Parking assistance device and parking assistance procedure

Abstract

A parking assistance device (100) comprises a driving control module (111), a detection module (106), a correction module (107), and a display control module (109). The driving control module (111) causes a vehicle (1) to drive automatically based on a driving path (80) recorded from a previous parking operation, in order to cause the vehicle (1) to drive into or out of a garage. The detection module (106) detects an object near the vehicle (1). The correction module (107) corrects the driving path (80) based on the object's detection result. The display control module (109) causes a display unit (120) to display a driving path (80) that was corrected by the correction module (106) during the execution of the automatic driving.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a parking assistance device and a parking assistance method. TECHNICAL BACKGROUND

[0002] An automatic parking method with path memory is known, in which a path is recorded based on the driver's driving style, and a vehicle automatically drives based on the recorded path. This technology is used, for example, when entering or exiting a parking space.

[0003] Some vehicles that perform such automatic parking with path memory have a function to automatically perform a detour when a stationary unknown obstacle is detected, in order to stop the vehicle or avoid the obstacle. CITATION LISTPatent literature

[0004] Patent Document 1: Japanese Patent No. 6022447 SUMMARY OF THE INVENTION PROBLEM SOLVED BY THE INVENTION

[0005] However, if a vehicle travels on a path different from the one previously registered, for example to avoid an obstacle or similar, it is likely that a user will not be able to detect the path and the benefit to the user will be impaired.

[0006] The present disclosure provides a parking assist device and a parking assist method that can reduce the impact on a user's convenience even when a vehicle travels on a path different from a previously registered travel path. MEANS TO SOLVE THE PROBLEM

[0007] A parking assist device according to the present disclosure includes: a driving control module configured to cause a vehicle to automatically drive based on a driving path acquired based on a past parking operation to cause the vehicle to drive into or out of a garage; a detection module configured to detect an object near the vehicle; a correction module configured to correct the driving path based on a detection result of the object; and a display control module configured to cause a display unit to display a driving path corrected by the correction module while executing the automatic driving. EFFECT OF THE INVENTION

[0008] With the parking assist device and the parking assist method according to the present disclosure, it is possible to reduce the impact on a user's convenience even when a vehicle travels on a travel path different from a previously registered travel path. SHORT DESCRIPTION OF THE CHARACTERS Fig. 1 is a diagram showing an example of a vehicle including a parking assist device according to a first embodiment; Fig. 2 is a diagram showing an example of a configuration near a driver's seat of a vehicle according to the first embodiment; Fig. 3 is a diagram showing an example of a hardware configuration of the parking assist device according to the first embodiment; Fig. 4 is a block diagram showing an example of functions included in the parking assist device according to the first embodiment; Fig. 5 is a diagram showing an example of a travel path taken by a teaching trip according to the first embodiment; Fig. 6 is a diagram showing an example of a corrected path according to the first embodiment; Fig. 7 is a diagram showing an example of a corrected path image displayed on a display device according to the first embodiment; Fig. Fig. 8 is a diagram showing an example of a corrected path image different from the corrected path image shown in Fig. 7 is shown; Fig. 9 is a flowchart showing an example of a flow of automatic driving and travel path correction processing executed by the parking assist device according to the first embodiment; Fig. 10 is a diagram showing an example of a corrected path image on a display of a smartphone according to Modification 1 of the first embodiment; Fig. 11 is a block diagram showing an example of functions included in a parking assist device according to a second embodiment; Fig. 12 is a diagram showing an example of a travel path database according to the second embodiment; Fig. 13 is a diagram showing an example of a user information database according to the second embodiment; Fig. 14 is a diagram showing an example of a travel route notification screen displayed on a display of a smartphone according to the second embodiment; Fig. 15 is a diagram showing an example of a travel path selection screen displayed on the display of the smartphone according to the second embodiment; Fig. 16 is a sequence diagram showing an example of a processing flow executed by the parking assist device and the smartphone according to the second embodiment; Fig. 17 is a diagram showing an example of a configuration of a vehicle usage plan management system according to Modification 1 of the second embodiment; Fig. 18 is a diagram showing an example of a usage plan database stored in a cloud server according to Modification 2 of the second embodiment; and Fig. 19 is a diagram showing an example of a travel path database according to a modification 2 of the second embodiment. DESCRIPTION OF THE EMBODIMENTS

[0009] Embodiments of a parking assisting method and a parking assisting device according to the present disclosure are explained below with reference to the accompanying figures. (First embodiment)

[0010] Fig. 1 is a diagram showing an example of a vehicle 1 including a parking assist device 100 according to a first embodiment. As shown in Fig. As shown in Figure 1, the vehicle 1 includes a vehicle body 12 and two pairs of wheels 13 arranged along a predefined direction in the vehicle body 12. The two pairs of tires 13 include a pair of front tires 13f and a pair of rear tires 13r.

[0011] The front tire 13f, which is in Fig. 1 is an example of a first tire in the present embodiment. The rear tire 13r is an example of a second tire in the present embodiment. The two front tires 13f and the two rear tires 13r of the vehicle 1 are collectively referred to as wheels 13. It should be noted that although the vehicle 1 shown in Fig. 1 includes four wheels 13, the number of wheels 13 is not limited thereto. For example, the vehicle 1 may be a two-wheel vehicle.

[0012] The vehicle body 12 is connected to the wheels 13 and is movable by the wheels 13. In this case, the predefined direction in which the two pairs of tires 13 are arranged is a traveling direction of the vehicle 1. The vehicle 1 can move forward and backward, for example, by shifting gears (not shown). The vehicle 1 can turn right and left according to a steering command.

[0013] The vehicle body has a front end portion F, which is an end portion of the side of the front tires 13f, and a rear end portion R, which is an end portion of the side of the rear tires 13r. The vehicle body 12 has a substantially rectangular shape when viewed from above. Four corners of the substantially rectangular shape are sometimes referred to as end portions. Although not shown in Fig. 1, the vehicle 1 comprises a display device, a loudspeaker, a microphone and an operating unit.

[0014] A pair of bumpers 14 are provided at the front and rear end portions F and R of the vehicle body 12 and near the lower end of the vehicle body 12. Of the two bumpers 14, a front bumper 14f covers an entire front surface and a part of the side surfaces near the lower end portion of the vehicle body 12. Of the two bumpers 14, a rear bumper 14r covers an entire rear surface and a part of the side surfaces near the lower end portion of the vehicle body 12.

[0015] Wave transmitters / receivers 15f and 15r, which transmit and receive sound waves such as ultrasonic waves, are arranged in predefined end portions of the vehicle body 12. For example, one or more wave transmitters / receivers 15f are arranged in the front bumper 14f, and one or more wave transmitters / receivers 15r are arranged in the rear bumper 14r. In the following description, unless partially limited, the wave transmitters / receivers 15f and 15r are simply referred to as wave transmitters / receivers 15. In addition, the number and positions of the wave transmitters / receivers 15 are not limited to the example shown in Fig. 1. For example, the vehicle 1 may include wave transmitter / receiver 15 on the left and right sides.

[0016] In the present embodiment, sonars using ultrasonic waves are explained as an example of wave transmitters / receivers 15. However, the wave transmitters / receivers 15 may be radars that transmit and receive electromagnetic waves. Alternatively, the vehicle 1 may include both sonars and radars. The wave transmitters / receivers are simply referred to as sensors.

[0017] The wave transmitters / receivers 15 detect an obstacle in the vicinity of the vehicle 1 based on the result of transmitting and receiving a sound wave or an electromagnetic wave. The wave transmitters / receivers 15 measure the distance between the obstacle in the vicinity of the vehicle 1 and the vehicle 1 based on the result of transmitting and receiving the sound wave or electromagnetic wave.

[0018] The vehicle 1 includes a first on-board camera 16a that images the front of the vehicle 1, a second on-board camera 16b that images a rear of the vehicle 1, a third on-board camera 16c that images the left side of the vehicle 1, and a fourth on-board camera that images the right side of the vehicle 1. The fourth on-board camera is not shown.

[0019] In the following description, unless specifically distinguished, the first on-board camera 16a, the second on-board camera 16b, the third on-board camera 16c and the fourth on-board camera are simply referred to as on-board cameras 16. The positions and number of the on-board cameras are not limited to the example shown in Fig. 1. For example, the vehicle 1 may include only two on-board cameras, ie, the first on-board camera 16a and the second on-board camera 16b. Alternatively, the vehicle 1 may further include other on-board cameras besides the example as explained above.

[0020] The on-board cameras 16 are capable of recording videos of the surroundings of the vehicle 1 and are, for example, cameras that capture color images. It should be noted that the images captured by the on-board cameras 16 may be moving images or simply images. For example, the on-board cameras 16 may be cameras installed in the vehicle 1 or cameras of a tachograph that is retrofitted to the vehicle 1.

[0021] A parking assistance device 100 is mounted on the vehicle 1. The parking assistance device 100 is an information processing device that can be mounted on the vehicle 1 and is, for example, an electronic control unit (ECU) or an on-board unit provided within the vehicle 1. Alternatively, the parking assistance device 100 can be an external device installed near the dashboard of the vehicle. Note that the parking assistance device 100 can also serve as a car navigation device or the like.

[0022] The parking assistance device 100 in the present embodiment learns a driving path based on a driver's learning drive and performs parking assistance using the learning result. Such parking assistance is effective for reducing the driver's parking burden when parking is repeatedly performed at a predefined parking location, such as a garage of the driver's home, a contract parking location of an apartment building, a specified parking location in a parking lot of a workplace, or the like. Such parking assistance is called home zone parking or automatic path memory parking.

[0023] In addition to the configuration in Fig. 1, the vehicle 1 may comprise various sensors, e.g. a gyro sensor and a wheel speed sensor, which are Fig. 1 are not shown. The gyro sensor measures the rotational behavior of the vehicle 1, such as forward, backward, left, and right turns. The wheel speed sensor measures the wheel speed of the wheels 13 of the vehicle 1.

[0024] Next, the configuration near the driver's seat of the vehicle 1 in the present embodiment will be explained. Fig. 2 is a diagram showing an example of a configuration near a driver's seat 130a of the vehicle 1 according to the first embodiment.

[0025] As in Fig. As shown in Figure 2, the vehicle 1 includes the driver's seat 130a and a passenger seat 130b. A windshield 180, an instrument panel 190, a steering wheel 140, a display device 120, and an operating knob 141 are provided in front of the driver's seat 130a.

[0026] The display device 120 is a display provided on the dashboard 190 of the vehicle 1. As an example, the display device 120 is located in the center of the dashboard 190, as shown in Fig. 2. The display device 120 is, for example, a liquid crystal display or an EL (electroluminescence) display. The display device 120 can also serve as a touch panel. The display device 120 is an example of a display unit in the present embodiment.

[0027] The steering wheel 140 is provided in front of the driver's seat 130a and can be operated by the driver. A rotation angle of the steering wheel 140, i.e., a steering angle, is electrically or mechanically coupled to a change in direction of the front tires 13f, which are steering wheels. Note that the steering wheels may be the rear tires 13r, or both the front tires 13f and the rear tires 13r may be the steering wheels.

[0028] The operation knob 141 is a knob capable of receiving operation by a user. Note that in the present embodiment, the user is, for example, the driver of the vehicle 1. Note that the position of the operation knob 141 is not limited to the example shown in Fig. 2. The control knob 141 may be provided, for example, on the steering wheel 140. Although a control knob 141 in Fig. 2, a plurality of control buttons 141 may be provided. The control button 141 is an example of an operation unit. If the display device 120 also serves as a touch panel, the display device 120 may be an example of the operation unit.

[0029] Next, a hardware configuration of the parking assist device 100 will be explained.

[0030] Fig. 3 is a diagram showing an example of a hardware configuration of the parking assist device 100 according to the first embodiment. As shown in Fig. 3, the parking assist device 100 has a hardware configuration in which a CPU (Central Processing Unit) 11A, a ROM 11B, a RAM 11C, a device interface (I / F interface) 11D, a CAN (Controller Area Network) interface 11E, an NW (NetWork) interface 11F, an HDD (Hard Disk Drive) 11G, and the like are connected to each other and through a bus 11H, and a normal computer is used.

[0031] The COU 11A is an arithmetic device that controls the entire parking assist device 100. Note that the CPU 11A is an example of a processor in the parking assist device 100 in the present embodiment. Another processor or processing circuit may be provided instead of the CPU 11A.

[0032] The ROM 11B, the RAM 11C, and the HDD 11G function as storage units. For example, the ROM 11B stores a program and the like that implement various types of processing by the CPU 11A. The RAM 11C, for example, is a main storage device of the parking assist device 100 and stores data required for various types of processing by the CPU 11A.

[0033] The device interface 11D is an interface that can be connected to various devices. For example, the device interface 11D is connected to a GPS device 11I and receives GPS position information indicating the current position of the vehicle 1 from the GPS device 11I. The GPS position information is, for example, latitude and longitude values ​​that indicate the absolute position of the vehicle 1.

[0034] The GPS device 11I is a device that specifies a GPS coordinate representing the position of the vehicle 1 based on a GPS signal received by a GPS antenna 11J. The GPS antenna 11J is an antenna capable of receiving a GPS signal.

[0035] The device interface 11D captures images, detection results and the like from the vehicle's own cameras 16 and the wave transmitters / receivers 15. The device interface 11D can capture measurement results from the gyro sensor and the wheel speed sensor that are not included in Fig. 3 and mounted on the vehicle 1.

[0036] The CAN interface 11E is an interface for transmitting and receiving information to and from the ECU mounted on the vehicle 1 via a CAN in the vehicle 1. Note that a communication standard can be used as CAN.

[0037] The NW interface 11F is a communication device capable of communicating with an information processing device outside the vehicle 1 via a network. The NW interface 11F is capable of communicating with an information processing device outside the vehicle 1 through, for example, a public line such as LTE (Long Term Evolution) (registered trademark) or Bluetooth (registered trademark). Note that a communication format between the vehicle 1 and the information processing device outside the vehicle 1 is not limited to this. The information processing device outside the vehicle 1 is, for example, a server or a mobile terminal such as a smartphone.

[0038] It should be noted that in the Fig. 1 to 3, the display device 120 is shown as a separate device from the parking assistance device 100. However, the display device 120 may be included in the parking assistance device 100.

[0039] In addition, the parking assistance device 100, in addition to the components shown in Fig. 3, comprise a loudspeaker and a microphone, which are not shown in Fig. 3. Alternatively, the device interface 11D of the parking assistance device 100 can input voice data into the speaker and microphone that are not included in Fig. 3, which are provided in the vehicle 1 as separate devices from the parking assistance device 100.

[0040] The parking assist device 100 in the present embodiment learns a driving path based on a driver's learning drive and performs parking assistance using a learning result. In other words, the parking assist method executed by the parking assist device 100 is a method of automatically driving the vehicle 1 based on the driver's learning drive. Such a parking assist method is effective for reducing the driver's parking burden when parking is repeatedly performed at a predefined parking position, such as a garage of the driver's home, a contract parking position of an apartment building, or a specified parking position in a parking lot of a workplace, or the like.

[0041] Next, details of the functions of the parking assist device 100 in the present embodiment will be explained. Fig. 4 is a block diagram showing an example of functions included in the parking assist device 100 according to the first embodiment.

[0042] As in Fig. 4, the parking assist device 100 in the present embodiment includes a receiving module 101, a detection module 102, an extraction module 103, a path acquisition module 104, an estimation module 105, a detection module 106, a correction module 107, an image generation module 108, a display control module 109, an audio output module 110, a driving control module 111, and a storage unit 150.

[0043] The storage unit 150 is configured, for example, by a ROM 11B, a RAM 11C, or an HDD 11G. It should be noted that although a storage unit 150 is described as being included in the parking assistance device 100 in Fig. 4, a plurality of storage media can function as storage unit 150.

[0044] The storage unit 150 stores programs and data used in various types of processing to be executed by the parking assist device 100. For example, a program to be executed by the parking assist device 100 in the present embodiment has a module configuration including the functional units explained above (the reception module 101, the acquisition module 102, the extraction module 103, the path acquisition module 104, the estimation module 105, the detection module 106, the correction module 107, the image generation module 108, the display control module 109, the audio output module 110, and the driving control module 111).As the current hardware, the CPU 11A reads the program from the storage unit 150 and executes the program, thereby loading the respective units in the RAM 11C, and generating the receiving module 101, the acquisition module 102, the extraction module 103, the path acquisition module 104, the estimation module 105, the detection module 106, the correction module 107, the image generation module 108, the display control module 109, the audio output module 110, and the driving control module 111 on the RAM 11C. Note that the types of processing executed by the functional units of the parking assist device 100 are also referred to as steps.

[0045] The program to be executed by the parking assist device 100 in the present embodiment is provided through a computer-readable recording medium such as a flash memory, a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk) as a file in an installable format or an executable format.

[0046] The program to be executed by the parking assist device 100 in the present embodiment can be configured to be stored on a computer connected to a network such as the Internet and provided by downloading it over the network. The program to be executed by the parking assist device 100 in the present embodiment can be provided and distributed over the network such as the Internet. The program to be executed by the parking assist device 100 in the present embodiment can be provided by being incorporated in advance into the ROM 11B or the like.

[0047] The receiving module 101 receives various types of operations from the user. For example, when the operation button 141 or the image button on the touch panel is pressed, the receiving module 101 receives an operation for starting and stopping the recording of the teaching drive by the user.

[0048] The receiving module 101 can receive various kinds of operations by the user through a user's voice input from the microphone provided in the vehicle 1.

[0049] The acquisition module 102 acquires, from the plurality of on-vehicle cameras 16a to 16c, a plurality of images obtained by capturing the surroundings of the vehicle 1 in time series while the vehicle 1 is moving. Note that in the present embodiment, the image is referred to as a surrounding image because the image is an image obtained by capturing the surroundings of the vehicle 1.

[0050] The detection module 102 detects information about the distance between the object in the surroundings of the vehicle 1 and the vehicle. The information indicating the distance between the object in the surroundings of the vehicle 1 and the vehicle is, for example, the presence or absence of an obstacle detected by the wave transmitter / receiver 15 and the length of the distance between the detected obstacle in the surroundings of the vehicle 1 and the vehicle 1. The presence or absence of the obstacle detected by the wave transmitter / receiver 15, the distance measured by the wave transmitter / receiver 15 between the obstacle in the surroundings of the vehicle 1 and the vehicle 1, and the surrounding image can be referred to as surrounding information about the surroundings of the vehicle 1. Note that the surrounding information is not limited to these pieces of information.

[0051] The acquisition module 102 includes GPS position information from the GPS device 111 via the device interface 11D.

[0052] The acquisition module 102 acquires vehicle information of the vehicle 1 from various sensors or another ECU of the vehicle 1. The vehicle information includes, for example, information about the speed, steering angle, and braking of the vehicle 1. The pieces of information included in the vehicle information of the vehicle 1 are stored in the storage unit 10150 in association with the times at which the information was acquired. Note that the vehicle information of the vehicle 1 may further include the wheel speed, the rotational speed of the wheels 13, or the acceleration of the vehicle 1 measured by the gyro sensor, or the like.

[0053] The extraction module 103 extracts feature points in the surroundings of the vehicle 1 from an environmental image around the vehicle 1 captured by the on-vehicle camera 16 or from a result of detecting the surroundings of the vehicle 1 with the wave transmitter / receiver 15. A method for extracting feature points with the extraction module 103 is not particularly limited. A publicly known method may be adopted. For example, the extraction module 103 extracts feature points using a method such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated BRIEF). At the time of learning a travel path 80, the extraction module 103 may preferentially capture feature points that satisfy a specific condition among the extracted feature points.For example, from a plurality of temporally continuous environmental images, a feature point that has a longer path traveled by the vehicle 1 during the recording and was extracted from an environmental image can preferably be selected as a feature point.

[0054] The path recording module 104 records a travel path of the vehicle 1 during the driver's training drive. The path recording module 104 estimates the position of the vehicle 1 during the training drive, for example, based on changes in the feature points extracted by the extraction module 103 and vehicle information of the vehicle 1, and specifies a travel path from a change in the position over time.

[0055] More specifically, the path acquisition module 104 determines a change in the position of the vehicle 1 based on time-series changes in the feature points extracted during the training run. The path acquisition module 104 can correct the position of the vehicle 1 determined from the feature points based on the acquired vehicle information. The path acquisition module 104 can estimate the position of the vehicle 1 during the training run from a change in the absolute position of the vehicle 1 based on the GPS position information of the vehicle 1.

[0056] In the present embodiment, information in which a travel path for automatic traveling and the speed, steering angle, braking operation, and feature points extracted during the teaching run of the vehicle 1 traveling on the travel path are associated in time series is referred to as travel path information. Since the travel path of the vehicle 1 is defined by the travel path information, the processing of collecting the travel path information is acquisition processing for the travel path of the vehicle 1. The path acquisition module 104 stores the travel path information in the storage unit 150. The travel path information or the corrected travel path information obtained by correcting the travel path information with the correction module 107 explained below is used by the travel control module 111 at the time of automatic traveling, which will be explained later.It should be noted that a track acquisition method and a definition of the track information are not limited to the example explained above.

[0057] The path acquisition module 104 defines the surroundings of the vehicle 1 as map information based on feature points extracted from a surrounding image acquired during the teaching drive, and stores the map information in the storage unit 150. Note that the acquisition processing for the travel path based on the teaching drive may be referred to as learning processing. The travel path acquired during the teaching drive is also referred to as a reference path because the travel path is used as a reference for correction by the correction module 107, which will be explained below.

[0058] Fig. Fig. 5 is a diagram showing an example of the travel path 80 recorded by the teaching trip according to the first embodiment. In the example shown in Fig. 5, at the time of the training drive, the driver of the vehicle 1 moves the vehicle 1 from a starting position 23 to a parking position 27 with manual drive. The parking position 27 is located, for example, in a parking space 19 in a garage 18. The garage 18 has side walls 20 and 21. In other words, an area of ​​the parking space 19 is delimited by the side walls 20 and 21. It should be noted that the parking space 19 is not limited to the interior of the garage 18, but may, for example, be an area delimited by a white line. The location of the parking space 19 may be indicated by a sign or the like. The parking space 19 may be an open space or the like that is not delimited by a white line or the like.

[0059] In the present embodiment, the path recording module 104 performs the learning drive when the parking assistance device 100 is switched to a learning mode by the driver. Switching to the learning mode occurs, for example, by the driver pressing the control button 141 or the touch panel.

[0060] In the learning mode, the path recording module 104 learns the surroundings of the parking space 19. The surroundings of the parking space 19 also include the lateral boundaries of the parking space 19, ie the side walls 20 and 21 in Fig. 5. During the learning drive in the learning mode, the path recording module 104 begins recording map information of the surroundings from the starting position 23 of the movement of the vehicle 1 and stores the recorded map information in the storage unit 150.

[0061] In the example shown in Fig. As shown in Figure 5, a building 24 and a tree 25 are located in the vicinity of the parking lot 19. The side walls 20 and 21, the building 24, and the tree 25 are shown in an environment image and are detected by the wave transmitter / receiver 15. Therefore, the path recording module 104 records feature points of the side walls 20 and 21, the building 24, and the tree 25 as map information. In this case, the side walls 20 and 21, the building 24, and the tree 25 are known objects. These known objects serve as a reference for the travel path 80 and are therefore also referred to as reference objects.

[0062] Note that, in the present embodiment, the path acquisition module 104 acquires information about a lane or a shape of the travel path 80, a relative position of the start position 23 with respect to a feature point representing an object in the surroundings, and a relative position of the parking position 27 with respect to a feature point representing an object in the surroundings. Note that the information to be acquired is not limited to this. For example, the path acquisition module 104 may only acquire the relative position of the parking position 27 with respect to the feature point representing the object in the surroundings and the relative position of the parking position 27 with respect to the feature point representing the object in the surroundings, without acquiring the lane or the shape of the travel path 80.

[0063] It should be noted that the map information is not limited to the map information formed from the feature points, and that the path recording module 104 may record information about the relative positions, colors, and contours of a plurality of objects around the parking space 19.

[0064] Back to Fig. 4: When the vehicle 1 automatically travels based on the travel path 80 or a corrected path 81 with the travel control module 111 explained below, the estimation module 105 estimates the position and direction of the vehicle 1 based on feature points extracted by the extraction module 103.

[0065] For example, the estimation module 105 estimates the position of the vehicle 1 by comparing feature points of a surrounding image captured by the on-vehicle camera 16 at the time of the training drive with feature points of a current surrounding image. The method for estimating the position and direction of the vehicle 1 with the estimation module 105 is not limited to this example. The estimation module 105 can correct the estimated position of the vehicle 1 using the absolute position of the vehicle 1 based on GPS position information of the vehicle 1.

[0066] The detection module 106 detects an object in the surroundings of the vehicle 1. More specifically, the detection module 106 detects an object in the surroundings of the vehicle 1 based on environmental information such as the presence or absence of an obstacle detected by the wave transmitter / receiver 15, the distance between the obstacle in the surroundings of the vehicle 1 and the vehicle 1 measured by the wave transmitter / receiver 15, and a surrounding image, wherein the environmental information is acquired by the acquisition module 102 before the start of automatic driving by the parking assistance system and during automatic driving. In the present embodiment, the object includes other vehicles, buildings, trees, people, and the like.

[0067] The objects in the surroundings of vehicle 1 detected by the parking assistance system during automatic driving include known objects that have been present since the time of the training drive and unknown objects that were not present at the time of the training drive. Among the unknown objects that are not present at the time of the training drive, an object whose distance from vehicle 1 is equal to or less than a threshold value when vehicle 1 travels based on the travel path 80 recorded during the training drive is an obstacle. The threshold value is not particularly limited.

[0068] For example, if an object is detected that is included in the map information corresponding to the travel path 80 recorded by the path recording module 104 during automatic driving with the parking assistance, the detection module 106 determines that a known object has been detected. For example, if an object is detected that is not included in the map information corresponding to the travel path 80 recorded by the path recording module 104 during automatic driving with the parking assistance, the detection module 106 determines that an unknown object has been detected.

[0069] Based on the result of the object detection, the correction module 107 corrects the travel path 80 recorded during the training run. Specifically, if the detected object detected by the detection module 106 is not an object detected during the training run, the correction module 107 corrects the travel path 80 so that the distance to the object is equal to or greater than the threshold.

[0070] Fig. Fig. 6 is a diagram showing an example of the corrected path 81 according to the first embodiment. In the example shown in Fig. As shown in Figure 6, when the parking assistance device 100 performs the parking assistance, a trash can 30a is left near the parking space 19. The trash can 30a is an unknown object to the parking assistance device 100 because the trash can 30a is not present at the time of the teaching drive. In this case, the trash can 30a is detected by the detection module 106. The correction module 107 corrects the travel path 80 so that the distance between the trash can 30a and the vehicle 1 continues to be equal to or greater than a threshold value while the vehicle 1 moves from the starting position 23 to the parking position 27. A travel path corrected by the correction module 107 is referred to as a corrected path 81.

[0071] In the present embodiment, the correction module 107 does not initially generate a complete route to bypass the garbage bin 30a, but generates the corrected route 81 by, for example, replacing a portion of the route 80 recorded during the training trip with a new route. In the example shown in Fig. 6, for example, the vicinity of a start end and the vicinity of a terminal end of the corrected path 81 overlap with the travel path 80, and only an intermediate portion differs from the travel path 80. Therefore, with the correction method in the present embodiment, an unknown object can be avoided even if the entire path for avoiding the garbage can 30a is not generated.

[0072] Back to Fig. 4: The image generation module 108 generates a corrected path image showing the corrected path 8 generated by the correction module 107. The corrected path image is, for example, an image showing the parking space 19, the corrected path 81, the travel path 80, the starting position 23 of the travel path 80, the parking position 27, and objects around the parking space 19. The corrected path image may not include the travel path 80. The corrected path image may be generated from an environmental image captured by the vehicle camera 16, or it may be an image in which an outline or the like of an object is drawn.

[0073] The display control module 109 causes the display device 120 to display the travel path 80 corrected by the correction module 107, i.e., the corrected path 81, at least before the start of the automatic driving of the parking assistance system or during the automatic driving. In the present embodiment, the display control module 109 causes the display device 120 to display the corrected path 81 at least during the automatic driving. Specifically, in the present embodiment, the display control module 109 causes the display device 120 to display an image of the corrected path generated by the image generation module 108.

[0074] Fig. Fig. 7 is a diagram showing an example of a corrected path image 121a displayed on the display device 120 according to the first embodiment. As shown in Fig. 7, the image of the corrected path 121a shows the parking space 19, the corrected path 81, the driving path 80, the starting position 23 of the driving path 80, the parking position 27, the side walls 20 and 21, the building 24, the trees 25 and the garbage can 30a. It should be noted that although both the driving path 80 before the correction and the corrected path 81 in the image 121a of the corrected path in Fig. 7, only the corrected path 81 can be displayed. The display control module 109 can highlight which object is an obstacle among the objects shown in the image of the corrected path 121a. Furthermore, the display control module 109 can use an XR (Extended Reality) technology such as AR (Augmented Reality) or CG (Computer Graphics) to display a parking operation in a moving image to reproduce the parking operation. Since an actual behavior of a vehicle is faithfully reproduced by such technology in the case of a moving image, the behavior is easy to understand visually. The user can more easily assess the risk of an obstacle or the like.

[0075] The image of the corrected path 121a may include a message M1 to explain to the driver the reason for the change in the route 80. In the example shown in Fig. 7, the display control module 109 displays the message M1 “Correct a path because an obstacle is present”.

[0076] In the example shown in Fig. 7, at the time of the starting position 23 of the travel path 80, the garbage can 30a is located in an image range of the on-board camera 16 of the vehicle 1 and a measurement range of the wave transmitter / receiver 15. Therefore, the display control module 109 can cause the display device 120 to display the image of the corrected path 121a before the start of the automatic travel by the parking assistance.

[0077] When the vehicle 1 moves according to automatic travel, the image range of the on-vehicle camera 16 and the measurement range of the wave transmitter / receiver 15 also change. Therefore, an unknown object is sometimes detected again by the detection module 106. If the newly detected unknown object is an obstacle, the correction module 107 corrects the travel path 80. Alternatively, when the vehicle 1 automatically travels on the already corrected path 81, the correction module 107 further corrects the corrected path 81 to avoid the newly detected obstacle. When the travel path 80 or the corrected path 81 is corrected during automatic travel as explained above, the image generation module 108 generates a corrected path image showing the newly corrected path 81. Then, the display control module 109 causes the display device 120 to display the newly generated corrected path image.

[0078] Fig. Fig. 8 is a diagram showing an example of an image of a corrected path 121b extending from Fig. 7. In the example shown in Fig. As shown in Figure 8, a garbage can 30b is parked in a garage 18. It is assumed that the garbage can 30b is an unknown object that is not present at this location at the time of the training drive. Another unknown object 31 is located deep within the garage 18. The garbage can 30b and the other unknown object 31 are not within the image field of the vehicle's own camera 16 and the measurement range of the wave transmitter / receiver 15 unless the vehicle 1 enters the garage 18.

[0079] In this case, when the vehicle 1 enters the garage 18 and the garbage can 30b and the other unknown object 31 are within the image range of the vehicle's own camera 16 and within the measurement range of the wave transmitter / receiver 15, the detection module 106 detects the garbage can 30b and the other unknown object 31. The detection module 106 also detects the side walls 20 and 21, which are known objects.

[0080] The correction module 107 corrects the travel path 80 such that the distances d3 and d5 to the garbage bin 30b and the other unknown object 31 are greater than a threshold value, while maintaining a state in which the distances d1, d2 and d4 to the side walls 20 and 21 are greater than the threshold value, and generates the corrected path 81. In the case where the garbage bin 30b and the other unknown object 31 are located in the garage 18, which is Fig. 8, the correction module 107 can also change the parking position 27 of the vehicle 1. It should be noted that in Fig. 8, the travel path 80, the starting position 23, and the parking position 27 are not shown. In this case, the image generation module 108 generates the corrected path image 121b, which shows the corrected path 81 generated by the correction module 107. In the following explanation, the individual images of the corrected paths 121a and 121b are simply referred to as the corrected path image 121 unless specifically distinguished.

[0081] As in Fig. 8, the display control module 109 causes the display device 120 to display the image of the corrected path 121b. As explained above, the display control module 109 causes the display device 120 to display the corrected path 81 generated according to the unknown object newly detected during automatic travel, allowing the user to check the latest state of the corrected path 81. It should be noted that the images of the corrected path 121 shown in the Fig. 7 and Fig. 8 are examples. The form of representation is not limited to this.

[0082] When the vehicle 1 is in a position where parking assistance is possible during travel, the display control module 109 notifies the driver by causing the display device 120 to indicate that parking assistance is possible. The position where parking assistance is possible is, for example, a position where a starting position 23 of the travel path 80 or a point where the vehicle 1 can enter the travel path 80 is present within a certain distance.

[0083] Back to Fig. 4: The audio output module 110 causes a loudspeaker provided in the vehicle 1 to output sound or speech. Fig. 7 and Fig. For example, Figure 8 shows an example in which the display control module 109 causes the display device 120 to display the message M1. However, a method for communicating the message M1 is not limited to display. For example, the audio output module 110 may cause the speaker to output the message M1 as a voice message.

[0084] When the vehicle 1 is in a position where parking assistance is possible while the vehicle 1 is traveling, the audio output module 110 may notify the driver by causing the speaker to output a voice message indicating that parking assistance is possible.

[0085] The driving control module 111 causes the vehicle 1 to automatically drive based on the driving path 80 acquired based on a past parking operation to cause the vehicle to drive into or out of a garage. In the present embodiment, the driving path 80 acquired through the teaching drive is an example of the driving path 80 acquired based on the past parking operation. The driving control module 111 moves the vehicle 1 to the parking space 19 with automatic drive based on the driving path 80 or the corrected path 81 obtained by correcting the driving path 80. The driving control module 111 controls, for example, steering, braking, acceleration, and deceleration of the vehicle 1 so that the vehicle 1 automatically drives along the driving path 80 or the corrected path 81.

[0086] Note that during automatic driving by the driving control module 111, the driver may sit in the driver's seat 130a of the vehicle 1 or get out of the vehicle 1. In the present embodiment, it is assumed that a driver is sitting in the driver's seat 130a of the vehicle 1.

[0087] Although in Fig. 4 shows the parking assistance device 100 with the driving control module 111, the driving control module 111 may be implemented by a different control device than the parking assistance device 100.

[0088] Next, a flow of the correction processing of the travel path 80 executed by the parking assist device 100 in the present embodiment configured as described above will be explained.

[0089] Fig. 9 is a flowchart showing an example of the flow of the automatic travel and travel path correction processing 80 performed by the parking assist device 100 according to the first embodiment. It is assumed that at the time the processing of this flowchart is executed, the travel path 80 has been registered based on the teaching trip.

[0090] First, the acquisition module 102 acquires an absolute position, surrounding image, speed, steering angle, braking, and distance measurement result of the vehicle 1 (S101). Although not shown in this flowchart, it is assumed that the acquisition of the absolute position, surrounding image, speed, steering angle, braking, and distance measurement result of the vehicle 1 by the acquisition module 102 continues during the execution of this flowchart.

[0091] Then, the extraction module 103 extracts feature points from a plurality of acquired environmental images (S102).

[0092] The estimation module 105 performs self-position estimation processing to estimate the position of the vehicle 1 by comparing the extracted feature points and the feature points of a surrounding image captured by the on-vehicle camera 16 at the time of the teaching drive (S103). The estimation module 105 may perform self-position estimation processing based on a distance measurement result acquired by the wave transmitter / receiver 15, GPS position information acquired by the GPS device 111, or the like.

[0093] The estimation module 105 determines, based on a result of the self-position estimation, whether the starting position 23 of the travel path 80 or a point where the vehicle 1 can enter the travel path 80 exists within a certain distance from the vehicle 1 (S104). If the starting position 23 of the travel path 80 or a point where the vehicle 1 can enter the travel path 80 does not exist within the certain distance from the vehicle 1 (S104 "No"), the processing returns to S101. The certain distance is a distance that can cause the travel control module 111 to automatically drive the vehicle 1 and enter the travel path 80. For example, if the current position of the vehicle 1 is too far from the starting position 23, it is difficult for the travel control module 111 to perform automatic travel based on the travel path 80. There is no particular limitation on a specific value for the specific distance.There is also a case where the vehicle 1 can enter the travel path 80 from a position other than the start position 23 of the travel path 80.

[0094] If the starting position 23 of the travel path 80 or a point where the vehicle 1 can enter the travel path 80 is within the specified distance from the vehicle 1 (S104 "Yes"), the display control module 109 notifies the driver by causing the display device 120 to indicate that parking assistance is possible (S105). Note that the audio output module 110 may notify the driver that parking assistance is possible by causing the speaker to output a voice message.

[0095] Then, the receiving module 101 determines whether a parking assistance start operation from the user has been received (S106). If the parking assistance start operation from the user has not been received (S106 "No"), the receiving module 101 waits for the user's operation.

[0096] When the receiving module 101 receives the parking assistance start operation from the user (S106 "Yes"), the detection module 106 determines whether an obstacle has been detected in the surroundings of the vehicle 1 (S107). For example, the detection module 106 determines that an obstacle has been detected if it detects an object among the known objects that were not present at the time of the teaching run, whose distance from the vehicle 1 is equal to or less than a threshold value when the vehicle 1 is traveling based on the travel path 80 acquired during the teaching run.

[0097] If the detection module 106 detects an obstacle (S107 “Yes”), the correction module 107 generates the corrected path 81 by correcting the travel path 80 so that the distance to the detected obstacle is equal to or greater than the threshold value (S108).

[0098] The image generation module 108 generates the corrected path image 121 showing the corrected path 81 generated by the correction module 107 (S109).

[0099] The display control module 109 causes the display device 120 to display the image of the corrected path 121 generated by the image generation module 108 (S110).

[0100] Subsequently, the travel control module 111 executes the automatic travel based on the corrected path 81 (S111).

[0101] If the detection module 106 detects an obstacle during automatic travel (S112 "Yes"), processing returns to S108. The correction module 107 further corrects the corrected path 81 so that the distance to the newly detected obstacle is equal to or greater than the threshold. Then, processing in S109 to S111 is executed.

[0102] If the detection module 106 does not detect an obstacle during automatic travel (S112 “No”), the travel control module 111 continues the automatic travel based on the corrected path 81 (S113).

[0103] As long as vehicle 1 has not reached parking space 19 (S114 "No"), the processing in S112 to S114 is repeated. If an obstacle is detected, the processing in S108 is executed.

[0104] When vehicle 1 has reached parking space 19 (S114 "Yes"), the driving control module 111 causes vehicle 1 to park in parking space 19 (S115). Note that if vehicle 1 can park at parking position 27 in the learning run, the driving control module 111 causes vehicle 1 to park at parking position 27 in parking space 19. As in the example shown in Fig. 8, when the vehicle 1 cannot park at the parking position 27 in the teaching run due to an obstacle, the driving control module 111 stops the vehicle 1 at a position where the distance between the obstacle and the vehicle 1 is equal to or greater than the threshold.

[0105] If the detection module 106 has not detected an obstacle (S107 "No"), the correction module 107 executes automatic travel based on the travel path 80 recorded by the teaching drive (S116). Following the processing in S116, processing proceeds to S112, and if the detection module 106 has detected an obstacle during automatic travel, processing proceeds to S108. If the detection module 106 has not detected an obstacle during automatic travel, processing proceeds to S113 to continue automatic travel based on the travel path 80. Then, when the vehicle 1 reaches the parking space 19 in S114, the travel control module 111 proceeds to S115 and causes the vehicle 1 to park in the parking space 19. This flowchart ends here.

[0106] As explained above, the parking assist device 100 in the present embodiment corrects the travel path 80 based on the detection result of the object during automatic travel by the parking assist device based on the travel path 80 acquired based on the past parking operation, and causes the display device 120 to display the corrected travel path 80, that is, the corrected path 81. This makes it possible to prompt the user to acquire the corrected path 81. Therefore, with the parking assist device 100 in the present embodiment, even when the vehicle 1 travels on a path different from the previously acquired travel path 80, it is possible to reduce the occurrence of an event that affects the user's convenience, such as the user being surprised due to unexpected operation of the vehicle 1.

[0107] In the present embodiment, the parking operation in the past is a parking operation by manual driving of the driver of the vehicle 1. That is, in the parking assist device 100 in the present embodiment, when the vehicle 1 travels on a path different from the travel path 80 based on the teaching trip driven by the driver who is the user during automatic driving, it is possible to reduce the driver's discomfort or unease by making the driver realize that a path has been changed.

[0108] If a detected object is not an object detected at the time of recording the travel path 80, the parking assist device 100 in the present embodiment corrects the travel path 80 so that the distance to the object is equal to or greater than the threshold. Therefore, with the parking assist device 100 in the present embodiment, it is possible to avoid contact between the object and the vehicle 1 even if an unknown object is detected.

[0109] Note that in the present embodiment, an example is explained in which the vehicle 1 enters the garage 18. However, the parking assist device 100 in the present embodiment can also be applied when the vehicle 1 leaves the garage 18.

[0110] It should be noted that the parking assist device 100 can distinguish an unknown object using image recognition technology, and when the unknown object is identified as an object (e.g., a puddle) that does not affect travel, the parking assist device 100 can notify the user by displaying the presence or absence of a correction on a display device and selecting the presence or absence of the correction by voice. (Modification 1 of the first embodiment)

[0111] In the first embodiment explained above, the parking assistance device 100 causes the display device 120 in the vehicle 1 to display the image of the corrected path 121. In this embodiment 1, the parking assistance device 100 causes a display of a mobile terminal, such as a smartphone, to display the image of the corrected path 121.

[0112] The parking assistance device 100 in the present modification has the same hardware configuration as the hardware configuration in the first embodiment. As in the first embodiment, the parking assistance device 100 in the present modification includes the receiving module 101, the detection module 102, the extraction module 103, the path acquisition module 104, the estimation module 105, the detection module 106, the correction module 107, the image generation module 108, the display control module 109, the audio output module 110, the driving control module 111, and a storage unit 150.

[0113] The receiving module 101, the acquisition module 102, the extraction module 103, the path recording module 104, the estimation module 105, the detection module 106, the correction module 107, the image generation module 108, the audio output module 110, the travel control module 111, and the storage unit 150 have the same functions as in the first embodiment.

[0114] In the present modification, the display control module 109 causes a display of a mobile terminal, such as a smartphone, to display the corrected travel path 80 corrected by the correction module 107, i.e., the corrected path 81, at least before the start of automatic driving by the parking assistance system or during automatic driving. For example, the display control module 109 causes the display of the mobile terminal, such as the smartphone, to display the image of the corrected path 121 generated by the image generation module 108.

[0115] For example, the display control module 109 transmits the image of the corrected path 121 to the mobile terminal such as the smartphone via the NW interface 11F and causes the display to display the image of the corrected path 121.

[0116] The display of the mobile terminal, such as a smartphone, is an example of the display unit in the present embodiment. If the display of the mobile terminal, such as a smartphone, functions as a touch panel, the touch panel is an example of the control unit.

[0117] Fig. 10 is a diagram showing an example of the image of the corrected path 121a displayed on a display 210 of a smartphone 200 according to Modification 1 of the first embodiment. The display content of the image of the corrected path 121a is the same as the display content in the first embodiment described with reference to Fig. 7. The smartphone 200 may be a smartphone of the driver of the vehicle 1 or a smartphone of a passenger other than the driver.

[0118] For example, when the driver of the vehicle 1 performs the entry of the vehicle 1 by automatic driving in a state where the driver has gotten out of the vehicle 1, the driver can check a route on which the vehicle 1 is traveling by viewing the image of the corrected route 121a displayed on the display 210 of the smartphone 200. Therefore, according to the present modification, the driver can acquire the corrected route 81 with the smartphone 200 even when the vehicle 1 is traveling along the corrected route 81 and not along the pre-registered route 80.

[0119] When the driver of the vehicle 1 performs the exit of the vehicle 1 in a state where the driver has gotten out of the vehicle 1, the driver and a passenger of the vehicle 1 can detect a position where the vehicle 1 exits the garage 18 and stops, and a path along which the vehicle 1 moves until stopping, by viewing the image of the corrected path 121a displayed on the display 210 of the smartphone 200. Specifically, when the stopping position of the vehicle 1 deviates from a pre-registered stopping position of the travel path 80 due to an obstacle during the exit, the driver and the passenger can wait for the vehicle 1 at an appropriate position by detecting a corrected stopping position with the image of the corrected path 121a. (Modification 2 of the first embodiment)

[0120] In the first embodiment explained above, the driving control module 111 of the parking assist device 100 causes the vehicle 1 to automatically drive based on the driving path 80 based on the driver's learning drive to cause the vehicle 1 to enter or exit the garage. However, a recording method for the driving path 80 is not limited to the learning drive. For example, the driving path 80 may be recorded based on a parking operation by the automatic drive of the vehicle 1.

[0121] Specifically, the parking assistance device 100 may, in addition to the functional units shown in Fig. 4, a parking path generation module that generates a parking path for a target parking position. In this case, the parking path generation module generates the travel path 80 using processing such as an arithmetic operation. The parking path generation module then stores the generated travel path 80 in the storage unit 150. Note that the parking path generation module may generate a plurality of travel paths 80, and the user may select a target travel path 80 from the plurality of travel paths 80. (Second embodiment)

[0122] In the first embodiment explained above, a case where the travel path 80 registered in advance is one type is explained. However, a plurality of travel paths 80 may be registered. In the present embodiment, the parking assist device 100 determines the travel path 80 on which the vehicle 1 travels from the plurality of travel paths registered in advance based on at least one of the environmental information about the surroundings of the vehicle 1 and the user information about the user who gets into the vehicle 1.

[0123] The parking assist device 100 in the present modification has the same hardware configuration as the hardware configuration in the first embodiment.

[0124] Fig. 11 is a block diagram showing an example of functions in the parking assist device according to the second embodiment. As shown in Fig. 4, the parking assist device 100 in the present embodiment includes the receiving module 101, a detection module 1102, the extraction module 103, a path recording module 1104, the estimation module 105, the acquisition module 106, the correction module 107, the image generation module 108, a display control module 1109, the audio output module 110, the travel control module 111, a specification module 112, and a storage unit 1150.

[0125] The receiving module 101, the extraction module 103, the estimation module 105, the detection module 106, the correction module 107, the image generation module 108, and the audio output module 110 have the same functions as in the first embodiment.

[0126] As in the first embodiment, the storage unit 1150 in the present embodiment is configured, for example, by the ROM 11B, the RAM 11C, or the HDD 11G. In addition to the same contents as in the first embodiment, the storage unit 1150 in the present embodiment stores the plurality of travel routes 80 in association with at least one of environmental information and user information.

[0127] In the first embodiment, the presence or absence of an obstacle detected by the wave transmitter / receiver 15, the distance between the obstacle in the surroundings of the vehicle 1 and the vehicle 1 measured by the wave transmitter / receiver 15, and the surrounding image are cited as examples of the environmental information about the surroundings of the vehicle 1. However, the environmental information is not limited to these. For example, the environmental information may include feature points in the surroundings of the vehicle 1 extracted from a detection result of the wave transmitter / receiver 15 or a surrounding image, a position coordinate of the vehicle 1, and the weather around the vehicle 1 or the parking lot 19.

[0128] The user information is information related to a driver or a passenger of the vehicle 1, such as the age, physical data, and the like of the driver or passenger. The physical information includes, for example, the presence or absence of a wheelchair, the presence or absence of other physical disabilities, and the like. Note that the user information is not limited to this. When the driver and passenger are mentioned together, the driver and passenger are simply referred to as the user. The age and physical information of the driver or passenger are also referred to as attribute information of the user. The attribute information of the user is not limited to the above example, but includes at least information about the user's age or a physical disability of the user.

[0129] More specifically, in the present embodiment, the storage unit 1150 stores a travel path database in which a plurality of travel paths 80 are associated with at least one of the conditions related to the environmental information and the conditions related to the user information.

[0130] Fig. Fig. 12 is a diagram showing an example of a route database 90 according to the second embodiment. In the example shown in Fig. 12, the route database 90 is a database in which route numbers of the plurality of routes 80, the conditions regarding the environmental information, and the conditions regarding the user information are associated with each other.

[0131] The route numbers are an example of identification information that can specify the routes 80. The conditions regarding the environment information are conditions that specify the environment information corresponding to the routes 80. The conditions regarding the user information are conditions that specify the user information corresponding to the routes 80. In the example shown in Fig. As shown in Fig. 12, the route 80 with the route number "1" is assigned to the environmental information conditions "a surrounding feature point: xxx, presence or absence of an obstacle: none, and weather: sunny or cloudy." That is, when the environment of the vehicle 1 or the parking space 19 matches the conditions, the route 80 with the route number "1" is recommended. It should be noted that a plurality of conditions that are considered as the environmental information conditions in Fig. 12 are registered, can be AND conditions or OR conditions.

[0132] Additionally, in the example shown in Fig. 12, the route 80 with the route number "1" is associated with a condition relating to the user information "healthy person, age: teenagers to sixties." Furthermore, the route 80 with the route number "2" is associated with conditions relating to the user information "wheelchair user, age: seventy or older." A plurality of conditions, which are referred to as conditions relating to the user information in Fig. 12 can be AND conditions or OR conditions.

[0133] For example, if the user is a wheelchair user, the route 80, in which the vehicle 1 leaves the parking lot 19 and then stops near a slope of the building 24, is very convenient for the user. If the weather is rainy, the route 80, in which the vehicle 1 leaves the parking lot 19 and then stops near the entrance of the building 24, is very convenient for the user. If the user is a healthy person who has no particular difficulty walking, the route 80, in which the vehicle 1 parks in a location where it is easy for the driver to start the vehicle 1 after getting into the vehicle 1, is very convenient for the user.

[0134] It should be noted that only one of the conditions regarding the environment information and the conditions regarding the user information can be registered in the route database 90.

[0135] The storage unit 1150 in the present embodiment stores a user information database 91 in which a user ID, body information of a user specified by the user ID, and age are associated with each other.

[0136] Fig. 13 is a diagram showing an example of the user information database 91 according to the second embodiment.

[0137] It should be noted that in the Fig. 12 and Fig. 13, the route database 90 and the user information database 91 are shown in a table format. However, a data format is not limited when destination information is associated. Furthermore, the user information database 91 can register whether the user is a driver or a passenger of the vehicle 1.

[0138] Returning to Fig. 11, in the present embodiment, the route recording module 1104 records the travel path 80 of the vehicle 1 during the driver's travel in conjunction with at least one of the surrounding information and the user information. The travel path database 90 is generated through the recording processing. Note that the travel path database 90 may be generated by an information processing device or the like outside the vehicle 1, or may be registered by the user via a touch panel of the display device 120 or a mobile terminal such as the smartphone 200.

[0139] The detection module 1102 in the present embodiment has the same function as the function in the first embodiment, and detects at least one of environmental information about the surroundings of the vehicle 1 and user information about a user who gets into the vehicle 1.

[0140] The detection module 1102 detects, for example, the presence or absence of an obstacle detected by the wave transmitter / receiver 15, the distance between an obstacle in the surroundings of the vehicle 1 and the vehicle 1 measured by the wave transmitter / receiver 15, a surrounding image captured by the in-vehicle camera 16, and GPS position data of the vehicle 1 measured by the GPS device 111. The detection module 1102 may acquire weather information from the information processing device outside the vehicle 1 via a network. Alternatively, the detection module 1102 may detect the weather in the surroundings of the vehicle 1 from a surrounding image captured by the in-vehicle camera 16.

[0141] The specification module 112 specifies the travel path 80 corresponding to at least one of the acquired environmental information and the acquired user information among the plurality of travel paths 80 registered in advance in the storage unit 1150. In the present embodiment, both the environmental information and the user information are set as conditions for setting the travel path 80. For example, when the acquired environmental information satisfies the conditions “surrounding feature point: xxx, presence or absence of an obstacle: absent, weather: sunny or cloudy” and the acquired user information satisfies the conditions “healthy person, age: teens to sixties,” the specification module 112 sets the travel path 80 with the travel path number “1” stored in Fig. 12 as the travel path 80 used for the automatic travel of the vehicle 1.

[0142] When a plurality of travel paths 80 corresponding to at least one of the acquired environmental information and the acquired user information exist among the plurality of travel paths 80 registered in advance in the storage unit 1150, the specifying module 112 specifies the plurality of travel paths 80 corresponding to at least one of the acquired environmental information and the acquired user information as candidates for the travel path 80 used for the automatic travel of the vehicle 1.

[0143] When the plurality of travel routes 80 are specified as candidates, the specification module 112 may calculate a recommendation level of the travel routes 80 specified as candidates according to at least one of the environmental information and the user information. Alternatively, the specification module 112 may calculate the recommendation level of the travel routes 80 based on the frequency with which the travel routes 80 specified as candidates have been selected by the user in the past.

[0144] The display control module 1109 in the present embodiment has the same function as in the first embodiment and Modification 1 of the first embodiment, and causes the display 210 of the smartphone 200 to display the travel path 80 or the candidates of the travel path 80 specified by the specifying module 112. The display 210 of the smartphone 200 is an example of the display unit in the present embodiment.

[0145] Fig. 14 is a diagram showing an example of a route notification screen 122 displayed on the display 210 of the smartphone 200 according to the second embodiment. The route notification screen 122 is, for example, a screen on which an image showing the route 80 specified by the specifying module 112 is displayed. In the example shown in Fig. 14, the travel path notification screen 122 represents the travel path 80 from the exit of the vehicle 1 from the parking space 19 in the garage 18 to a stop at a stop position 28. Objects such as the parking space 19 and the building 24 near the stop position 28 may also be displayed on the travel path notification screen 122.

[0146] In the example shown in Fig. 14, a message M2 "Are you leaving the garage via this route?" is displayed on the route notification screen 122. Without being limited in content, the display control module 1109 may cause the display 210 to display the message M2 to prompt the user to approve the route 80.

[0147] In the example shown in Fig. As shown in Figure 14, an OK button 231 and a Cancel button 232 are displayed on the travel path notification screen 122. The OK button 231 is an image button capable of receiving the user's operation to authorize the vehicle 1 to automatically travel along the travel path 80 displayed on the travel path notification screen 122. The Cancel button 232 is an image button capable of receiving the user's operation to cancel the automatic travel along the travel path 80 displayed on the travel path notification screen 122. When the OK button 231 or the Cancel button 232 is operated by the user, the receiving module 101 receives the user's operation.

[0148] For example, when the user presses the cancel button 232, the display control module 1109 may cause the display 210 to display a list of routes 80 that have been registered in advance and prompt the user to select the route 80. Alternatively, when the user presses the cancel button 232, the parking assist system 100 may cancel the automatic driving of the vehicle 1 and wait for manual driving by the driver.

[0149] As explained above, sometimes there are multiple travel routes 80 corresponding to at least one of the acquired environmental information and the acquired user information among the multiple travel routes 80 registered in advance in the storage unit 1150. When the plurality of travel routes 80 are specified by the specifying module 112, the display control module 1109 causes the display 210 of the smartphone 200 to display the specified plurality of travel routes 80. For example, the display control module 1109 causes the display 210 of the smartphone 200 to display a travel route selection screen that displays a specified plurality of travel routes as a plurality of travel route candidates, allowing the user to select a travel route.

[0150] Fig. 15 is a diagram showing an example of a route selection screen 123 displayed on the display 210 of the smartphone 200 according to the second embodiment. As shown in Fig. 15, the route selection screen 123 is an image showing a plurality of routes 80a and 80b. In the example shown in Fig. As shown in Figure 15, the travel paths 80a and 80b stop at different stop positions 28a and 28b, respectively. In the following description, the travel paths 80a and 80b are simply referred to as travel path 80 unless specifically distinguished. The stop positions 28a and 28b are simply referred to as stop position 28 unless specifically distinguished.

[0151] In the example shown in Fig. 15, a message M3 "Please select a route" is displayed on the route selection screen 123. Without being limited in content, the display control module 1109 may display the message M2 to prompt the user to select the route 80. Note that the messages M2 and M3 may be output as voice messages from the audio output module 110.

[0152] In the example shown in Fig. As shown in Figure 15, a designation button 233 is displayed on the route selection screen 123. The designation button 233 is an image button that can be operated by the user to select one of the routes 80a and 80b displayed on the route selection screen 123. For example, after pressing an image indicating the route 80a and an image indicating the route 80b on the display 210, the user presses the designation button 233 to select the pressed route 80 from the routes 80a and 80b. When the designation button 233 is operated by the user, the receiving module 101 receives the user's operation.

[0153] When one of the travel routes 80a and 80b is selected by the user, the display control module 1109 may display the travel route notification screen 122 for the user to reconfirm the selected travel route 80. Alternatively, when one of the travel routes 80a and 80b is selected by the user, automatic travel may be started by the travel control module 111.

[0154] If the majority of routes 80 are presented as candidates, as in Fig. 15, the display control module 1109 may arrange the travel routes 80 on the travel route selection screen 123 in descending order of the recommendation degrees of the travel routes 80 calculated by the specification module 112.

[0155] When the user has selected one of the travel routes 80, the receiving module 101 causes the storage unit 1150 to store the travel route 80 selected by the user in association with a user ID of the user. Information in which the travel route 80 selected by the user and the user ID are associated with each other is an example of a past usage history of the user of the vehicle 1. When the plurality of travel routes 80 are specified by the specifying module 112 for the second and subsequent times, the display control module 1109 causes the display 210 of the smartphone 200 to display the specified plurality of travel routes in order based on the past usage history of the user of the vehicle 1.For example, the display control module 1109 causes the display 210 to display the plurality of travel paths 80 such that the travel path 80 that has been selected more frequently by the user in the past is displayed at a higher level. Such a display allows the user to easily find a desired travel path 80 even when there are a plurality of candidate travel paths.

[0156] Note that the display control module 1109 can display the route notification screen 122 and the route selection screen 123 only when the user of the smartphone 200 is not a passenger but a driver of the vehicle 1. Alternatively, when the user of the smartphone 200 is a passenger of the vehicle 1, the display control module 1109 can display only the route notification screen 122. In this case, the OK button 231 and the Cancel button 232 are not displayed on the route notification screen 122 displayed on the passenger's smartphone 200.

[0157] Returning to Fig. 11, the travel control module 111 in the present embodiment has the same function as the function in the first embodiment and causes the vehicle 1 to travel to the stop position 28 corresponding to the travel path 80 based on the travel path 80 specified by the specifying module 112. When a plurality of travel paths 80 corresponding to at least one of the acquired environmental information and the acquired user information exist, the travel control module 111 causes the vehicle 1 to travel to the stop position 28 corresponding to the travel path 80 based on the travel path 80 selected by the user from the specified plurality of travel paths 80.

[0158] Fig. 16 is a sequence diagram showing an example of a processing flow executed by the parking assist device 100 and the smartphone 200 according to the second embodiment.

[0159] First, the smartphone 200 transmits to the parking assistance device 100 a user ID belonging to the user of the smartphone 200 in order to use the vehicle 1 (S201).

[0160] Note that, in this sequence diagram, the acquisition module 1102 of the parking assist device 100 acquires the user ID from the smartphone 200. However, the acquisition module 1102 may also acquire user information such as the age and physical information of the user of the smartphone 200. In this case, for example, the acquisition module 1102 may acquire the user information of all users, including the driver and the passenger, from the smartphone 200 of the driver of the vehicle 1, or acquire the user information of the users separately from the users' smartphones 200. When the user ID is acquired from the smartphone 200 as in S201, the acquisition module 1102 may acquire the user IDs of all users, including the driver and the passenger, from the smartphone 200 of the driver of the vehicle 1, or acquire the user IDs of the users separately from the users' smartphones 200.

[0161] The detection module 1102 of the parking assistance device 100 detects environmental information about the surroundings of the vehicle 1 (S202).

[0162] Then, the specifying module 112 of the parking assist device 100 acquires the user's physical information and age corresponding to the acquired user ID from the user information database 91, and, based on the acquired physical information and age of the user and the environmental information acquired by the acquiring module 1102, specifies the travel path 80 that meets the conditions from among the plurality of travel paths 80 registered in advance in the storage unit 1150 (S203). Here, it is assumed that a plurality of travel paths 80 corresponding to the acquired environmental information and the acquired user information exist among the plurality of travel paths 80 registered in advance in the storage unit 1150.

[0163] The display control module 1109 of the parking assist device 100 transmits the plurality of travel paths 80 specified by the specifying module 112 to the smartphone 200 via the network and causes the display 210 to display the plurality of travel paths (S204).

[0164] The smartphone 200 causes the display 210 to display the route selection screen 123 that selectively displays the plurality of routes 80 transmitted from the parking assist device 100 (S205).

[0165] When the user taps the image of the route 80a or the image of the route 80b on the display 210 of the smartphone 200 and then presses the designation button 233 (S206), the smartphone 200 notifies the parking assistance device 100 of the route 80 selected by the user (S207). The receiving module 101 of the parking assistance device 100 receives the user's selection of the route 80 via the smartphone 200.

[0166] The display control module 1109 of the parking assist device 100 transmits a display instruction for the travel route notification screen 122 displaying the travel route 80 selected by the user to the smartphone 200, thereby causing the smartphone 200 to display the travel route notification screen 122 (S208).

[0167] The smartphone 200 causes the display 210 to display the travel path notification screen 122 (S209).

[0168] When the user performs the approval process by pressing the OK button 231 on the display 210 of the smartphone 200 (S210), the smartphone 200 notifies the parking assistance device 100 that a start of the automatic travel based on the travel path 80 has been approved by the user (S211).

[0169] Then, the driving control module 111 of the parking assist device 100 executes automatic driving based on the driving path 80 selected and approved by the user (S212). Note that, before starting automatic driving of the vehicle 1 and during automatic driving, the parking assist device 100 performs correction processing for the driving path 80 according to an obstacle detection result, as in the first embodiment. When correcting the driving path 80, the parking assist device 100 causes the display 210 of the smartphone 200 to display the corrected path 81, as in Modification 1 of the first embodiment. This concludes the processing of this sequence table.

[0170] When the obstacle has been detected based on the environmental information acquired in S202, the correction module 107 may correct the travel path 80 specified by the specification module 112, and then the processing in and after S204 may be executed.

[0171] As explained above, the parking assistance device 100 in the present embodiment causes the display 210 of the smartphone 200 to display the travel route 80 corresponding to at least one of the surrounding information and the user information among the plurality of travel routes 80 registered in advance. Therefore, with the parking assistance device 100 in the present embodiment, in addition to the effects of the first embodiment, it is possible to improve user convenience by suggesting the travel route 80 to the user according to the surrounding information or the user information.

[0172] For example, the parking assistance device 100 in the present embodiment determines the appropriate travel route 80 for the user from among the plurality of travel routes 80 registered in advance based on information about the user's age or physical disability. Therefore, with the parking assistance device 100 in the present embodiment, it is possible to suggest travel routes 80 according to the conditions of each user, even in a usage mode where a vehicle 1 is shared by multiple users.

[0173] Note that in the present embodiment, a case where the vehicle 1 leaves the parking space 19 is explained. However, the configuration in the present embodiment can also be applied to a case where the vehicle 1 enters the parking space 19. (Modification 1 of the second embodiment)

[0174] In the second embodiment explained above, the user information is the age, physical data, or the like of the driver or passenger. However, the user information is not limited to this. For example, the user information may be information about a driver and a passenger registered in a usage plan of the vehicle 1.

[0175] For example, there is a usage pattern where multiple users share a vehicle 1. In such a usage pattern, for example, the usage schedule of the vehicle 1 is registered in a cloud server 300 or the like provided in a cloud environment. The usage schedule includes a user ID and the like of a user who uses the vehicle 1 at any given time.

[0176] Fig. 17 is a diagram showing an example of a configuration of a management system S for a usage plan of the vehicle 1 according to a modification 1 of the second embodiment. The management system S includes, for example, a cloud server 300, a terminal device such as the smartphone 200 or a personal computer (PC), and the parking assist device 100 mounted on the vehicle 1. Note that, instead of the cloud server 300, a regular server device, a PC, or the like may be used.

[0177] As in Fig. As shown in Fig. 17, a user registers a usage plan on the smartphone 200. Then, the smartphone 200 transmits the usage plan registered by the user to the cloud server 300. The usage plan is stored on the cloud server 300. Then, the acquisition module 1102 of the parking assist device 100 acquires information about a driver and a passenger registered in the usage plan of the vehicle 1 from the cloud server 300.

[0178] It should be noted that the smartphone 200 and the parking assistance device 100 of the vehicle 1 may not be directly connected to each other and send and receive data and control signals via the cloud server 300, another server device, or the like.

[0179] As explained in the second embodiment, the parking assist device 100 transmits a specific travel path candidate to the smartphone 200 and causes the display 210 to display the travel path selection screen 123 and the travel path notification screen 122.

[0180] Fig. Fig. 18 is a diagram showing an example of a usage plan database 92 stored in the cloud server 300 according to Modification 1 of the second embodiment. The usage plan database 92 is, for example, a database in which a vehicle ID capable of specifying a reservation target vehicle 1, a reservation time, and a user ID are registered in association with each other. Note that in Fig. 18, a case where reservations of a plurality of vehicles 1 are registered is shown as an example, and a vehicle ID is included in the usage plan database 92. However, if only one vehicle 1 is present as the target of the schedule registration, the vehicle ID may not be included in the items of the usage plan database 92.

[0181] The specifying module 112 of the parking assist device 100 in the present modification acquires physical information and the age of a user corresponding to a user ID registered in the usage plan database 92 from the user information database 91, and specifies the travel route 80 that satisfies the conditions from among the plurality of travel routes 80 registered in advance in the storage unit 1150 based on the acquired physical information and the acquired age of the user and the environmental information acquired by the acquiring module 1102.

[0182] With such a configuration, the parking assist device 100 in the present modification can suggest the appropriate travel path 80 to the user only by the user who reserves the vehicle 1. Therefore, with the parking assist device 100 in the present modification, it is possible to simplify the user's operation and improve the user's convenience. (Modification 2 of the second embodiment)

[0183] The user information may be the user ID itself. In the second embodiment, for example, the route database 90 is the database in which the route numbers of the plurality of routes 80, the environmental information conditions, and the user information conditions are associated with each other. However, the route database 90 may also be a database in which the plurality of routes 80 and the user IDs are associated with each other.

[0184] Fig. 19 is a diagram showing an example of a route database 1090 according to a modification 2 of the second embodiment. As shown in Fig. 19, the route database 1090 of the present modification is a database in which the route numbers of the plurality of routes 80 and the user IDs are associated with each other.

[0185] The specifying module 112 of the parking assist device 100 of the present modification retrieves from the travel path database 1090 a travel path number corresponding to a user ID of the vehicle 1 acquired by the acquisition module 1102, and specifies the travel path 80 corresponding to the travel path number as the travel path 80 corresponding to the user information. (Modification 3 of the second embodiment)

[0186] In the second embodiment, it is assumed that the plurality of travel paths 80 are stored in the storage unit 1150 of the parking assistance device 100. However, a storage location is not limited to this. For example, the plurality of travel paths 80 may be stored in a storage device such as the cloud server 300 provided outside the vehicle 1.

[0187] The acquisition module 1102 of the present modification acquires the plurality of travel routes 80 from the storage device provided outside the vehicle 1, along with at least one of environmental information and user information corresponding to each of the plurality of travel routes 80. For example, in a state where the travel route numbers of the plurality of travel routes 80, the conditions related to the environmental information, and the conditions related to the user information are linked, the acquisition module 1102 acquires these types of information from the storage device such as the cloud server 300.

[0188] Then, in the present modification, the specifying module 112 specifies the travel path 80 corresponding to at least one of the current environment information and the current user information among the plurality of travel paths 80 stored in the storage device such as the cloud server 300. (Modification 4 of the second embodiment)

[0189] The acquisition module 1102 can acquire both the travel path 80 stored in a storage device such as the cloud server 300 provided outside the vehicle 1 and the travel path 80 stored in the storage unit 1150 of the parking assistance device 100.

[0190] In this case, in the present modification, the specifying module 112 specifies the travel path 80 and a parking position corresponding to at least one of the current environmental information and the current user information among the plurality of travel paths 80 stored in the storage unit 1150 and the external storage device.

[0191] The plurality of travel paths 80 can be stored in a storage device in the vehicle 1, which is provided separately from the parking assistance device 100. (Modification 5 of the second embodiment)

[0192] In the second embodiment explained above, the parking assist device 100 is explained as displaying the corrected path 81 on the display 210 of the smartphone 200, as in the first embodiment or Modification 1 of the first embodiment. However, the parking assist device 100 in the second embodiment may not have the function of displaying the corrected path 81. That is, a specific function of the travel path 80 corresponding to the surrounding information or user information in the second embodiment can be independently applied to the parking assist device of the related art. (Modification 6 of the second embodiment)

[0193] In the second embodiment explained above, the display 210 of the smartphone 200 is an example of the display unit. However, the display device 120 may be an example of the display unit as in the first embodiment. For example, the display control module 1109 of the parking assist device 100 may cause the display device 120 to display the travel path notification screen 122 and the travel path selection screen 123 when the driver has gotten into the vehicle 1, and may cause the display 210 of the smartphone 200 to display the travel path notification screen 122 and the travel path selection screen 123 when the driver has gotten out of the vehicle 1. (Modifications of the first and second embodiments)

[0194] In the first and second embodiments explained above, the display device 120 in the vehicle 1 or the display 210 of the mobile terminal, e.g., the smartphone 200, is an example of the display unit. However, the display device 120 is not limited to this. For example, a head-up display projected onto the windshield 180 of the vehicle 1 or a transparent panel near the windshield 180 can be used as the display unit.

[0195] An operating terminal capable of transmitting a signal from the outside of the vehicle 1 to the vehicle 1, such as a remote control or an electronic key, may be an example of an operating unit.

[0196] Some of the functions of the parking assist device 100 in the first and second embodiments explained above can be performed by an information processing device provided outside the vehicle 1. The information processing device provided outside the vehicle 1 is, for example, a mobile terminal such as the smartphone 200, a PC, the cloud server 300, another server device, or the like.

[0197] Although several embodiments of the present invention have been explained, these embodiments have been presented only by way of example and are not intended to limit the scope of the invention. These embodiments may be embodied in a variety of other forms; furthermore, various omissions, substitutions, and changes may be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the inventions and are included in the inventions explained in the claims and the scope of equivalents of the inventions. EXPLANATION OF REFERENCE SYMBOLS 1 vehicle 15, 15f, 15r wave transmitter / receiver 16, 16a to 16c vehicle's own camera 18 Garage 19 parking spaces 20, 21 side wall 24 buildings 25 tree 27 Parking position 28, 28a, 28b Stop position 30, 30b garbage can 31 unknown object 80, 80a, 80b track 81 corrected route 90, 1090 track database 91 User information database 92 User plan database 100 parking assistance device 101 Receiver module 102, 1102 acquisition module 103 Extraction module 104, 1104 travel recording module 105 Estimation module 106 Detection module 107 Correction module 108 Image generation module 109, 1109 Display control module 110 Audio output module 111 Driving control module 112 Specification module 120 display device 121, 121a, 121b Image of the corrected path 122 Route notification screen 123 Route selection screen 150, 1150 storage unit 200 smartphones 210 Display 300 cloud servers S Management System QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 6022447

[0004]

Claims

[1] Parking assistance device comprising: a driving control module configured to cause a vehicle to automatically drive based on a driving path recorded based on a past parking event to cause the vehicle to drive into or out of a garage; a detection module configured to detect an object in the vicinity of the vehicle; a correction module configured to correct the travel path based on a detection result of the object; and a display control module configured to cause a display unit to display a travel path corrected by the correction module during execution of the automatic driving. [2] The parking assist device according to claim 1, wherein, when the object detected by the detection module is not an object detected at a time of recording the traveling path, the correction module is configured to correct the traveling path so that a distance to the object is equal to or greater than a threshold value. [3] Parking assistance device according to claim 1 or 2, further comprising: a detection module configured to detect at least one of environmental information about an environment around the vehicle and user information about a user boarding the vehicle; and a specifying module configured to specify a travel route corresponding to at least one of the environmental information and the user information among a plurality of travel routes registered in advance, wherein the display control module is configured to cause the display unit to display the travel path specified by the specification module, and the travel control module is configured to cause the vehicle to travel to a stop position corresponding to the travel path based on the travel path specified by the specifying module. [4] The parking assist device according to claim 3, wherein the detection module is configured to detect, as the surrounding information, a measurement result of a sensor provided in the vehicle and a surrounding image around the vehicle detected by a camera provided in the vehicle. [5] The parking assist device according to claim 3, wherein the acquisition module is configured to acquire, as the user information, attribute information of the user of the vehicle, information about a driver and a passenger registered in a usage map of the vehicle, or a user ID capable of specifying the user of the vehicle. [6] The parking assist device according to claim 3, wherein attribute information of the user includes at least information about one of an age of the user and a physical handicap of the user. [7] The parking assist device according to claim 3, wherein, when the specifying module specifies a plurality of travel paths, the display control module is configured to cause the display unit to display the specified plurality of travel paths in an order based on a past usage history of the user of the vehicle. [8] The parking assistance device according to claim 3, further comprising a path recording module configured to record the travel path of the vehicle in the parking process in conjunction with at least one of the surrounding information and the user information. [9] Parking assistance device according to claim 3, further comprising a storage unit configured to store the plurality of travel routes in association with at least one of the environmental information and the user information, wherein the specifying module is configured to specify a travel route corresponding to at least one of the environmental information and the user information among the plurality of travel routes stored in the storage unit. [10] Parking assistance device according to claim 3, wherein the acquisition module is configured to acquire the plurality of travel paths from a storage device provided outside the vehicle, together with at least one of the environmental information and the user information corresponding to each of the plurality of travel paths, and the specifying module is configured to specify a travel route corresponding to at least one of the environmental information and the user information among the plurality of travel routes stored in the storage device. [11] The parking assist device according to claim 3, wherein the specifying module is configured to specify a travel path and a parking position corresponding to at least one of the surrounding information and the user information among the plurality of travel paths stored in a storage unit in the parking assist device and a storage device provided outside the vehicle. [12] The parking assist device according to claim 1, wherein the parking operation in the past includes a parking operation by manual driving of a driver of the vehicle. [13] The parking assist device according to claim 1, wherein the parking operation in the past includes a parking operation by automatically driving the vehicle. [14] Parking assistance system comprising: Causing a vehicle to automatically drive based on a path recorded based on a past parking occurrence to cause the vehicle to enter or exit a garage; Detecting an object near the vehicle; Correcting the travel path based on a detection result of the object; and Causing a display unit to display a travel path corrected by the correction step during execution of the automatic driving.

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