area from the outside of the parking lot PA to the entrance PI of the parking lot PA. Additionally, the prediction unit 130 can perform a more detailed calculation than usual if the remaining energy Er is less than a predefined value.

[0032] The energy requirement calculation unit 140 calculates the required energy quantity En for the vehicle's entry and exit based on the vehicle's speed and travel time or distance V at the time of entry and exit, as predicted by the forecast unit 130. For example, if the energy for driving the vehicle V is derived from fuel, as described above, the energy requirement calculation unit 140 can calculate the required energy quantity En as the amount of fuel required for the vehicle's entry and exit. If the energy for driving the vehicle V is derived from the battery, the energy requirement calculation unit 140 can additionally calculate the required energy quantity En as the amount of power or the battery charging rate required for the vehicle's entry and exit.

[0033] If the vehicle control device 100 contains the location information acquisition unit 170, the calculation unit 140 of the required energy quantity 140 can, for example, additionally calculate the required energy quantity En for the entry and exit of the vehicle V from the entry starting point PS through the parking area P to the exit PO of the parking lot PA, which is the exit end point PE. Additionally, for example, if the destination of the vehicle V is determined after leaving the parking lot PA, the calculation unit 140 of the required energy quantity can calculate the required energy quantity En to move the vehicle V from the entry starting point PS through the parking area P and the exit PO of the parking lot PA to a destination outside the parking lot PA, which is the exit end point PE.

[0034] The parking determination unit 150 determines whether the vehicle V can be parked or not, based on the remaining energy quantity Er calculated by the calculation unit 110 and the required energy quantity En calculated by the calculation unit 140. More specifically, the parking determination unit 150 determines that parking is possible if the remaining energy quantity Er is equal to or greater than the required energy quantity En, while it determines that parking is not possible if the remaining energy quantity Er is less than the required energy quantity En. The parking determination unit 150 transmits the parking availability determination result, for example, via the vehicle communication unit 160 to the vehicle control center 200.

[0035] Here, in the Fig. Figure 2 illustrates that parking lot PA has a supply point Pr where energy can be supplied to vehicle V. Parking lot PA contains, for example, an energy supply unit E located adjacent to supply point Pr. The energy supply unit E contains, for example, a fuel supply unit that can supply fuel to the fuel tank of vehicle V, a charging unit that can charge the battery of vehicle V, and the like.

[0036] If parking space PA has a supply point Pr where energy can be supplied to vehicle V, the prediction unit 130 can predict the vehicle V's speed and travel time or distance at the time of entry into supply point Pr. Additionally, the calculation unit 140 can calculate the required energy quantity EI for entry at the time of entry into supply point Pr based on the vehicle V's speed and travel time. Furthermore, the parking determination unit 150 can determine whether vehicle V can be parked or not based on the remaining energy quantity Er and the energy quantity for entry EI.

[0037] More specifically, parking determination unit 150 stipulates that parking is possible if the remaining energy quantity Er is equal to or greater than the required energy quantity En, even if parking space PA has the supply point Pr. Additionally, parking determination unit 150 stipulates that parking is conditionally possible if the remaining energy quantity Er is less than the required energy quantity En and equal to or greater than the energy quantity required for entry EI. Furthermore, parking determination unit 150 stipulates that parking is not possible if the remaining energy quantity Er is less than the energy quantity required for entry EI.

[0038] The vehicle communication unit 160, for example, contains a radio communication device and communicates with a control communication unit 230 of the vehicle control center 200 to transmit information between the vehicle control device 100 and the vehicle control center 200. The location information acquisition unit 170, for example, acquires location information, including the current location of the vehicle V, in addition to the GPS described above, based on the map information of the parking lot PA acquired by the parking lot information acquisition unit 120, information acquired by a camera or various sensors installed in the vehicle V, and the like.

[0039] The notification unit 180 transmits the parking availability determination result from the parking determination unit 150 so that it is displayed on the display unit Vm of the vehicle V or on the mobile device M of the vehicle V occupant. The notification unit 180 is connected to the display unit Vm of the vehicle V via a CAN bus or LAN, for example, and to the mobile device M of the occupant via wireless communication, e.g., Bluetooth (registered trademark).

[0040] The Vehicle Control Center 200 is a device for managing multiple vehicles, including vehicle V, which enters and exits parking space P of parking lot PA. The Vehicle Control Center 200 includes, for example, the Parking Information Acquisition Unit 210, the Parking Information Holding Unit 220, the Control Communication Unit 230, and the Parking Space Determination Unit 240. Each unit of the Vehicle Control Center 200 can be installed as an application on a computer, such as a server.

[0041] The parking information acquisition unit 210, for example, acquires information about other vehicles in parking lot PA. This includes, as described above, information such as the location, speed, and direction of travel of other vehicles in parking lot PA, as well as information such as entering, parking, exiting, planned entry, or planned exit. The parking information acquisition unit 210 acquires this information based on images from multiple surveillance cameras installed in parking lot PA, information from sensors that detect the presence or absence of a parked vehicle in each parking space P, information about other vehicles moving within parking lot PA acquired by the control communication unit 230, and similar data.

[0042] The parking information holding unit 220 contains, for example, a storage device, such as a hard drive, and stores the map information of parking space PA and information about other vehicles that is recorded by the parking information acquisition unit 210. Additionally, the parking information holding unit 220 can, for example, collect previous information about other vehicles or contain a database that allows searching for previous information about other vehicles according to conditions such as month, day of the week, time, date and time, weather, and temperature. The control communication unit 230 contains, for example, a radio communication device and performs radio communication with the vehicle communication unit 160 of the vehicle control device 100 installed in the vehicle V. Additionally, the control communication unit 230 can be configured so that, for example, it can...can communicate with the mobile device M of the occupant of vehicle V.

[0043] The parking space determination unit 240 determines the parking space P for vehicle V, for example, based on map information held by the parking information holding unit 220 and information about other vehicles held by the parking information acquisition unit 210. The parking space determination unit 240 can, for example, determine the route of vehicle V to the specified parking space P. The parking space determination unit 240 stores the specified parking space P and the route in the parking information holding unit 220 and transmits the specified parking space P and the route via the control communication unit 230 to the vehicle communication unit 160 of the vehicle control device 100.

[0044] The operation of the parking aid system 300 of the present embodiment is described below. Fig. 3 is a flowchart that provides an example of the operation of the in Fig. 1 illustrated parking assistance system 300 illustrated.

[0045] For example, if the occupant of vehicle V, in which the vehicle control device 100 is installed, begins driving vehicle V, the vehicle control device 100, which configures the parking aid system 300, starts controlling vehicle V (step S101). Then the location information acquisition unit 170 acquires the location information of vehicle V, determining whether vehicle V is at the specified entry starting point PS or not (step S102).

[0046] In the vehicle control device 100, the predefined entry starting point PS can be set, for example, to any location within a range from the current location of the vehicle V outside parking lot PA to the entrance Pl of parking lot PA, as described above. Here, an example is described in which the entry starting point PS in the vehicle control device 100 is set to the entrance Pl of parking lot PA.

[0047] As a result of the determination of the location information acquisition unit 170 (step S102), the location information acquisition unit 170 repeats the determination (step S102), for example, at specified time intervals, if the vehicle V has not arrived at the specified entry starting point PS (no). If the vehicle V arrives at the entrance PI of the parking lot PA due to the occupant driving, the determination (step S102) of the location information acquisition unit 170 determines that the vehicle V is located at the specified entry starting point PS (yes).

[0048] Then, at the entry point PS, the remaining energy quantity Er for driving vehicle V is calculated by the calculation unit 110 (step S103), whereby the location information acquisition unit 170 sends the location information of vehicle V to the vehicle control center 200 via the vehicle communication unit 160. Additionally, the transmission of the location information of vehicle V by the location information acquisition unit 170 can be performed after the end of the process of calculating the remaining energy quantity Er by the calculation unit 110.

[0049] The vehicle control center 200 receives the location information of vehicle V sent by the vehicle control device 100 using the control communication unit 230. Then, the vehicle control center 200 sends the parking information, which includes the information about other vehicles in parking lot PA collected by the parking information acquisition unit 210 and the map information of parking lot PA held in the parking information acquisition unit 220, to the vehicle control device 100 using the control communication unit 230.

[0050] In the vehicle control unit 100, the parking information, including information about other vehicles and map information sent by the vehicle control center 200, is received by the vehicle communication unit 160 at the entry point PS and recorded by the parking information acquisition unit 120 (step S104). Then, based on the recorded parking information, the vehicle control unit 100 predicts the vehicle's speed and travel time V (step S105). At this point, the prediction unit 130 can predict the vehicle V's travel route based on the recorded parking information.

[0051] More specifically, in the vehicle control device 100 of the present embodiment, the entry starting point PS, where the vehicle V begins entering parking space PA, e.g., at the entrance PI of parking space PA, is defined, and the exit ending point PE, where the vehicle V completes its exit from parking space PA, e.g., at the exit PO of parking space PA, is defined. In this case, the prediction unit 130 predicts the driving speed and the travel time or distance of the vehicle V for moving the vehicle V to enter and exit parking space PA, from the entrance PI of parking space PA, which is the entry starting point PS, through any unoccupied parking area P to the exit PO of parking space PA, which is the exit ending point PE (step S105).

[0052] Here, there is a case where there are several unoccupied parking spaces P where parking is possible, and there are multiple routes for arriving at each parking space P where parking is possible. In this case, for example, the prediction unit 130 can predict multiple driving speeds and movement times or routes of the vehicle V for entering and exiting the parking space, corresponding to multiple routes to multiple parking spaces P where parking is possible (step S105).

[0053] Then, using the calculation unit 140, the vehicle control device 100 calculates the required amount of energy En based on the vehicle speed and travel time or distance V predicted by the prediction unit 130 (step S106). As described above, the prediction unit 130 can predict multiple vehicle speeds and travel times or distances V. In this case, the calculation unit 140 calculates the required amount of energy En for each of the vehicle speeds, travel times, or distances (step S106).

[0054] As described above, the calculation unit 140 of the required energy quantity can calculate several required energy quantities En for several parking spaces P. In this case, the calculation unit 140 of the required energy quantity calculates the maximum required energy quantity En among the several required energy quantities En as a maximum required energy quantity Em (step S107). At this point, the calculation unit 140 of the required energy quantity can calculate the minimum value of the several required energy quantities En as the required energy quantity En of the vehicle V.

[0055] On the other hand, there is also a case in which the parking area P of vehicle V is determined in advance by the vehicle control center 200, or a case in which the prediction unit 130 predicts a single driving speed and a single travel time or a single travel distance depending on the availability of parking space PA or the like (step S105). In this case, the calculation unit 140 calculates a single required energy quantity En (step S106). In this case, the calculation of the maximum required energy quantity Em (step S107) can be omitted.

[0056] In the vehicle control unit 100, the parking determination unit 150 then determines whether parking is possible or not, based on the remaining energy amount Er calculated by the calculation unit 110 and the required energy amount En calculated by the calculation unit 140 (step S108). If, for example, the required energy amount En is greater than the remaining energy amount Er (no), the parking determination unit 150 specifically determines that parking is not possible. The parking determination unit 150 then notifies the vehicle display unit Vm and / or the vehicle occupant's mobile device M that parking is not possible, which is the determination result, via the notification unit 180, so that the determination result is displayed (step S109). Afterward, the vehicle control unit 100 terminates the control process (step S113).

[0057] In this case, the occupant of vehicle V, in accordance with the reported stipulation displayed on the vehicle V's display unit Vm and / or the mobile device M that parking is not possible, drives vehicle V out of passage EA to exit without parking vehicle V in parking space PA, thereby refueling or charging the battery. As a result, a situation is prevented in which vehicle V remains stuck in parking space PA and obstructs the entry and exit of other vehicles.

[0058] Additionally, when determining parking availability (step S108), the parking determination unit 150 performs the next determination if the required energy En is equal to or less than the remaining energy Er (yes) and the maximum required energy Em is calculated. The parking determination unit 150 determines the presence or absence of parking conditions based on the remaining energy Er and the maximum required energy Em (step S110).

[0059] If, for example, the maximum required energy Em is greater than the remaining energy Er (no), the parking determination unit 150 specifically determines that parking conditions exist. Additionally, the parking determination unit 150 selects, for example, the parking area P where the vehicle V can enter and exit with the remaining energy Er, with the vehicle communication unit 160 sending the information about the selected parking area P and the driving route to the vehicle control center 200.

[0060] The vehicle control center 200 receives, using the control communication unit 230, information about parking area P and the route that allows vehicle V to enter and exit, which is sent by the vehicle control device 100, and stores this information in the parking information holding unit 220. Based on parking area P and the route that allows vehicle V to enter and exit, and the map information and information about other vehicles in the parking lot PA, which are stored in the parking information holding unit 220, the vehicle control center 200 determines the parking area P and the route of vehicle V using the parking area determination unit 240. The vehicle control center 200 transmits the information about the determined parking area P to the vehicle control device 100 via the control communication unit 230.

[0061] The vehicle control unit 100 receives the parking space P and the route determined by the vehicle control center 200 using the vehicle communication unit 160. The parking determination unit 150, using the notification unit 180, notifies the display device Vm of the vehicle V and / or the mobile device M of the vehicle V's occupant of the vehicle V about the parking space P and the route received by the vehicle communication unit 160, and the conditional parking result, so that these are displayed (step S111). The vehicle control unit 100 then terminates the control process (step S113).

[0062] In this case, the occupant of vehicle V drives the vehicle V, in accordance with the parking space P, the route, and the conditional parking regulations, which are reported and displayed on the vehicle V's display unit Vm and / or the mobile device M, to park it in the designated parking space P of parking lot PA. Because vehicle V can be parked in parking space P, where entry and exit are possible according to the remaining energy Er of vehicle V, a situation is prevented in which vehicle V becomes stuck in parking lot PA and obstructs the entry and exit of other vehicles.

[0063] Additionally, when determining the presence or absence of parking conditions (step S110), the parking determination unit 150 determines that parking is possible if the maximum required energy quantity Em is equal to or less than the remaining energy quantity Er (yes). The parking determination unit 150 then notifies the vehicle's display unit Vm and / or the vehicle occupant's mobile device M via the notification unit 180 that parking is possible, which is the determination result, and this result is displayed (step S112). The vehicle control unit 100 then terminates the control process (step S113).

[0064] Additionally, when determining parking availability (step S108), there is a case where the required energy En is equal to or less than the remaining energy Er (yes), and the maximum required energy Em is not calculated. In this case, the parking determination unit 150 omits the determination of the presence or absence of parking conditions (step S110), determining that parking is possible. It then notifies the vehicle's display unit Vm and / or the vehicle occupant's mobile device M via the notification unit 180 that parking is possible, which is the determination result, and displays this result (step S112). The vehicle control unit 100 then terminates the control process (step S113).

[0065] In this case, the remaining energy Er of vehicle V is the amount of energy that allows vehicle V to enter and exit any parking space P along any route, considering the traffic situation in parking lot PA. Therefore, according to the parking availability information reported and displayed on the vehicle V's display unit Vm and / or the mobile device M, the occupant of vehicle V can drive it to park in any unoccupied parking space P of parking lot PA.

[0066] Additionally, as described above, if parking lot PA has the supply point Pr where energy can be supplied to the vehicle V, the operation of the vehicle control device 100 can be changed as follows after calculating the required amount of energy En (step S106).

[0067] Fig. 4 is a flowchart that provides an example of the operation of the in Fig. 1 illustrated vehicle control device 100 illustrated. The in Fig. 4. The illustrated operation of the vehicle control device 100 is the same from the start of the control (step S101) to the calculation of the required amount of energy En (step S106) as that shown in Fig. Figure 3 illustrates the operation of the vehicle control device 100. After the calculation of the required energy quantity En by the calculation unit 140 (step S106), the vehicle control device 100 determines the required energy quantity using the parking determination unit 150 as shown in the figure. Fig. 3 illustrated examples of whether parking is possible or not (step S108).

[0068] When determining parking availability (step S108), if the parking determination unit 150 determines that the required energy En is greater than the remaining energy Er (no), the vehicle control unit 100 calculates the energy required for entry EI (step S114). More specifically, the prediction unit 130 first predicts the vehicle's speed and travel time or distance V at the time of entry into the supply point Pr.

[0069] Then, the calculation unit 140 calculates the energy required at the time of entry into the supply point Pr, the energy quantity for entry EI based on the vehicle speed and the movement time V.

[0070] Then, in the vehicle control unit 100, the parking determination unit 150 determines, based on the remaining energy Er and the energy required for entry EI, whether the vehicle V can be parked at the supply point Pr or not (step S115). Specifically, the parking determination unit 150 determines that parking is not possible if the remaining energy Er is less than the energy required for entry EI (step S115). The parking determination unit 150 then notifies the vehicle V display unit Vm and / or the vehicle V occupant's mobile device M, via the notification unit 180, that parking is not possible, which is the determination result, and this result is displayed (step S116). Afterward, the vehicle control unit 100 terminates the control process (step S113).

[0071] In this case, the occupant of vehicle V, in accordance with the reported stipulation displayed on the vehicle V's display unit Vm and / or the mobile device M that parking is not possible, drives vehicle V out of passage EA to exit without parking vehicle V in parking space PA, thereby refueling or charging the battery. As a result, a situation is prevented in which vehicle V remains stuck in parking space PA and obstructs the entry and exit of other vehicles.

[0072] Additionally, when determining parking availability (step S115), if the energy quantity for entry EI is equal to or less than the remaining energy quantity Er (yes), the parking determination unit 150 selects the supply point Pr at which the vehicle V can enter with the remaining energy quantity Er, with the information about the selected supply point Pr and the route being sent by the vehicle communication unit 160 to the vehicle control center 200.

[0073] The vehicle control center 200 receives, using the vehicle communication unit 230, information about the service point Pr and the route that allows vehicle V to enter, which is sent by the vehicle control device 100, and stores this information in the parking information holding unit 220. Based on the service point Pr and the route that allows vehicle V to enter, and the map information and information about other vehicles in the parking lot PA, which are stored in the parking information holding unit 220, the vehicle control center 200 determines the service point Pr and the route for parking vehicle V using the parking space determination unit 240. The vehicle control center 200 transmits the information about the determined service point Pr to the vehicle control device 100 via the control communication unit 230.

[0074] The vehicle control unit 100 receives the supply point Pr and the route determined by the vehicle control center 200 using the vehicle communication unit 160. The parking determination unit 150, using the notification unit 180, notifies the display unit Vm of the vehicle V and / or the mobile device M of the vehicle V's occupant of the vehicle V of the instructions from the supply point Pr, the route, and the power supply received by the vehicle communication unit 160, and the conditional parking, which is the result of the parking availability determination, so that these are displayed (step S117). The vehicle control unit 100 then terminates the control process (step S113).

[0075] In this case, the occupant of vehicle V drives the vehicle V, in accordance with the instructions of the power supply point Pr, the route, the energy supply, and the conditional parking regulations, which are reported and displayed on the vehicle V's display unit Vm and / or the mobile device M, to park the vehicle V at the designated power supply point Pr of parking lot PA, supplying energy by refueling the vehicle V or charging its battery. In this way, the vehicle V can be parked at the power supply point Pr, where it can enter with the remaining energy Er, and can exit after being supplied with energy by the power supply unit E. Therefore, a situation is prevented in which the vehicle V remains stranded in parking lot PA and obstructs the entry and exit of other vehicles.

[0076] In addition, the parking space determination unit 240 in the vehicle control center 200 can also determine the parking space P for parking the vehicle V, for which the energy supply at the supply point Pr has been completed.

[0077] In this case, the vehicle control center 200 sends the information about the designated parking space P to the vehicle control device 100 after the energy supply via the control communication unit 230. The vehicle control device 100 receives the supply point Pr, the parking space P and the route using the vehicle communication unit 160 and reports the parts of the information and the determination result of the conditional parking to the display unit Vm of the vehicle V and / or the mobile device M of the occupant of the vehicle V using the notification unit 180, so that they are displayed (step S117).

[0078] After that, the vehicle control device 100 terminates the control (step S113).

[0079] In this case, the occupant of vehicle V, following the instructions of the charging station Pr, the parking area P, the route, and the conditional parking requirements, which are reported and displayed on the vehicle V's display unit Vm and / or the mobile device M, drives vehicle V to the designated charging station Pr of parking lot PA to recharge its energy and then moves to parking area P to park vehicle V. In this way, vehicle V can be parked after sufficient energy has been supplied at charging station Pr, where it can then enter with the remaining energy Er. Therefore, a situation is prevented in which vehicle V becomes stuck in parking lot PA and obstructs the entry and exit of other vehicles.

[0080] If, during the determination of parking availability (step S108), the required energy quantity En is equal to or less than the remaining energy quantity Er (yes), the parking determination unit 150 additionally determines that parking is possible. The parking determination unit 150 then notifies the vehicle's display unit Vm and / or the vehicle occupant's mobile device M, via the notification unit 180, that parking is possible, which is the determination result, so that the determination result is displayed (step S112). Afterwards, the vehicle control unit 100 terminates the control process (step S113).

[0081] Additionally, a case can be considered in which another vehicle is parked in parking space P where vehicle V is about to park. In this case, for example, the parking information acquisition unit 210 in the vehicle control center 200 detects that another vehicle is parked in parking space P for vehicle V, the parking space determination unit 240 determines several new parking spaces P for vehicle V, and the control communication unit 230 sends the several new parking spaces P to the vehicle control unit 100.

[0082] In the vehicle control unit 100, the parking information acquisition unit 120 receives the information about the several new parking spaces P sent by the vehicle control center 200 via the vehicle communication unit 160, and the prediction unit 130 forecasts the vehicle's speed and travel time V to each parking space P. Additionally, in the vehicle control unit 100, the energy calculation unit 140 calculates the required energy quantity En to each parking space P, while the parking determination unit 150 determines whether parking is possible in each parking space P or not.

[0083] Specifically, the parking determination unit 150 determines that parking is not possible if the required energy amount En to each parking space P is greater than the remaining energy amount Er. Additionally, the parking determination unit 150 determines that parking is possible if the required energy amount En to each parking space P is equal to or less than the remaining energy amount Er. In this case, the notification unit 180 notifies the display unit Vm of the vehicle V and / or the mobile device M of the vehicle V's occupant about the new parking space P for which the parking determination unit 150 has determined that parking is possible, thus displaying the new parking space P. The vehicle V's occupant can then park the vehicle V in the new parking space P.

[0084] Because the present embodiment prevents a situation in which the vehicle V becomes stuck in parking space PA and obstructs the entry and exit of other vehicles, as described above, it is possible to create the vehicle control device 100, which can avoid the problem caused by insufficient driving energy of the vehicle V in parking space PA. Additionally, the vehicle control device of the present disclosure is not limited to the configuration of the vehicle control device 100 according to the present embodiment, which is described in Fig. Figure 1 illustrates this. The following describes a modification example of the vehicle control device 100 of the present embodiment.

[0085] Fig. 5 is a block diagram that shows a modification example of the one in Fig. 1 illustrated parking aid system 300. A parking aid system 300A according to the one in Fig. The modification example illustrated in section 5 differs from the one in Fig. The parking aid system 300 illustrated in Figure 1 differs in that a vehicle control device 100A contains a driving control unit 190 instead of the notification unit 180. Because the other points of the parking aid system 300A in this modification example are the same as those in Figure 1, the following applies: Fig. In the illustrated parking aid system 300, the same components are designated by the same reference symbols, with their descriptions omitted.

[0086] The vehicle control device 100A of this modification example contains the driving control unit 190, which, based on the determination result of the parking availability by the parking determination unit 150, causes a vehicle to drive automatically.

[0087] In this modification example, the prediction unit 130 defines a drop-off point PD, where the occupant exits the vehicle V, or an entry instruction point, where the vehicle occupant gives an instruction to the vehicle control unit to enter the parking space, as the entry start point PS, as in Fig. Figure 2 illustrates this. Then, the prediction unit 130 begins predicting the vehicle's speed and travel time at the time of entry and exit based on map information and information about other vehicles acquired by the parking information acquisition unit 120 at the entry starting point PS.

[0088] The vehicle control unit 100A of this modification example differs from the one in Fig. Figure 1 illustrated 100 in operation after determining parking availability (step S108), which in Fig. Figure 3 illustrates this. That is, if the vehicle control unit 100A of this modification example determines during the determination of parking availability (step S108) that parking is not possible, the driving control unit 190 does not perform automated driving of the vehicle V, displaying on the display unit Vm of the vehicle V that parking is not possible, which is the result of the determination.

[0089] In this case, the occupant of vehicle V, in accordance with the instruction displayed on the vehicle Vm's display unit that parking is not possible, drives vehicle V out of passage EA to exit without parking vehicle V in parking space PA, thereby refueling or charging the battery. As a result, a situation is prevented in which vehicle V becomes stuck in parking space PA and obstructs the entry and exit of other vehicles.

[0090] Additionally, in the vehicle control unit 100A of the modification example, when determining parking availability (step S108) and determining the presence or absence of parking conditions (step S110), and determining whether parking is available or conditionally available, as described above, the driving control unit 190 operates as follows. The driving control unit 190 causes the vehicle's display unit Vm V to display the parking space P, the route, and the determination result sent by the vehicle control center 200, along with a pictogram indicating the start of automated driving. Additionally, the driving control unit 190 can, similarly to the one described in Fig. 1. The illustrated notification unit 180 displays the pictogram for the start of automated driving or the like on the occupant's mobile device M.

[0091] In this case, the occupant of vehicle V taps the pictogram for the start of automated driving displayed on the display unit Vm, while exiting vehicle V at drop-off point PD. Alternatively, after exiting vehicle V at drop-off point PD, the occupant of vehicle V taps the pictogram for the start of automated driving displayed on the mobile device M. The automated driving of vehicle V is then initiated by the driving control unit 190, and vehicle V drives automatically through the driving control unit 190, parking in the designated parking space P of parking lot PA.Because the vehicle V can be parked in parking area P, where entry and exit are possible according to the remaining energy amount Er of the vehicle V, the automatic parking service therefore prevents a situation in which the vehicle V gets stuck in parking space PA and obstructs the entry and exit of other vehicles.

[0092] If the entry instruction point, where the occupant of vehicle V gives the vehicle control unit 190 an instruction to enter parking space PA, is set as the entry starting point PS, it is also conceivable that a non-automated vehicle driven by an occupant is parked by the vehicle control center 200 in the designated parking area P outside of parking space PA. For this reason, at the entrance PI of parking space PA, the new parking area P can again be sent by the control communication unit 230 of the vehicle control center 200 to the vehicle communication unit 160 of the vehicle control device 100A installed in vehicle V.

[0093] Additionally, as described above, the vehicle control device 100A of this modification example includes the driving control unit 190, which, based on the parking availability determination result by the parking determination unit 150, causes the vehicle V to drive automatically. In this case, the energy calculation unit 140 can be configured to calculate the required energy quantity En for the vehicle V to enter and exit the parking area P from its entry point PS, through the parking area P, to an entry point PB where the occupant enters the vehicle V, or to an end point of automated driving where the automated driving by the driving control unit 190 ends. With this configuration, the vehicle V can drive automatically from its entry point PS to the entry point PB or to the end point of automated driving outside the parking area PA without getting stuck. [Second embodiment]

[0094] Next, the embodiments of a vehicle control center and a parking assistance system according to the present disclosure will be described with respect to the Fig. 2 to 4 and Fig. 6 described.

[0095] Fig. Figure 6 is a block diagram of a parking aid system 300B according to a second embodiment. The parking aid system 300B of the present embodiment is characterized by the configuration of a vehicle control center 200B. In addition, the parking aid system 300B of the present embodiment contains the same components as the parking aid system 300 according to the one described in Figure 6. Fig. 1. The first embodiment illustrated is designated by the same reference numerals, with their description omitted.

[0096] The vehicle control center 200B is a device for managing vehicle V as it enters and exits parking space P of parking lot PA. The vehicle control center 200B includes a control communication unit 230, a parking information holding unit 220, a prediction unit 250, a calculation unit 260 for the required amount of energy, and a parking determination unit 270. The control communication unit 230 receives the remaining amount of energy Er required to drive vehicle V, which is calculated by a calculation unit 110 from the remaining energy of a vehicle control device 100B installed in vehicle V and transmitted by the vehicle communication unit 160. The parking information holding unit 220 contains map information and information about other vehicles in parking lot PA.The prediction unit 250 forecasts the vehicle V's speed and travel time at the time of entry and exit based on map information and information about other vehicles. The energy requirement calculation unit 260 calculates the required energy En for vehicle V's entry and exit based on the speed and travel time. The parking determination unit 270 determines, based on the remaining energy Er and the required energy En, whether vehicle V can be parked. The control communication unit 230 then sends the parking availability determination result to the vehicle V's display unit Vm or to the mobile device M carried by the vehicle V's occupant.

[0097] That is, in the parking aid system 300B according to the present embodiment, the prediction unit 250, the calculation unit 260 of the required amount of energy and the parking determination unit 270 of the vehicle control center 200B operate in the same way as the prediction unit 130, the calculation unit 140 of the required amount of energy and the parking determination unit 150 of the vehicle control device 100 according to the first embodiment.

[0098] That is, as in the Fig. 3 and Fig.As illustrated in Figure 4, the prediction of the vehicle's speed and travel time V (step S104) and the calculation of the required energy En (step S106) are performed by the prediction unit 250 and the calculation unit 260 of the required energy of the vehicle control center 200, respectively. Additionally, the calculation of the maximum required energy Em (step S107) or the calculation of the energy required for entry EI (step S114) is performed by the calculation unit 260 of the required energy of the vehicle control center 200. Furthermore, the determination of parking availability (steps S108, S110, and S115) is performed by the parking determination unit 270 of the vehicle control center 200.

[0099] Because the present embodiment prevents a situation in which vehicle V becomes stuck in parking space PA and obstructs the entry and exit of other vehicles, it is therefore possible to create the vehicle control center 200B, which can avoid the problem caused by insufficient driving energy of vehicle V in parking space PA. Additionally, the parking aid system 300 according to the first embodiment described above and the parking aid system 300B according to the present embodiment have the following configuration in common.

[0100] The 300 and 300B parking assistance systems include the 100 and 100B vehicle control units, which control the vehicle V as it enters and exits parking space P of parking lot PA, and the 200 and 200B vehicle control centers, which manage the vehicle V. The 100 and 100B vehicle control units include the 110 remaining energy calculation unit, which calculates the remaining energy Er required to drive the vehicle V, and a 160 vehicle communication unit, which communicates with the 200 and 200B vehicle control centers. The 200 and 200B vehicle control centers include the 220 parking information storage unit, which stores map information and information about other vehicles in parking lot PA, and the 230 control communication unit, which communicates with the vehicle V.In the 300 and 300B parking assistance systems, the vehicle control device 100 or the vehicle control center 200B contains the prediction units 130 and 250, the calculation units 140 and 260 of the required amount of energy, and the parking determination units 150 and 270.

[0101] Prediction units 130 and 250 predict the vehicle V's speed and travel time at the time of entry and exit based on map information and information about other vehicles in parking lot PA. Energy requirement calculation units 140 and 260 calculate the required energy En for vehicle V's entry and exit based on the speed and travel time. Parking determination units 150 and 270 determine whether vehicle V can be parked based on the remaining energy Er and the required energy En.

[0102] With this configuration, the 300 and 300B parking assistance systems can avoid the problem caused by insufficient driving energy of the vehicle V in parking space PA by preventing the situation in which the vehicle V gets stuck in parking space PA and interferes with the entry and exit of other vehicles.

[0103] Although the embodiments of the present invention have been described in detail with regard to the graphical representations, the specific configuration is not limited to these embodiments, and design changes and the like within a scope that does not deviate from the main point of the present invention are also included in the present invention. List of reference symbols 100 Vehicle control device 100A vehicle control device 100B Vehicle control device 110 Calculation unit of the remaining energy quantity 120 parking information recording units 130 forecast unit 140 units of calculation for the required amount of energy 150 parking determination unit 170 Local Information Collection Unit 180 notification units 190 Driving control unit 200 Vehicle Control Center 200B Vehicle Control Center 210 Parking Information Collection Unit 220 Parking Information Unit 230 Control communication unit 250 forecast units 260 units of calculation for the required amount of energy 270 parking determination unit 300 Parking Assistance System 300A parking aid system 300B Parking Assistance System Energy amount for the entrance The required amount of energy The remaining amount of energy M mobile device P Parking area PA Parking PB Entry Point PD Drop-off Point PI Entrance PO Exit Pr Supply Center PS Starting point V vehicle Vm display unit

Claims

[1] Vehicle control device (100) controlling a vehicle (V) entering and exiting a parking space (P) of a parking lot (PA), comprising: a calculation unit (110) of the remaining energy quantity (Er), which calculates a remaining energy quantity (Er) for driving the vehicle (V); a parking information acquisition unit (120) that acquires map information and information about other vehicles in the parking lot (PA); a prediction unit (130) that predicts a vehicle speed and travel time (V) at the time of entry and exit based on map information and information about other vehicles; a calculation unit (140) of the required amount of energy (En), which calculates a required amount of energy (En) for the vehicle's entry and exit (V) based on the driving speed and the travel time; and a parking determination unit (150) that determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the required amount of energy (En), wherein, if the parking area (PA) has a supply point (Pr) where energy can be supplied to the vehicle (V), the prediction unit (130) predicts a driving speed and a movement time of the vehicle (V) at the time of entry into the supply point (Pr), the calculation unit (140) of the required amount of energy (En) at the time of entry into the supply point (Pr) calculates an amount of energy for the entry (EI) based on the driving speed and the movement time of the vehicle (V), and the parking determination unit (150) determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the amount of energy required for entry (EI), wherein The parking determination unit (150) determines that parking is possible if the remaining energy (Er) is equal to or greater than the required energy (En), determines that parking is conditionally possible if the remaining energy (Er) is less than the required energy (En) and equal to or greater than the energy required for entry (EI), and determines that parking is not possible if the remaining energy (Er) is less than the energy required for entry (EI). [2] Vehicle control device (100) according to claim 1, further comprising: a location information acquisition unit (170) that acquires the location information of the vehicle (V), wherein the prediction unit (130) begins the prediction at any entry starting point (PS) in an area from an outside of the parking lot (PA) to an entrance of the parking lot (PA) with respect to the location information. [3] Vehicle control device (100) according to claim 1, further comprising: a driving control unit (190) which, based on a determination result of the parking availability, causes the vehicle (V) to drive automatically, wherein the prediction unit (130) defines a drop-off point (PD) at which an occupant exits the vehicle (V) or an entry instruction point at which the occupant of the vehicle (V) gives the driving control unit (190) an instruction to enter the parking space (PA) as an entry start point (PS) and the prediction begins at the entry start point (PS). [4] Vehicle control device (100) according to claim 1, further comprising: a notification unit (180) which sends a determination result of the parking availability so that it is displayed on a display unit (Vm) of the vehicle (V) or a mobile device (M) of an occupant of the vehicle (V). [5] Vehicle control device (100) according to claim 2, wherein the calculation unit (140) of the required amount of energy (En) calculates the required amount of energy (En) for the entry (EI) and exit of the vehicle (V) from the entry starting point (PS) through the parking area (P) to an exit of the parking lot (PA). [6] Vehicle control device (100) according to claim 2, further comprising: a driving control unit (190) which, based on a determination result of the parking availability, causes the vehicle (V) to drive automatically, wherein the calculation unit (140) of the required amount of energy (En) calculates the required amount of energy (En) for the entry and exit of the vehicle (V) from the entry starting point (PS) of the vehicle (V) through the parking area (P) to an entry point (PB) where an occupant enters the vehicle (V), or to an end point of automated driving where the automated driving by the driving control unit (190) ends. [7] Vehicle control center (200) managing a vehicle (V) entering and exiting a parking space (P) of a parking lot (PA), the vehicle control center (200) comprising: a control communication unit (230) that receives a remaining amount of energy (Er) for driving the vehicle (V); a parking information holding unit (220) that holds the map information and information about other vehicles in the parking lot (PA); a prediction unit (130) that predicts a vehicle speed and travel time (V) at the time of entry and exit based on map information and information about other vehicles; a calculation unit (140) of the required amount of energy (En), which calculates a required amount of energy (En) for the vehicle's entry and exit (V) based on the driving speed and the travel time; and a parking determination unit (150) that determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the required amount of energy (En), wherein the control communication unit (230) sends a determination result of the parking availability to a display unit (Vm) of the vehicle (V) or a mobile terminal belonging to an occupant of the vehicle (V), wherein, if the parking area (PA) has a supply point (Pr) where energy can be supplied to the vehicle (V), the prediction unit (130) predicts a driving speed and a movement time of the vehicle (V) at the time of entry into the supply point (Pr), the calculation unit (140) of the required amount of energy (En) at the time of entry into the supply point (Pr) calculates an amount of energy for entry based on the driving speed and the movement time of the vehicle (V), and the parking determination unit (150) determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the amount of energy required for entry (EI), wherein The parking determination unit (150) determines that parking is possible if the remaining energy (Er) is equal to or greater than the required energy (En), determines that parking is conditionally possible if the remaining energy (Er) is less than the required energy (En) and equal to or greater than the energy required for entry (EI), and determines that parking is not possible if the remaining energy (Er) is less than the energy required for entry (EI). [8] Parking aid system (300) comprising the following: a vehicle control device (100) that controls a vehicle (V) entering and exiting a parking space (P) of a parking lot (PA); and a vehicle control center (200) that manages the vehicle (V), wherein the vehicle control device (100) includes a calculation unit (110) of the remaining energy (Er) which calculates a remaining energy (Er) for driving the vehicle (V), and a vehicle communication unit (160) which communicates with the vehicle control center (200), the vehicle control center (200) includes a parking information holding unit (220) which holds the map information and information about other vehicles in the parking lot (PA), and a control communication unit (230) which communicates with the vehicle (V), and The vehicle control device (100) or vehicle control center (200) comprises a prediction unit (130) that predicts the vehicle's speed and travel time (V) at the time of entry and exit based on map information and information about other vehicles, a required energy calculation unit (140) (En) that calculates the required energy (En) for the vehicle's entry and exit (V) based on the speed and travel time, and a parking determination unit (150) that determines the vehicle's (V) parking availability based on the remaining energy (Er) and the required energy (En), wherein, if the parking area (PA) has a supply point (Pr) where energy can be supplied to the vehicle (V), the prediction unit (130) predicts a driving speed and a movement time of the vehicle (V) at the time of entry into the supply point (Pr), the calculation unit (140) of the required amount of energy (En) at the time of entry into the supply point (Pr) calculates an amount of energy for the entry (EI) based on the driving speed and the movement time of the vehicle (V), and the parking determination unit (150) determines the parking availability of the vehicle (V) based on the remaining amount of energy (Er) and the amount of energy required for entry (EI), wherein The parking determination unit (150) determines that parking is possible if the remaining energy (Er) is equal to or greater than the required energy (En), determines that parking is conditionally possible if the remaining energy (Er) is less than the required energy (En) and equal to or greater than the energy required for entry (EI), and determines that parking is not possible if the remaining energy (Er) is less than the energy required for entry (EI).

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