Parking system, vehicles (first vehicle and second vehicle) and server included by the same, and parking method

Abstract

To provide a parking system, vehicles and a server included by the parking system, and a parking method for parking the vehicle in a vacant parking space in a parking area having a plurality of parking spaces.SOLUTION: A parking system includes a first vehicle, a second vehicle, and a server (101). A vehicle control apparatus (DS) of the first vehicle uploads, to the server, actual path specifying information which specifies an actual path when the first vehicle is parked after traveling from a first specific region to one of parking spaces in a specific parking area. The server generates a reference path on the basis of the uploaded actual path specifying information. The server downloads, to a vehicle control apparatus of the second vehicle, reference path specifying information which specifies the reference path. The vehicle control apparatus of the second vehicle allows the second vehicle to travel automatically by automatic path parking control which sets, as a target path, the reference path specified by the reference path specifying information downloaded from the server.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a parking system, vehicles (first vehicle, second vehicle) and a server provided in the parking system, and a parking method for parking a vehicle (second vehicle) in an available parking space in a parking lot having a plurality of parking spaces. [Background technology]

[0002] A vehicle control device has been known that acquires feature points of the "ground and three-dimensional structures" around a vehicle based on camera images acquired by an on-board camera, and automatically parks the vehicle in a pre-registered parking space using the feature points. Hereinafter, information indicating the positional relationship between the feature points and the vehicle will be referred to as "feature point position information."

[0003] More specifically, one conventional vehicle control device (hereinafter referred to as the "conventional device") stores start point information, including feature points and feature point position information, in memory when a registration start button is operated. Furthermore, the conventional device stores intermediate point information, including feature points and feature point position information, in memory at predetermined points until manual parking is completed. The conventional device stores end point information, including feature points and feature point position information, in memory when manual parking is completed. Then, when a registration confirmation button is operated, the conventional device stores the parking space identified by the end point information as a registered parking space in non-volatile memory, and also stores the start point information and intermediate point information in association with the registered parking space in non-volatile memory.

[0004] When the vehicle subsequently arrives near the position specified by the starting point information again, the conventional device compares actual information indicating the actual feature points and actual feature point position information acquired based on camera images with the "starting point information, intermediate point information, and ending point information" associated with the registered parking space and stored in non-volatile memory, thereby controlling the vehicle to travel the same route as the route traveled by manual driving, thereby automatically parking the vehicle in the registered parking space (see, for example, Patent Document 1). For convenience, this type of automatic parking is sometimes referred to as "route memory parking." [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-176547 Summary of the Invention

[0006] However, for example, when parking a vehicle in a public parking lot with many parking spaces (such as a parking area on a highway or a service area), it is not possible to register the parking space in advance. Therefore, it is not possible to use route memory parking to park a vehicle in one of the available parking spaces in a parking lot that can accommodate many vehicles. The present invention has been made to address this problem.

[0007] A parking system according to one embodiment of the present invention includes a first vehicle, a second vehicle, and a server. The parking system drives the second vehicle toward one of a plurality of parking spaces in a parking lot in order to park the second vehicle in one of the parking spaces. The first vehicle and the second vehicle may be the same vehicle or may be different vehicles.

[0008] The first vehicle is configured to upload actual route identification information to the server (101) that identifies the actual route (e.g., actual route C1 in Figure 4) taken when the first vehicle drives from a first identified area (e.g., an area where the entrance point P1 of the target parking lot can be recognized based on an image of the vehicle's surroundings) to one of the parking spaces and parks there (steps 615, 620, and 730).

[0009] The server (101) is configured to be able to download (transmit) reference route identification information that identifies a reference route generated based on the actual route identified by the uploaded actual route identification information (steps 870, 920, and 940). Note that the server may generate a reference route based on the actual route identified by the uploaded actual route identification information, or the server may transfer the uploaded actual route identification information to another computer, and the other computer may generate a reference route based on the actual route identified by the actual route identification information and transfer it to the server.

[0010] The second vehicle (HV) is configured to automatically drive using automatic route parking control with the reference route (first route or second route) specified by the reference route specification information (data specifying the first route or the second route) downloaded from the server (101) as the target route (steps 635, 640, 650, and 655).

[0011] According to this aspect, the first vehicle collects an actual route taken when the first vehicle drives to and parks in one of a plurality of parking spaces in a parking lot. The server downloads a reference route generated based on the actual route to the second vehicle. The second vehicle automatically drives along the reference route using automatic route parking control with the downloaded reference route as the target route. As a result, the second vehicle is automatically parked in one of the parking spaces in the parking lot having a plurality of parking spaces, or is automatically moved toward that parking space. Therefore, the occupant (user) of the second vehicle can easily automatically park the second vehicle in one of the parking spaces in the parking lot having a plurality of parking spaces.

[0012] In one aspect, the server is configured to generate the reference route by performing a predetermined optimization process on the actual route identified by the uploaded actual route identification information (step 870).

[0013] As will be described later, the optimization process may be, for example, a process of selecting the most frequently used actual route as the reference route, or a process of averaging multiple actual routes to obtain the reference route, thereby allowing the second vehicle to travel along a preferred reference route within the parking lot.

[0014] In one aspect, The second vehicle is configured to propose the use of the automatic route parking control to an occupant of the second vehicle when the second vehicle enters a predetermined range corresponding to the first specific area (step 625), and to allow the start of the automatic route parking control if the occupant agrees to the use of the automatic route parking control (step 630: Yes, step 640, step 655).

[0015] According to this aspect, the occupant of the second vehicle can automatically move the second vehicle along the reference route by utilizing the automatic path parking control based on the occupant's intention.

[0016] In one aspect, the second vehicle is configured to notify an occupant of the second vehicle that the automatic route parking control will be initiated when the second vehicle enters a predetermined range corresponding to the first specific area (step 1210 in Figure 12), and to allow the automatic route parking control to be initiated unless the occupant prohibits the initiation of the automatic route parking control (step 1220: No, step 635, step 655 in Figure 12).

[0017] According to this aspect, the occupant of the second vehicle can automatically move the second vehicle along the reference route without requiring any special operation, unless the occupant of the second vehicle indicates that they do not wish to have the second vehicle automatically move along the reference route using automatic route parking control.

[0018] In one aspect, The first vehicle is configured to obtain parking lot identification information that identifies the parking lot (Pn), and to associate the actual route identification information with at least the parking lot identification information and upload it to the server (step 730).

[0019] The server is configured to store the reference route in association with the "parking lot (Pn) identified by the parking lot identification information" which is associated with the "uploaded actual route identification information" (steps 850, 870).

[0020] Further, in this embodiment, The second vehicle is configured to send a request to the server to download the reference route along with parking lot identification information (data identifying the target parking lot) that identifies the parking lot (Pn) in which the second vehicle is attempting to park (step 635).

[0021] Furthermore, the server is configured to download to the second vehicle reference route identification information (e.g., data specifying the first route and data specifying the second route, etc.) that identifies the reference route (e.g., the first route and the second route, etc.) that is stored in association with the parking lot (Pn) identified by the parking lot identification information transmitted along with the reference route download request (steps 910 to 940).

[0022] According to this aspect, an actual route is accumulated for each "parking lot (Pn) having multiple parking spaces" that is the target of this parking system. Furthermore, in the target parking lot (Pn), the second vehicle can be "automatically parked in one parking space by traveling along the reference route" or "automatically moved toward that one parking space along the reference route."

[0023] In one aspect, the first vehicle comprises: Obtain parking lot identification information (data identifying the target parking lot) that identifies the parking lot (Pn), When the first vehicle is parked in one of the plurality of parking spaces, Acquire completed parking space identification information that identifies the completed parking space, which is the parking space where the vehicle has been parked, and the actual route identification information (step 615); Uploading the actual route identification information to the server in association with at least the completed parking space identification information (step 730); When the first vehicle travels from the first specific area to the second specific area via the parking lot's circular route (R) without being parked, Obtain actual route identification information that identifies an actual route (S) from the first specific area to the second specific area (step 615); The actual route identification information is associated with the parking lot identification information and uploaded to the server (step 760). It is structured as follows.

[0024] The server Store the reference route in association with at least the parking space identified by the completed parking space identification information associated with the uploaded actual route identification information (step 870); The reference route generated based on the actual route specified by the uploaded actual route specification information is stored in association with the parking lot specified by the parking lot specification information associated with the uploaded actual route specification information (step 870). It is structured as follows.

[0025] The second vehicle is When the second vehicle is located in the first specific area of ​​a predetermined parking lot, reference route specification information (data specifying the optimal route) that specifies the reference route (optimal route, first route) stored in the server in association with the predetermined parking lot is downloaded from the server (step 635); Automatic driving is started by automatic route parking control with the reference route (optimum route, first route) specified by the downloaded reference route specification information as the target route (step 640). While the vehicle is traveling under automatic route parking control with the reference circular route as the target route, a vacant parking space is searched for among a plurality of parking spaces in the predetermined parking lot (step 645); When the vacant parking space is detected (step 645: Yes), reference route identification information (data identifying the optimal parking route for the vacant parking space) that identifies the reference route (second route, optimal parking route) stored in the server in association with the same parking space as the vacant parking space is downloaded from the server (step 650); The vehicle automatically travels under automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route (step 655). It is structured as follows.

[0026] According to this aspect, the second vehicle is first automatically driven by automatic route parking control along a reference circuit route (optimal circuit route, first route). Then, if an available parking space (available parking space) is detected while the second vehicle is driving along the reference circuit route, the second vehicle is automatically driven by automatic route parking control along the reference route (optimal parking route, second route) for the available parking space. Therefore, even if an available parking space cannot be identified when entering a parking lot, the second vehicle can be parked in the available parking space.

[0027] In one aspect, the first vehicle comprises: Obtain parking lot identification information (data identifying the target parking lot) that identifies the parking lot (Pn), When the first vehicle is parked in one of the plurality of parking spaces, Acquire completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked and the actual route identification information (steps 615 and 730); Uploading the actual route identification information to the server in association with at least the completed parking space identification information (step 730); If the first vehicle travels through the parking lot aisle (TR) from the first specific area to the third specific area without being parked, Acquire actual passage travel route identification information that identifies an actual passage travel route from the first specific area to the third specific area (step 615, step 760); The actual passage travel route identification information is associated with the parking lot identification information and uploaded to the server (step 760); It is structured as follows.

[0028] The server Storing the reference route in association with at least the parking spaces identified by the completed parking space identification information associated with the uploaded actual route identification information (step 870); The reference passage travel route (E1) generated based on the actual passage travel route identified by the uploaded actual passage travel route identification information is stored in association with the parking lot identified by the parking lot identification information associated with the uploaded actual passage travel route identification information (step 870). It is structured as follows.

[0029] The second vehicle is When the second vehicle is located in the first specific area of ​​a predetermined parking lot, download from the server reference path travel route identification information that identifies a reference path travel route stored in the server in association with the predetermined parking lot (step 635a); Automatic driving is started by automatic route parking control with the reference path driving route (E1) specified by the downloaded reference path driving route specification information as the target route (step 640). While the vehicle is automatically traveling under automatic route parking control with the reference path traveling route as the target route, a vacant parking space is searched for among a plurality of parking spaces in the predetermined parking lot (step 645); When the vacant parking space is detected (step 645: Yes), reference route identification information that identifies a reference route (D2) stored in the server in association with the same parking space as the vacant parking space is downloaded from the server (step 650); The vehicle automatically travels under automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route (step 655). It is structured as follows.

[0030] According to this aspect, the second vehicle is first automatically driven by the automatic route parking control along the reference passage travel path, which is the first path. Then, if an available parking space is detected while the second vehicle is traveling along the reference passage travel path, the second vehicle is automatically driven by the automatic route parking control along the reference route (second route) for the available parking space. Therefore, even if an available parking space cannot be identified when entering the parking lot, the second vehicle can be parked in the available parking space.

[0031] In one aspect, the first vehicle comprises: Obtain completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked, and upload the actual route identification information to the server in association with the completed parking space identification information (step 730); It is structured as follows.

[0032] The server The reference route is stored in association with the parking space identified by the completed parking space identification information associated with the uploaded actual route identification information (step 870).

[0033] The second vehicle is When the second vehicle is located in the first specific area of ​​the predetermined parking lot, reference route identification information is downloaded from the server to identify a reference route (first route D1, for example, the first reference route that is associated with the parking space farthest from the entrance point P1 and stored in the server) that is associated with the same parking space as the temporary parking space, which is one of the plurality of parking spaces that has been predetermined (step 635b); Automatic driving is started by automatic route parking control with the tentative reference route (first route, first reference route) that is the reference route specified by the downloaded reference route specification information as the target route (step 640), While the vehicle is automatically traveling under automatic route parking control with the provisional reference route as the target route, a vacant parking space is searched for among a plurality of parking spaces in the predetermined parking lot (step 645); When the vacant parking space is detected (step 645: Yes), reference route identification information that identifies a reference route (second route D2, second reference route) stored in the server in association with the same parking space as the vacant parking space is downloaded from the server (step 650); The vehicle automatically travels under automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route (step 655). It is structured as follows.

[0034] According to this aspect, the second vehicle is first automatically driven by automatic route parking control along a temporary reference route (first route, first reference route), which is one of the reference routes. Then, if an empty parking space (available parking space) is detected while the second vehicle is driving along the temporary reference route, the second vehicle is automatically driven by automatic route parking control along the reference route (second route, second reference route) for the empty parking space. Therefore, even if an empty parking space cannot be identified when entering a specified parking lot, the second vehicle can be parked in the empty parking space.

[0035] In one aspect, the first vehicle comprises: The system is configured to obtain completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked, and to associate the actual route identification information with the completed parking space identification information and upload it to the server (steps 605 and 615 in Figure 13, step 730 in Figure 7).

[0036] The server The reference route is stored in association with the parking space identified by the completed parking space identification information associated with the uploaded actual route identification information (step 870).

[0037] The second vehicle is When the second vehicle is located in the first specific area of ​​the predetermined parking lot, obtain vacant parking space identification information that identifies a vacant parking space among the plurality of parking spaces from a parking lot management device corresponding to the predetermined parking lot (step 1310); Downloading from the server reference route identification information that identifies a reference route stored in the server in association with the same parking space as the vacant parking space identified by the vacant parking space identification information (step 1340); The vehicle automatically travels under automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route (step 1350). It is structured as follows.

[0038] According to this aspect, the second vehicle acquires information specifying vacant parking spaces from the parking lot management device, acquires a reference route (optimal parking route) for one of the vacant parking spaces specified by the information specifying the vacant parking spaces from the server, and automatically drives according to the reference route using automatic route parking control. Therefore, the second vehicle does not need to search for vacant parking spaces while driving in the parking lot, and can smoothly park in a vacant parking space.

[0039] In one aspect, the first vehicle is configured to generate the actual route identification information using feature point information extracted from a vehicle surroundings image acquired by a camera (11-14) mounted on the first vehicle; The second vehicle is configured to automatically drive by the automatic route parking control based on feature point information extracted from vehicle surroundings images acquired by cameras (11-14) mounted on the second vehicle and reference route identification information downloaded from the server.

[0040] Furthermore, the first specific area is a predetermined surrounding area around a point where a three-dimensional structure (e.g., a sign, a landmark, etc.) indicating the entrance point of the parking lot is installed, the first vehicle is configured to recognize the three-dimensional structure based on the vehicle surroundings image, and generate the actual route identification information in association with a position of the recognized three-dimensional structure; The server is configured to generate the reference path in association with a position of the three-dimensional structure.

[0041] According to this aspect, the actual route identification information and the reference route identification information can be easily generated, and the second vehicle can be easily caused to travel along the reference route by the automatic route parking control.

[0042] In the above description, to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses for the configuration of the invention corresponding to those embodiments. However, each component of the present invention is not limited to the embodiments defined by the names and / or symbols. The present invention also extends to each of the "first vehicle, server, and second vehicle" that constitute the parking system, as well as to the parking method. [Brief explanation of the drawings]

[0043] [Figure 1] 1 is a schematic configuration diagram of a parking system including a vehicle and a cloud server according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing an example of a target parking lot to which the parking system shown in FIG. 1 is applied. [Figure 3] 2 is a diagram for explaining manual driving / parking route identification data acquired in an example of a target parking lot to which the parking system shown in FIG. 1 is applied. FIG. [Figure 4] FIG. 2 is a diagram showing an example of a manual driving and parking route acquired in an example of a target parking lot to which the parking system shown in FIG. 1 is applied. [Figure 5] 2 is a diagram showing a manual circulation route acquired in an example of a target parking lot to which the parking system shown in FIG. 1 is applied. FIG. [Figure 6] This is a routine executed by the CPU of the parking assistance ECU shown in FIG. [Figure 7] This is a routine executed by the CPU of the parking assistance ECU shown in FIG. [Figure 8] This is a routine executed by the cloud server shown in Figure 1. [Figure 9] This is a routine executed by the cloud server shown in Figure 1. [Figure 10] 1 is a diagram showing an example of a parking lot to which a first modified example of an embodiment of the present invention is applied, and examples of a first route and a second route. [Figure 11] 10 is a diagram showing an example of a parking lot to which a second modified example of an embodiment of the present invention is applied, and examples of a first route and a second route. FIG. [Figure 12] 10 is a routine executed by a CPU of an autonomous driving ECU according to a third modified example of the embodiment of the present invention. [Figure 13] 10 is a routine executed by a CPU of an autonomous driving ECU according to a fourth modified example of the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0044] <Configuration> As shown in FIG. 1, a parking system according to an embodiment of the present invention includes a data center 100 equipped with a vehicle HV and a cloud server (server) 101. The vehicle HV is referred to as a first vehicle or a second vehicle depending on its function. The vehicle HV may be any of a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor (i.e., an electric vehicle), a hybrid vehicle, etc. The vehicle HV is equipped with a vehicle control device DS (hereinafter referred to as "device DS").

[0045] The device DS includes a parking assistance ECU 10, a communication ECU 20, an automatic driving ECU 30, a navigation ECU 40, a power train ECU 50, a brake ECU 60, and a steering ECU 70.

[0046] In this specification, an "ECU" refers to an electronic control device (control unit) equipped with a microcomputer including a CPU (processor), ROM, RAM, writable non-volatile memory, an interface, and the like. An ECU is also referred to as a controller or a computer. The "multiple ECUs" are connected to each other via a CAN so that they can exchange information. Therefore, one ECU can acquire signals or information from devices (sensors, cameras, switches, etc.) connected to other ECUs via the CAN. Furthermore, some or all of these "multiple ECUs" may be integrated into a single ECU. For example, the parking assistance ECU 10 and the autonomous driving ECU 30 may be integrated into a single ECU (vehicle control ECU). In addition, any one of these "multiple ECUs" may be composed of multiple ECUs.

[0047] The parking assist ECU 10 is connected to a front camera 11, a rear camera 12, a right-side camera 13, a left-side camera 14, a plurality of (e.g., five) radar sensors 15, a plurality of (e.g., twelve) ultrasonic sensors 16, a parking assist switch 17, and a touch panel display 18 that displays touch buttons. The parking assist ECU 10 receives information (signals) from these devices and transmits information (signals) to them.

[0048] Each of the cameras 11-14 has a wide-angle lens. The front camera 11 captures a scene in front of the vehicle to obtain a wide-angle front image. The rear camera 12 captures a scene behind the vehicle to obtain a wide-angle rear image. The right side camera 13 captures a scene to the right of the vehicle to obtain a right wide-angle image. The left side camera 14 captures a scene to the left of the vehicle to obtain a left wide-angle image.

[0049] The parking assist ECU 10 receives wide-angle images captured by the cameras 11-14 and generates a vehicle surroundings image based on the wide-angle images. The vehicle surroundings image includes an overhead image of the vehicle and its surroundings, as well as an image of the direction in which the vehicle is traveling.

[0050] The parking assistance ECU 10 performs image analysis processing on the vehicle surroundings image to detect (extract and recognize) feature points of the "ground and / or three-dimensional structures" included in the vehicle surroundings image. The parking assistance ECU 10 groups the feature points for each three-dimensional structure, a group of patterns on the road surface, a group of lane markings on the road surface, etc. The parking assistance ECU 10 acquires, as feature point information, the "shape and / or pattern" represented by the grouped feature points and feature point position information that indicates the relative positional relationship between the grouped feature points and the vehicle HV.

[0051] The radar sensor 15 includes a "forward radar sensor, a front-left radar sensor, a front-right radar sensor, a rear-left radar sensor, and a rear-right radar sensor," none of which are shown in the figure. Each radar sensor uses millimeter-wave band radar to acquire and output target information including the distance between the vehicle and a three-dimensional object located around the vehicle, the relative speed of the three-dimensional object, and the orientation of the three-dimensional object.

[0052] The ultrasonic sensor 16 includes 12 ultrasonic sensors arranged around the vehicle. The ultrasonic sensors are sonar sensors that use ultrasonic waves to detect the distance to three-dimensional objects located around the vehicle.

[0053] The cameras 11-14, the radar sensor 15, and the ultrasonic sensor 16 are sensors that acquire information about the surroundings of the vehicle, and are therefore sometimes referred to as "vehicle surrounding sensors."

[0054] The parking assist switch 17 is a switch that is operated by a passenger (including the driver) of the vehicle HV who wishes to start or end parking assist control (automatic parking).

[0055] The touch panel display 18 (hereinafter referred to as "display 18") displays images in response to instructions from the parking assistance ECU 10, the autonomous driving ECU 30, the navigation ECU 40, etc. The images may include touch-type operation buttons that are operated (touch-operated) by the occupant.

[0056] In response to instructions from other ECUs including the parking assistance ECU 10, the communication ECU 20 exchanges data via wireless communication with external devices including a cloud server 101 in the data center 100 and a parking lot management device, which will be described later.

[0057] The autonomous driving ECU 30 receives signals from the lidar 31 and other sensors 32. The lidar 31 irradiates an object with laser light while scanning the object, and receives the laser light reflected by the object. The lidar 31 measures the time from when it starts irradiating the laser light to when it receives the reflected wave, thereby obtaining information about the position of the object and the distance to the object.

[0058] The other sensors 32 include a driving operation amount sensor that detects the amount of operation of the vehicle's driving operators (accelerator pedal, brake pedal, steering wheel, etc.), and sensors that detect the vehicle's running state (acceleration sensor, yaw rate sensor, etc.).

[0059] The autonomous driving ECU 30 executes autonomous driving control to automatically drive the vehicle HV along a driving route based on information such as Lidar 31, other sensors 32, and the current location of the vehicle HV.

[0060] The navigation ECU 40 is connected to a GPS receiver 41 and a map information storage device 42. The navigation ECU 40 acquires the current location of the vehicle HV, represented by latitude and longitude, based on a GPS signal (i.e., a signal from a positioning satellite) received by the GPS receiver 41. The navigation ECU 40 generates a driving route from the "current location of the vehicle" to the "destination point input by the user via the display 18" based on map information stored in the map information storage device 42. The navigation ECU 40 displays an image on the display 18 that includes an operation button for selecting either automated driving or manual driving. When an occupant (including the driver) operates the operation button to select manual driving, the navigation ECU 40 executes well-known route guidance based on the driving route and the current location of the vehicle HV. When the occupant operates the operation button to select automated driving, the navigation ECU 40 transmits information such as the current location of the vehicle, the driving route, and map information to the automated driving ECU 30.

[0061] The powertrain ECU 50 receives a signal indicating the position of a shift lever (not shown) from a shift position sensor 51. The powertrain ECU 50 controls a drive unit (e.g., an engine and / or a motor) 52 to change the torque generated by the drive unit, thereby controlling the driving force of the vehicle. The powertrain ECU 50 can also change the position of a shift lever (not shown) of the vehicle. Therefore, the powertrain ECU 50 can move the vehicle forward or backward at a required speed based on the user's driving operation or instructions from another ECU.

[0062] The brake ECU 60 receives a signal indicating the vehicle speed from a vehicle speed sensor 61. The brake ECU 60 controls the vehicle's braking device 62, thereby controlling the braking force applied to the vehicle. Therefore, the brake ECU 60 can apply a braking force to the vehicle to decelerate it based on the user's driving operation or an instruction from another ECU.

[0063] The steering ECU 70 receives a signal indicating the steering angle of the vehicle HV from a steering angle sensor 71. The steering ECU 70 drives a steering motor (not shown) to control the steering angle of the vehicle. Therefore, the steering ECU 70 can change the traveling direction of the vehicle based on the user's driving operation or instructions from another ECU.

[0064] The data center 100 includes a cloud server (server) 101. The cloud server 101 stores target parking lot information for parking lots to which this parking system is applicable (hereinafter referred to as "target parking lots"), as shown in Figures 2 and 11. The target parking lot information includes parking lot identification information that identifies the location of the target parking lot by latitude and longitude, target parking lot map information, parking lot entrance point information, and parking space point information.

[0065] The target parking lot map information is data showing an overhead view (map) of the target parking lot. This overhead view data includes information about lane markings and parking space markings within the target parking lot, information about the location of signs, and patterns painted on the road surface (for example, designs indicating crosswalks and no-entry areas).

[0066] The parking lot entrance point information is data that indicates, by latitude and longitude, the location of a "sign or landmark" (i.e., the entrance point P1 of the target parking lot), which is a three-dimensional structure that indicates the entrance of the target parking lot (sometimes referred to as the "first predetermined point" for convenience). Note that the first predetermined point P1 may be located at a position P1a that is away from an area that has multiple parking spaces, as shown in FIG. 2.

[0067] The parking space location information is data that represents, by latitude and longitude, the representative location (for example, the geometric center of gravity of each parking space) of each of the multiple parking spaces (in the example shown in Figure 2, parking space No. 1 to parking space No. 10) that the target parking lot has.

[0068] The cloud server 101 can exchange various information (data) described below with the vehicle HV (parking assistance ECU 10 of the vehicle HV) via the communication ECU 20 of the vehicle HV.

[0069] (Overview of operation) Conventional devices can associate specific parking spaces associated with a home, workplace, etc. with feature point information and store (register) them in advance as registered parking spaces. When a registered parking space is stored, the conventional device can automatically park a vehicle in the registered parking space by comparing feature point information actually obtained from an image of the vehicle's surroundings with feature point information associated with the registered parking space. For convenience, this "parking assistance control that automatically parks a vehicle in a registered parking space" without generating a new parking route is also referred to as "route memory type automatic parking control." Route memory type automatic parking control is well known and is described in detail in, for example, Japanese Patent No. 7176421 and Japanese Patent Laid-Open No. 2023-176547.

[0070] However, when parking a vehicle in a parking lot with many parking spaces (for example, a public parking lot such as a highway parking area or a service area) as shown in Fig. 2, it is not possible to store registered parking spaces in advance, and therefore it is not possible to park a vehicle in an available parking space in such a parking lot using route memory type automatic parking control.

[0071] Therefore, as shown in Figure 3, when the vehicle HV is manually driven by the occupant (driver) and parked in one of the parking spaces in the target parking lot (parking space No. 10 in the example of Figure 3), the device DS generates data that identifies the "driving / parking route" from the "first specific area determined by the entrance point (first predetermined point) P1 of the target parking lot" to the "parking space where the vehicle HV is parked." This data is called "manual driving / parking route identification data" or "actual route identification information." The route identified by the manual driving / parking route identification data is called the "manual driving / parking route" or "actual route." The parking space where the vehicle HV is manually parked is called the "manually parked space" or simply the "completed parking space." The manual driving / parking route is identified in association with the first predetermined point P1 (using the first predetermined point P1 as a reference).

[0072] The manual driving / parking route identification data is a set (collection) of feature point information obtained at each predetermined time interval during the period from when the vehicle HV reaches the first specific area determined by the entrance point P1 of the target parking lot to when it completes parking in the manual parking completion space (hereinafter referred to as the "driving period within the parking lot").

[0073] For example, as shown in Figure 3, when a vehicle HV is parked manually in parking space No. 10, the set of feature point information within each of dashed frames Im1 to Im9 is the manual driving / parking route identification data.

[0074] Then, when the vehicle has completed parking by manual driving into the manual parking completion space, the device DS associates the manual driving / parking path identification data (actual path identification information that identifies the actual path) with data that identifies the target parking lot (target parking lot information) and data that identifies the manual parking completion space (manual parking completion space identification information or parking completion space identification information) and transmits the data to the data center 100. In this example, the data that identifies the target parking lot is the latitude and longitude of the entrance point P1 of the target parking lot. The data that identifies the manual parking completion space is the latitude and longitude of the current location of the vehicle parked in the manual parking completion space. Furthermore, a vehicle equipped with the device DS that transmits (uploads) the manual driving / parking path identification data to the data center 100 corresponds to the "first vehicle" described above.

[0075] When the data center 100 receives the manual driving / parking path identification data transmitted from the vehicle HV, the cloud server 101 acquires (identifies) the manual driving / parking path (i.e., the actual path) of the vehicle HV on the map of the target parking lot based on the manual driving / parking path identification data and the target parking lot information. Figure 4 shows an example of the manual driving / parking path C1 acquired by the cloud server 101 in this way. Furthermore, the cloud server 101 associates the manual driving / parking path with the parking lot and the completed manual parking space identified by the target parking lot information and stores it in the non-volatile memory of the cloud server 101.

[0076] This data processing (transmission, reception, and storage) is performed every time the same or a different first vehicle is manually parked in a parking space in the target parking lot. As a result, the cloud server 101 stores in non-volatile memory multiple (a sufficient number equal to or greater than the threshold) manual driving and parking routes for each of all parking spaces in the target parking lot.

[0077] 5, when the vehicle HV travels from a first specific area determined by the entrance point P1 of the target parking lot through the closed circuit R to a second specific area determined by the circuit end point P4 without being parked, the device DS transmits (uploads) manual driving / parking path specification data representing the route (i.e., the actual circuit path or the manual circuit path) S to the data center 100 as manual circuit path specification data (i.e., actual circuit path specification information that specifies the actual circuit path). The manual circuit path is also specified in association with the first predetermined point P1 (using the first predetermined point P1 as a reference).

[0078] When the data center 100 receives the manual route specification data transmitted from the vehicle HV, the cloud server 101 acquires a manual route for the vehicle HV on the map of the target parking lot based on the manual route specification data and the target parking lot information. The cloud server 101 associates the manual route (i.e., the actual route) with the parking lot specified by the target parking lot information and stores it in the nonvolatile memory of the cloud server 101.

[0079] Such data processing (transmission, reception, and storage) is performed every time the same or a different first vehicle travels from the first specific area of ​​the target parking lot to the second specific area via the closed circuit R. As a result, the cloud server 101 stores multiple (a sufficient number equal to or greater than the threshold) manual closed circuit routes in non-volatile memory.

[0080] Once a sufficient number of manual driving and parking routes have been acquired for each of the parking spaces in the target parking lot, the cloud server 101 calculates and acquires an optimal parking route for each of the multiple parking spaces based on these manual driving and parking routes. The optimal parking route is also identified in association with a first predetermined point P1 (using the first predetermined point P1 as a reference). The cloud server 101 then associates data identifying the optimal parking route (optimal parking route identification data) with the corresponding target parking lot and the corresponding parking space and stores it in non-volatile memory. The optimal parking route is also referred to as a "reference route." Therefore, the data identifying the optimal parking route is also referred to as "reference route identification information identifying a reference route." The optimal parking route is also expressed using feature point information. The process of acquiring the optimal parking route is referred to as a "route optimization process or route correction process." The route optimization process is, for example, a process of averaging multiple manual driving and parking routes obtained for one parking space. The route optimization process will be described in detail later.

[0081] Similarly, once a sufficient number of manual circular routes have been acquired, the cloud server 101 calculates and acquires an optimal circular route based on those manual circular routes. More specifically, the cloud server 101 acquires the optimal circular route by performing a route optimization process on a sufficient number of manual circular routes. The cloud server 101 then associates data identifying the optimal circular route (optimal circular route identification data) with the target parking lot and stores it in non-volatile memory. The final circular route is also represented using feature point information and is identified in association with the first predetermined point P1 (using the first predetermined point P1 as a reference). The optimal circular route is also referred to as a "reference circular route." Therefore, the optimal circular route identification data that identifies the optimal circular route is also referred to as "identification information identifying the reference circular route."

[0082] When the optimal parking route for each parking space in any target parking lot Pn and the optimal round-trip route for the target parking lot Pn are stored in the non-volatile memory of the cloud server 101, the "storage and optimization of routes for the target parking lot Pn" in the cloud server 101 is completed. Once the "storage and optimization of routes for the target parking lot Pn" in the cloud server 101 is completed, the vehicle HV executes automatic route parking control using the "optimal round-trip route identification data and optimal parking route identification data" stored in the non-volatile memory of the cloud server 101. As a result, the vehicle HV can be automatically parked in a parking space in the target parking lot Pn.

[0083] That is, after the cloud server 101 has completed the "storage and optimization of routes for the target parking lot Pn," when the vehicle HV approaches the entrance point P1 of the target parking lot Pn (i.e., enters the first specific area) and the device DS recognizes the "three-dimensional structure indicating the entrance point P1" based on the image of the vehicle's surroundings, the device DS downloads (acquires) the "optimal circular route identification data and optimal parking route identification data" for the target parking lot Pn stored in the cloud server 101.

[0084] Then, the device DS automatically drives the vehicle HV by automatic route parking control along the optimal route specified by the downloaded "optimal route specification data (for convenience, also referred to as the "first reference route") and the optimal parking route specified by the optimal parking route specification data (for convenience, also referred to as the "second reference route"). As a result, the device DS automatically parks the vehicle HV in an available parking space in the target parking lot Pn. The vehicle HV that automatically drives by automatic route parking control using at least the optimal parking route corresponds to the above-mentioned "second vehicle."

[0085] More specifically, when the vehicle HV enters the first specific area defined by the entrance point P1 and the device DS recognizes a "three-dimensional structure indicating the entrance point P1" based on the image of the vehicle's surroundings, the device DS downloads optimal route identification data (reference route identification information that identifies the reference route) from the cloud server 101.

[0086] Thereafter, the device DS automatically drives the vehicle HV along the optimal circuit route by automatic route parking control using the optimal circuit route (reference circuit route) specified by the downloaded optimal circuit route specification data and the feature point information acquired as needed. In other words, the device DS executes automatic route parking control with the reference circuit route specified by the downloaded reference circuit route specification information as a target route, and drives the vehicle HV.

[0087] The device DS searches for an available parking space while the vehicle HV is traveling along the optimum circuit route. When the device DS detects an available parking space, it downloads from the cloud server 101 optimum parking path identification data (reference path identification information) that identifies the "optimum parking path for that available parking space." That is, the device DS downloads from the cloud server 101 the reference path identification information that identifies the reference path that is stored in the cloud server 101 in association with the same parking space as the available parking space.

[0088] Then, the device DS switches the target route of the automatic route parking control of the vehicle HV from the "optimum circular route" to the "optimum parking route (reference route) for the vacant parking space, specified by the optimum parking route specification data (reference route specification information)." That is, the device DS uses the optimum parking route and the feature point information acquired as needed to automatically drive the vehicle HV along the optimum parking route by automatic route parking control. As a result, the vehicle HV is automatically parked in the vacant parking space.

[0089] (Specific operation of the device DS) A CPU (not shown) of the parking assist ECU 10 executes the routines shown in the flowcharts of FIGS. 6 and 7 every time a predetermined time elapses.

[0090] 6, the CPU starts the process from step 600 and proceeds to step 605 to determine whether the current time is immediately after the vehicle HV equipped with the device DS entered the target parking lot Pn. More specifically, the CPU determines that the current time is "immediately after the vehicle HV entered the target parking lot Pn" when both the first and second conditions described below are met.

[0091] (Condition 1) The current location of the vehicle HV is located within a predetermined distance from the entrance point P1 of the target parking lot Pn. The latitude and longitude of the entrance point P1 of the target parking lot Pn are included in the map information stored in the map information storage device 42. (Condition 2) A three-dimensional structure (sign or landmark) indicating the entrance point P1 of the target parking lot Pn is extracted from the vehicle surroundings image. In other words, the vehicle surroundings image contains a "sign or landmark" similar to "either a sign or landmark indicating the entrance point P1 of the target parking lot Pn" that is pre-registered in the non-volatile memory of the parking assistance ECU 10 or in the map information. In other words, condition 2 is met when the vehicle HV is located within a first specific area in which a three-dimensional structure indicating the entrance point P1 can be recognized from the vehicle surroundings image.

[0092] If the current time is not "immediately after the vehicle HV enters the target parking lot Pn," the CPU determines "No" in step 605, proceeds directly to step 695, and temporarily ends this routine.

[0093] In contrast, if the current time is "immediately after the vehicle HV entered the target parking lot Pn," the CPU determines "Yes" in step 605 and proceeds to step 610, where it determines whether or not the "storage and optimization of the route for the target parking lot Pn" has been completed in the cloud server 101. That is, the CPU uses the communication ECU 20 to inquire of the cloud server 101 whether or not the "storage and optimization of the route for the target parking lot Pn" has been completed. The CPU then makes the determination in step 610 based on the response from the cloud server 101. More specifically, when the value of the optimization completion flag XC(Pn) for the target parking lot Pn transmitted from the cloud server 101 is "1," the CPU determines that the "storage and optimization of the route for the target parking lot Pn" has been completed (see step 880 in FIG. 8).

[0094] If the cloud server 101 has not completed the "storage and optimization of routes to the target parking lot Pn," the CPU determines "No" in step 610 and performs the "processing of steps 615 and 620" described below. After that, the CPU proceeds to step 695.

[0095] Step 615: The CPU starts acquiring feature point information for identifying the route of the manually driven vehicle HV and saving (storing) the feature point information in the non-volatile memory of the parking assistance ECU 10. This acquisition and saving of feature point information is frequently performed every time a predetermined time elapses until the vehicle HV is parked in a parking space in the target parking lot, or until the vehicle HV reaches the second specific area determined by the circuit end point P4 via the circuit R without being parked in the target parking lot.

[0096] Step 620: The CPU sets the value of the transmission flag XT to "1." Note that the value of the transmission flag XT is set to "0" by an initialization routine (not shown) executed by the CPU when a start switch (not shown, for example, an ignition key switch or a ready switch) of the vehicle HV is changed from the OFF position to the ON position.

[0097] At a predetermined timing, the CPU starts the process from step 700 in FIG. 7 and proceeds to step 710 to determine whether the value of the transmission flag XT is "1."

[0098] If the value of the transmission flag XT is "1," the CPU determines "Yes" in step 710 and proceeds to step 720, where it determines whether "parking by manual driving of the vehicle HV" in the "parking space (manual parking completed space) in the target parking lot Pn" has been completed. The CPU determines that "parking by manual driving of the vehicle HV" in the "parking space in the target parking lot Pn" has been completed when the current position of the vehicle HV is located in the target parking lot Pn (or the distance between the current position of the vehicle HV and the point identified by the parking space point information is within a predetermined distance), the vehicle speed is "0," and the shift position has been changed from a range other than the parking (P) range (for example, D range or R range) to the parking range.

[0099] If "parking by manual driving of the vehicle HV" into "a parking space in the target parking lot Pn" has been completed, the CPU determines "Yes" in step 720 and proceeds to step 730. In step 730, the CPU associates data specifying the manual driving / parking route (actual route) of the vehicle HV during its driving period in the parking lot (manual driving / parking route identification data, i.e., actual route identification information) with data specifying the target parking lot Pn and data consisting of latitude and longitude specifying the location of the manual parking completion space, and transmits (uploads) this data to the cloud server 101. As described above, the manual driving / parking route identification data of the vehicle HV is a "set of feature point information for identifying the manual driving / parking route of the vehicle HV" that has been acquired and saved during its driving period in the parking lot in step 615 of FIG. 6. The data consisting of latitude and longitude specifying the location of the manual parking completion space is the current location of the vehicle HV at the time when manual driving of the vehicle HV is completed.

[0100] Thereafter, the CPU proceeds to step 740 to set the value of the transmission flag XT to "0", and then proceeds to step 795 to temporarily end this routine.

[0101] Incidentally, when the CPU proceeds to step 720, if parking of the vehicle HV in a parking space in the target parking lot Pn has not been completed, the CPU determines "No" in step 720 and proceeds to step 750. In step 750, the CPU determines whether the vehicle HV has traveled from the "first specific area defined by the entrance point P1" of the target parking lot Pn through the circular route R to the "second specific area defined by the circular end point P4" without being parked in a parking space.

[0102] Furthermore, when the CPU recognizes, in order from the vehicle surroundings image, a three-dimensional structure (e.g., a sign) indicating the circuit entrance point P2, a three-dimensional structure (e.g., a sign) indicating the circuit exit point P3, and a three-dimensional structure (e.g., a sign) indicating the parking lot exit point (end point of the circuit) P4, it determines that the vehicle HV has traveled from the first specific area through the circuit R to the second specific area.

[0103] If the vehicle HV has traveled from the first specific area through the circular route R to the second specific area without being parked, the CPU determines “Yes” in step 750 and proceeds to step 760 .

[0104] In step 760, the CPU associates the "set of feature point information for identifying the manual driving / parking route of the vehicle HV (i.e., manual driving / parking route identification data acquired during this period)" that has been acquired and stored during the period from the time when the vehicle HV passes through the first specific area defined by the entrance point P1 of the target parking lot Pn to the time when it reaches the second specific area defined by the circumnavigation end point P4 as manual circumnavigation route identification data (actual circumnavigation route identification information that identifies the actual circumnavigation route) with the data that identifies the target parking lot Pn and transmits (uploads) this to the cloud server 101. The CPU then proceeds to step 740 and then to step 795.

[0105] If the vehicle HV has not traveled from the first specific area through the circular route R to the second specific area without being parked in a parking space, the CPU determines "No" in step 750 and proceeds directly to step 795.

[0106] Furthermore, when the CPU proceeds to step 710, if the value of the transmission flag XT is not "1", the CPU determines "No" in step 710 and proceeds directly to step 795.

[0107] In this manner, the manual driving / parking route specification data and the manual driving / parking route specification data are transmitted to the cloud server 101. As a result, the manual driving / parking route specification data and the manual driving / parking route specification data are gradually accumulated in the cloud server 101. Then, when the number of pieces of manual driving / parking route specification data and the number of pieces of manual driving / parking route specification data for all parking spaces in the target parking lot Pn reach a sufficiently large number of pieces of data equal to or greater than a predetermined threshold, the route optimization process described below is executed (see steps 860 and 870 in FIG. 8). This completes the "storage and optimization of the route for the target parking lot Pn" in the cloud server 101. At this time, the value of the optimization completion flag XC(Pn) for the target parking lot Pn is set to "1" (see step 880 in FIG. 8).

[0108] When the CPU proceeds to step 610 in FIG. 6 after "storing and optimizing routes for target parking lot Pn" in the cloud server 101 has been completed, the CPU determines "Yes" in step 610 and proceeds to step 625. In step 625, the CPU proposes automatic route parking to the occupants, including the driver, of the vehicle HV (second vehicle). Automatic route parking is automatic parking of a vehicle using automatic route parking control, and is automatic parking of the vehicle HV into a parking space using the "optimal route (reference route) and optimal parking route (reference route)" stored in the non-volatile memory of the cloud server 101 as target routes.

[0109] More specifically, in step 625, the CPU displays a message indicating that automatic route parking is available, an operation button for selecting automatic route parking, and an operation button for selecting manual parking on the display 18. Next, the CPU proceeds to step 630 and determines whether or not the use of automatic route parking has been selected by operating the operation button for selecting automatic route parking.

[0110] If the operation button for selecting manual parking is operated, the CPU determines "No" in step 630, proceeds directly to step 695, and temporarily ends this routine.

[0111] In contrast, if the operation button for selecting automatic route parking is operated, the CPU determines "Yes" in step 630 and proceeds to step 635. In step 635, the CPU transmits a download request for the first route (in this example, the reference circular route which is the optimum circular route) to the cloud server 101 together with data identifying the target parking lot Pn (parking lot identification information). As a result, the CPU downloads data identifying the optimum circular route for the target parking lot Pn (i.e., reference circular route identification information identifying the reference circular route stored in the cloud server 101 in association with the target parking lot Pn) from the cloud server 101 as "data identifying the first route."

[0112] Next, the CPU proceeds to step 640, where it automatically drives the vehicle HV using automatic route parking control so that the vehicle HV moves along the optimal route (first route). That is, the CPU automatically drives the vehicle HV so that feature point information acquired from time to time based on vehicle surroundings images matches feature point information represented by the optimal route. While the vehicle HV is being driven in this manner, the CPU searches for an "available parking space (empty parking space)" where the vehicle HV can be parked, based on information from the vehicle surroundings sensors (cameras 11-14, radar sensor 15, and ultrasonic sensor 16).

[0113] Next, the CPU proceeds to step 645 to determine whether an empty parking space is detected.

[0114] If an empty parking space is detected, the CPU determines "Yes" in step 645 and sequentially performs the processes of "step 650 and step 655" described below. After that, the CPU proceeds to step 695 and temporarily ends this routine.

[0115] Step 650: The CPU transmits a download request for an optimal parking route for the detected vacant parking space (a reference route for the vacant parking space, which is the second route) to the cloud server 101 in association with data identifying the target parking lot Pn (parking lot identification information) and data identifying the detected vacant parking space (vacant parking space identification information).The CPU then downloads data identifying the optimal parking route for the detected vacant parking space in the target parking lot Pn (i.e., reference route identification information identifying the reference route stored in the cloud server 101 in association with the same parking space as the detected vacant parking space) from the cloud server 101 as "data identifying the second route."

[0116] In step 650, the CPU may transmit a download request for an optimal parking route for the detected vacant parking space (a reference route for the vacant parking space, which is the second route) to the cloud server 101 in association with only data identifying the detected vacant parking space (vacant parking space identification information). In this case, the cloud server 101 also transmits data identifying the optimal parking route for the detected vacant parking space (i.e., reference route identification information that identifies the reference route stored in the cloud server 101 in association with the same parking space as the detected vacant parking space) to the vehicle HV as "data identifying the second route."

[0117] Step 655: The CPU automatically drives the vehicle HV using automatic route parking control with the optimal parking route (second route) specified by the downloaded data specifying the optimal parking route as the target route so that the vehicle HV moves along the optimal parking route. That is, the CPU automatically drives the vehicle HV so that feature point information acquired at any time based on the vehicle surroundings image matches the feature point information represented by the optimal parking route. As a result, the vehicle HV is automatically parked in the detected vacant parking space.

[0118] On the other hand, if no vacant parking space is detected, the CPU determines "No" in step 645 and proceeds to step 660 to determine whether the vehicle HV has reached the vicinity of the end point of the first route. That is, the CPU determines whether the vehicle HV has traveled from the first specific area defined by the entrance point P1 of the target parking lot Pn through the closed loop R to the second specific area defined by the closed loop end point P4 without being parked. The second specific area is the area near the closed loop end point P4. If the vehicle HV has not reached the second specific area, the CPU determines "No" in step 660 and returns to step 640. As a result, the vehicle HV continues to be automatically driven by automatic route parking control along the optimal closed loop route (first route).

[0119] If there is no available parking space, the CPU continues to determine "No" in step 645 while the vehicle HV is traveling from the first specific area of ​​the target parking lot Pn to the second specific area via the circular route R. Then, when the vehicle HV reaches the second specific area, the CPU determines "Yes" in step 660 and proceeds to step 665.

[0120] The CPU performs a well-known handover process in step 665 to switch the driving of the vehicle HV from driving by automatic route parking to manual driving by a passenger (including the driver). Thereafter, the CPU proceeds to step 695.

[0121] (Specific operation of cloud servers) The cloud server 101 (also simply referred to as the "server") executes the routine shown in the flowcharts of FIGS. 8 and 9 every time a predetermined time elapses.

[0122] Therefore, at a predetermined timing, the server starts processing from step 800 in FIG. 8 and proceeds to step 810, where it determines whether it has received an inquiry as to whether the accumulation and optimization of the route for the target parking lot Pn has been completed.

[0123] If an inquiry as to whether or not the storage and optimization of the route for the target parking lot Pn has been completed has not been received, the server determines "No" in step 810 and proceeds directly to step 830.

[0124] If an inquiry has been received as to whether route storage and optimization for the target parking lot Pn has been completed, the server determines "Yes" in step 810 and proceeds to step 820. In step 820, the server transmits an optimization completion flag XC(Pn) for the target parking lot Pn to the vehicle HV that made the inquiry. The server then proceeds to step 830.

[0125] The server determines whether manual driving / parking route identification data (actual route identification information) has been received from the vehicle HV in step 830. If manual driving / parking route identification data has not been received from the vehicle HV, the server determines "No" in step 830, proceeds directly to step 895, and temporarily ends this routine.

[0126] On the other hand, if manual driving / parking route identification data has been received from the vehicle HV, the server determines "Yes" in step 830 and proceeds to step 840 to determine whether the optimization completion flag XC(Pn) for the target parking lot Pn is "0." In other words, the server determines whether the accumulation and optimization of the route for the target parking lot Pn is incomplete.

[0127] If the optimization completion flag XC(Pn) of the target parking lot Pn is "1" (i.e., if the accumulation and optimization of the route for the target parking lot Pn has been completed), the server judges "No" in step 840, proceeds directly to step 895, and temporarily terminates this routine.

[0128] On the other hand, if the optimization completion flag XC(Pn) of the target parking lot Pn is "0" (i.e., if the accumulation and optimization of the route for the target parking lot Pn has not been completed), the server judges "Yes" in step 840 and proceeds to step 850.

[0129] In step 850, the server performs the first and second processes described below.

[0130] First process: When the manual driving / parking route identification data transmitted from the vehicle HV is associated with data indicating the location of the manual parking completion space (parking completion space identification information) and data identifying the target parking lot Pn (parking lot identification information), the server acquires (identifies) the manual driving / parking route (actual route) of the vehicle HV on the map of the target parking lot Pn based on the manual driving / parking route identification data and the target parking lot information of the target parking lot Pn. Furthermore, the server associates the acquired manual driving / parking route (actual route) with the target parking lot Pn and the parking space corresponding to the manual parking completion space, and stores (accumulates) it in non-volatile memory.

[0131] Second process: If the manual driving / parking route specification data transmitted from the vehicle HV is transmitted as manual circumnavigation route specification data (actual circumnavigation route specification information), the server acquires (specifies) the manual circumnavigation route (actual circumnavigation route) for the target parking lot Pn based on the manual driving / parking route specification data and the target parking lot information for the target parking lot Pn. The server then associates the acquired manual circumnavigation route (actual circumnavigation route) with the target parking lot Pn and stores (accumulates) it in non-volatile memory.

[0132] Next, the server proceeds to step 860 and determines whether a sufficient number of manual driving / parking routes for the target parking lot Pn have been stored. More specifically, the server determines whether "a sufficient number of manual driving / parking routes have been stored for each of all parking spaces in the target parking lot Pn, and a sufficient number of manual circular routes for the target parking lot Pn have been stored."

[0133] If a sufficient number of manual driving / parking routes for the target parking lot Pn have not been stored, the server determines "No" in step 860, proceeds directly to step 895, and temporarily ends this routine.

[0134] On the other hand, if a sufficient number of manual driving / parking routes for the target parking lot Pn have been accumulated, the server judges "Yes" in step 860, performs the processing of "step 870 and step 880" described below in order, proceeds to step 895, and temporarily ends this routine.

[0135] Step 870: The server performs route optimization processing on the accumulated "manual driving and parking routes for each of all parking spaces in the target parking lot Pn" to obtain an optimal parking route (reference route) for each parking space. Furthermore, the server associates the obtained optimal parking route with the target parking lot Pn and the corresponding parking space and stores it in non-volatile memory. Similarly, the server performs route optimization processing on the accumulated "manual circular route for the target parking lot Pn" to obtain an optimal circular route. The server then associates this optimal circular route with the target parking lot Pn and stores it in non-volatile memory. The route optimization processing will be described later.

[0136] The server may transfer the uploaded actual route identification information to another computer, which may then generate the reference route and reference roundabout route based on the actual route identified by the actual route identification information, and the server may receive the reference route and reference roundabout route from that computer. Additionally, the server may store the reference route and reference roundabout route in another storage device in step 870. In this case, the server acquires the reference route and reference roundabout route from the other storage device and transmits them to the vehicle HV in steps 930 and 940, which will be described later. The same applies to the reference path travel route, which will be described later.

[0137] Step 880: The server sets the value of the optimization completion flag XC(Pn) for the target parking lot Pn to 1. The value of the optimization completion flag XC(Pn) is stored in the non-volatile memory of the server.

[0138] 9, the server starts processing from step 900 and proceeds to step 910 to determine whether or not it has received a download request for the first route (here, the reference route, which is the optimal route) to the target parking lot Pn from the vehicle HV (see step 635). If it has not received a download request for the first route, the server determines "No" in step 910 and proceeds directly to step 930.

[0139] On the other hand, if a download request for the first route has been received, the server determines "Yes" in step 910 and proceeds to step 920. In step 920, the server transmits (downloads) data (reference route identification information that identifies the reference route) that identifies the first route (the reference route that is the optimal route) for the target parking lot Pn to the vehicle HV that made the download request. Thereafter, the server proceeds to step 930.

[0140] In step 930, the server determines whether or not it has received a request from the vehicle HV to download a "second route (optimal parking route) for an available parking space detected in the target parking lot Pn" (see step 650). If it has not received a request to download the second route (optimal parking route), the server determines "No" in step 930, proceeds directly to step 995, and temporarily ends this routine.

[0141] On the other hand, if a download request for the second route (optimal parking route) has been received, the server determines "Yes" in step 930 and proceeds to step 940. In step 940, the server transmits (downloads) data identifying "the second route (optimal parking route) stored in association with the same parking space as the vacant parking space detected in the target parking lot Pn" (reference route identification information identifying the reference route stored in association with the same parking space as the vacant parking space) to the vehicle HV that made the download request. After that, the server proceeds directly to step 995 and temporarily ends this routine.

[0142] (Route optimization processing) The route optimization process performed in step 870 of Fig. 8 includes, for example, the process described below. Note that, although the route optimization process performed for a manual driving / parking route for a parking space will be described below, the route optimization process performed for a manual circular route is similar to the process described below.

[0143] Route optimization process 1: A process that averages a sufficient number of accumulated manual driving and parking routes for a given parking space and obtains the averaged route as the optimal parking route. Route optimization process 2: A process that finds the most frequently used route based on a sufficient number of accumulated manual driving and parking routes for a given parking space, and obtains this route as the optimal parking route.

[0144] Route optimization process 3: A process of obtaining the route with the largest minimum radius of curvature included in each manual driving / parking route from a sufficient number of accumulated manual driving / parking routes for a given parking space as the optimal parking route. Route optimization process 4: From a sufficient number of accumulated manual driving and parking routes for a given parking space, the minimum distance between the vehicle HV and the characteristic points on each manual driving and parking route is calculated, and the route with the largest minimum value is obtained as the optimal parking route. Route optimization process 5: A process of obtaining the optimal parking route from a sufficient number of accumulated manual driving and parking routes for a given parking space, with the route containing the longest total straight line length.

[0145] As described above, according to the parking system of the embodiment, an optimal circuit path (reference circuit path) and an optimal parking path (reference path) are acquired from big data of the actual path (manual driving / parking path) obtained from the vehicle HV (vehicle functioning as the first vehicle), and the vehicle HV (vehicle functioning as the second vehicle) automatically drives based on these paths using automatic route parking control. Therefore, the vehicle HV can be automatically parked in one of multiple parking spaces in a parking lot having multiple parking spaces using automatic route parking control.

[0146] Furthermore, according to the device DS, the vehicle HV is first automatically driven from the first specified area along a first route (in this example, a reference route that is the optimal route) by automatic route parking control, with the first route as the target route. Then, if an available parking space is detected while the vehicle HV is driving along the first route, the vehicle HV is automatically driven along a second route (in this example, a reference route that is the optimal parking route) to the available parking space by automatic route parking control, with the second route as the target route. Therefore, even if an available parking space cannot be identified when the vehicle HV enters a specified target parking lot, the vehicle HV can be parked in the available parking space.

[0147] Note that the processing of steps 610 and 625 in FIG. 6 may be executed when the vehicle HV functioning as the second vehicle enters a predetermined range (in other words, a predetermined range corresponding to the first specific area) within a predetermined distance from the parking lot entrance point (a point represented by the latitude and longitude specified by the parking lot entrance point information) of the target parking lot Pn set as the destination point. That is, the processing of steps 610 and 625 may be executed when the vehicle HV enters a predetermined range wider than the first specific area. In this case, if the cloud server 101 has not completed the "storage and optimization of routes for the target parking lot Pn," the CPU proceeds directly to step 615 if it determines "Yes" in step 605. If the "storage and optimization of routes for the target parking lot Pn" has been completed, the CPU proceeds to step 630 if it determines "Yes" in step 605. That is, when the vehicle HV functioning as the second vehicle enters a predetermined range corresponding to the first specific area, the CPU proposes the use of automatic route parking, and if the proposal is selected, it allows the start of automatic route parking control. Then, if the start of the automatic path parking control is permitted, the automatic path parking control is started when the vehicle HV functioning as the second vehicle enters the first specific area.

[0148] <First Modification> The first modified example of the device DS uses a reference path travel path (for example, see the reference path travel path E1 in FIG. 10) as the first path instead of the reference circuit path.

[0149] That is, the first modified example is applicable to parking lots that do not have a circular road, as shown in Fig. 10. In this case, when the CPU of the vehicle HV functioning as the first vehicle proceeds to step 750 in Fig. 7, it determines whether the vehicle HV has traveled along the passage TR of the target parking lot Pn from the "first specific area determined by the entrance point P1" of the target parking lot Pn to the "third specific area determined by the exit point P5" of the target parking lot Pn without being parked.

[0150] If the vehicle HV has traveled from the first specific area through the passage TR to the third specific area without being parked, the CPU determines “Yes” in step 750 and proceeds to step 760 .

[0151] In step 760, the CPU associates the "set of feature point information for identifying the manual driving / parking route of the vehicle HV" that has been acquired and stored by the processing of step 615 of Figure 6 during the period from the time when the vehicle HV passes through the first specific area defined by the entrance point P1 of the target parking lot Pn to the time when it reaches the third specific area defined by the exit point P5, with the data that identifies the target parking lot Pn, as "actual aisle driving route identification information that identifies the actual aisle driving route," and transmits (uploads) this to the cloud server 101. The CPU then proceeds to step 740, and then to step 795.

[0152] In step 850 of FIG. 8, the server executes the third process described below in addition to the first process described above.

[0153] Third process: If the manual driving / parking route identification data transmitted from the vehicle HV is transmitted as actual route identification information that identifies an actual route, the server acquires (identifies) the actual route for the target parking lot Pn based on the actual route identification information and the target parking lot information for the target parking lot Pn. The server then associates the acquired actual route with the target parking lot Pn and stores (accumulates) it in non-volatile memory.

[0154] In step 860, the server determines whether a sufficient number of manual driving / parking routes (actual routes) and a sufficient number of actual aisle traveling routes have been accumulated for the target parking lot Pn. If the server determines "Yes" in step 860, it sequentially performs the processes of "steps 870 and 880," proceeds to step 895, and temporarily ends this routine. In step 870, the server acquires and stores the above-mentioned optimal parking route (reference route) for each parking space, and also performs the above-mentioned route optimization process on the accumulated "actual aisle traveling routes for the target parking lot Pn" to acquire the optimal aisle traveling route as the reference aisle traveling route. The server then associates this optimal aisle traveling route (reference aisle traveling route) with the target parking lot Pn and stores it in non-volatile memory.

[0155] Furthermore, when the operation button for selecting automatic route parking is operated by a vehicle occupant (including the driver), the CPU of the vehicle HV functioning as the second vehicle determines "Yes" in step 630 of FIG. 6 and proceeds to step 635a. In step 635a, the CPU transmits a download request for the first route to the cloud server 101 together with data identifying the target parking lot Pn (parking lot identification information). As a result, the server determines "Yes" in step 910 of FIG. 9 and proceeds to step 920. In step 920, the server transmits (downloads) data identifying a reference passage driving route (optimal passage driving route) as the first route for the target parking lot Pn (reference passage driving route identification information that identifies the reference passage driving route) to the vehicle HV that made the download request. As a result, the server proceeds to step 930. In other words, the CPU of the vehicle HV functioning as the second vehicle downloads the reference passage driving route information from the cloud server 101 as data identifying the first route for the target parking lot Pn in step 635a of FIG. 6.

[0156] The CPU then proceeds to step 640, where it automatically drives the vehicle HV using automatic route parking control with the first route (in this example, the reference path travel route specified by the reference path travel route information) as the target route so that the vehicle HV moves along the first route. At the same time, the CPU starts searching for an available parking space.

[0157] 10, parking space PS3 and parking space PS9 are vacant parking spaces. Therefore, while the vehicle HV is traveling according to automatic route parking control along the reference path travel route E1, which is the first route, parking space PS3 is detected as a vacant parking space before parking space PS9.

[0158] 6, and proceeds to step 650. In step 650, the CPU transmits a download request for a second route, which is an optimal parking route for the detected vacant parking space (in this example, parking space PS3), to the cloud server 101 in association with "data identifying the target parking lot Pn" and "data identifying the detected vacant parking space (in this example, parking space PS3) (vacant parking space identification information)." The CPU then downloads data identifying the optimal parking route (reference route as the second route, i.e., the second reference route) D2 for the detected vacant parking space (in this example, parking space PS3) in the target parking lot Pn as "data identifying the second route (second reference route identification information, which is reference route identification information)."

[0159] Next, the CPU proceeds to step 655, where it automatically drives the vehicle HV using automatic route parking control with the second route (reference route D2) as the target route so that the vehicle HV moves along the second route. That is, the CPU switches the target route used by the automatic route parking control from the reference passage travel route E1, which is the first route, to the reference route D2, which is the second route. As a result, the vehicle HV is automatically parked in parking space PS3, which is an empty parking space.

[0160] If no vacant parking space is detected while the vehicle HV is traveling automatically along the first route (reference path traveling route E1), the CPU determines "No" in step 645 and proceeds to step 660. In step 660, the CPU determines whether the vehicle HV has reached the vicinity of the end point of the first route (i.e., the vicinity of the end point of the reference path traveling route E1, which in this case is the third specific area determined by the exit point P5 of the parking lot Pn). If the vehicle HV has not reached the vicinity of the end point of the first route, the CPU returns from step 660 to step 640. If the vehicle HV has reached the vicinity of the end point of the first route, the CPU proceeds from step 660 to step 665.

[0161] As described above, according to the first modification, when the vehicle HV enters the target parking lot Pn, it is automatically driven by automatic route parking control using the reference passage driving route instead of the reference circular route used in the above embodiment. Therefore, the first modification can also be used in parking lots that do not have a circular route.

[0162] <Second Modification> The second modified example of the device DS uses, as the first route, a temporary reference route that is a reference route for a predetermined parking space (a temporary parking space that is a predetermined parking space) instead of the reference circuit route or the reference passage travel route. More specifically, the device DS according to the second modified example differs from the device DS according to the embodiment in that the CPU of the parking assistance ECU 10 of the vehicle HV that functions as the second vehicle executes a routine in which step 635 shown in FIG. 6 is replaced with step 635b shown in FIG. 6. This difference will be explained below.

[0163] When the operation button for selecting automatic route parking is operated by a vehicle occupant (including the driver), the CPU determines "Yes" in step 630 of FIG. 6 and proceeds to step 635b. In step 635b, the CPU transmits a download request for the first route to the cloud server 101 together with data identifying the target parking lot Pn (parking lot identification information). As a result, the server determines "Yes" in step 910 of FIG. 9 and proceeds to step 920. In step 920, the server transmits (downloads) to the vehicle HV that made the download request data (reference route identification information that identifies the reference route) that identifies, as the first route for the target parking lot Pn, the optimal parking route (tentative reference route that is a reference route) D1 for a predetermined parking space PS10 (a temporary parking space that is one of the multiple parking spaces that the target parking lot Pn has) that is farthest from the entrance point P1 of the parking lot Pn shown in FIG. 11. The reference route identification information that identifies the reference route then proceeds to step 930. As a result, the CPU of the vehicle HV functioning as the second vehicle downloads, in step 635b of Figure 6, reference route identification information from the cloud server 101 that identifies a reference route to a specified parking space PS10 (temporary parking space) as the first route of the target parking lot Pn.

[0164] 6, the CPU automatically controls the vehicle HV to travel along the first route (temporary reference route) D1 using automatic route parking control with the first route as the target route. At the same time, the CPU starts searching for an available parking space.

[0165] 11, parking space PS3 and parking space PS10 are vacant parking spaces. Therefore, while the vehicle HV is traveling along the first route under automatic route parking control, parking space PS3 is detected as a vacant parking space before parking space PS10.

[0166] 6, and proceeds to step 650. In step 650, the CPU transmits a download request for the second route, which is the optimal parking route (reference route) for the detected vacant parking space (in this example, parking space PS3), to the cloud server 101 in association with "data identifying the target parking lot Pn" and "data identifying the detected vacant parking space (in this example, parking space PS3) (vacant parking space identification information)." The CPU then downloads data identifying the reference route (second route, second reference route) D2, which is the optimal parking route for the detected vacant parking space (in this example, parking space PS3) in the target parking lot Pn, from the cloud server 101 as "data identifying the second route (reference route identification information identifying the reference route, i.e., second reference route identification information)."

[0167] Next, the CPU proceeds to step 655, where the vehicle HV is automatically driven by automatic route parking control with the second route (optimal parking route D2) as the target route so that the vehicle HV moves along the second route. That is, the CPU switches the target route used by the automatic route parking control from the first route, the optimal parking route D1, to the second route, the optimal parking route D2.

[0168] If no vacant parking space is detected while the vehicle HV is autonomously driving along the first route, the CPU determines "No" in step 645 and proceeds to step 660. In step 660, the CPU determines whether the vehicle HV has reached the vicinity of the end point of the first route (the area near the end point of the first route, i.e., the fourth specific area shown in FIG. 11). If the vehicle HV has not reached the vicinity of the end point of the first route, the CPU returns from step 660 to step 640. If the vehicle HV has reached the vicinity of the end point of the first route, the CPU proceeds from step 660 to step 665.

[0169] As described above, according to the second modification, when the vehicle HV enters the target parking lot Pn, it is automatically driven by automatic route parking control using a temporary reference route, which is, for example, the optimal parking route D1 for the parking space PS10 (temporary parking space) that is farthest from the entrance point P1 of the parking lot, instead of the optimal circular route used in the above embodiment. Therefore, the second modification can also be used in parking lots that do not have a circular route.

[0170] The temporary parking space does not have to be the parking space farthest from the entrance point P1 of the parking lot. For example, the temporary parking space may be the nth parking space from the entrance point P1 of the parking lot, and if an available parking space is not detected during automatic driving using automatic path parking control with the temporary reference path for that temporary parking space as the target path, the temporary parking space may be changed to the (n+m)th parking space from the entrance point P1, and an available parking space may be searched for while the vehicle HV is automatically driving using automatic path parking control with the temporary reference path for that new temporary parking space as the target path. In other words, the temporary parking spaces may be changed sequentially in this manner.

[0171] <Third Modification> The third modified example of the device DS differs from the device DS according to the embodiment only in that the CPU of the parking assistance ECU 10 executes the routine shown in the flowchart of Fig. 12 instead of the routine shown in Fig. 6. This difference will be explained below. Note that steps shown in Fig. 12 that perform the same processing as the steps shown in Fig. 6 are assigned the same reference numerals as the steps shown in Fig. 6. Explanation of these steps will be omitted as appropriate.

[0172] If the cloud server 101 has completed "storing and optimizing routes for the target parking lot Pn," the CPU determines "Yes" in step 610 of FIG. 12 and proceeds to step 1210 of FIG.

[0173] In step 1210, the CPU displays a message indicating that automatic route parking will be performed and an operation button for prohibiting (not using) automatic route parking on the display 18. Next, the CPU proceeds to step 1220 and determines whether the operation button for prohibiting automatic route parking has been operated.

[0174] If the operation button for prohibiting automatic route parking has not been operated, the CPU determines "No" in step 1220 and proceeds to step 635 and subsequent steps. As a result, automatic route parking is executed.

[0175] In contrast, if the operation button prohibiting automatic route parking is operated, the CPU determines "Yes" in step 1220, proceeds directly to step 1295, and temporarily ends this routine. Therefore, in this case, automatic route parking is not executed. Note that if the CPU determines "Yes" in step 1220 in a situation where the vehicle HV is being automatically driven by the automatic driving ECU 30 to the destination point input by the user (the point specified by the latitude and longitude of the target parking Pn specified by the parking lot specification information), it may proceed to step 665.

[0176] As explained above, in the third modified example, automatic route parking is automatically started unless the occupant indicates their intention to prohibit (not use) the start of automatic route parking. Therefore, the occupant does not need to perform any action to perform automatic route parking, and therefore the occupant can use automatic route parking more easily.

[0177] The processing of steps 610 and 1210 in FIG. 12 may be executed when the vehicle HV functioning as the second vehicle enters a predetermined range (in other words, a predetermined range corresponding to the first specific area) within a predetermined distance from the parking lot entrance point (a point represented by the latitude and longitude specified by the parking lot entrance point information) of the target parking lot Pn set as the destination point. That is, the processing of steps 610 and 1210 in FIG. 12 may be executed when the vehicle HV enters a predetermined range wider than the first specific area. In this case, if the cloud server 101 has not completed the "storage and optimization of the route for the target parking lot Pn," the CPU proceeds directly to step 615 in FIG. 12 if it determines "Yes" in step 605 in FIG. 12. If the "storage and optimization of the route for the target parking lot Pn" has been completed, the CPU proceeds to step 1220 in FIG. 12 if it determines "Yes" in step 605 in FIG. That is, when the vehicle HV functioning as the second vehicle enters a predetermined range corresponding to the first specific area, the CPU notifies the vehicle that automatic route parking will begin, and allows the automatic route parking control to begin unless the use of automatic route parking is prohibited. Then, if the start of automatic route parking control is allowed, the CPU starts automatic route parking control when the vehicle HV functioning as the second vehicle enters the first specific area.

[0178] <Fourth Modification> The fourth modified example of the device DS differs from the device DS according to the embodiment only in that the CPU of the parking assist ECU 10 executes the routine shown in the flowchart of Fig. 13 instead of the routine shown in Fig. 6. This difference will be explained below. Note that steps shown in Fig. 13 that perform the same processing as the steps shown in Fig. 6 are assigned the same reference numerals as the steps shown in Fig. 6. Explanation of these steps will be omitted as appropriate.

[0179] If the operation button for selecting automatic route parking is operated, the CPU determines "Yes" in step 630 of FIG. 13 and proceeds to step 1310 of FIG.

[0180] In this modification, the parking lot management device 150 shown in FIG. 1 is installed near the entrance point P1 of the target parking lot Pn. The parking lot management device 150 includes a communication device (not shown) and multiple vehicle detection sensors (not shown). Each of the multiple vehicle detection sensors is installed in each parking space within the target parking lot Pn and detects whether a vehicle is parked in that parking space. The parking lot management device 150 acquires information identifying vacant parking spaces within the target parking lot Pn based on signals from the multiple sensors. The parking lot management device 150 may acquire satellite photos of the target parking lot Pn from a satellite, or may acquire photos taken by a camera installed on top of a drone or a steel tower, and acquire information identifying vacant parking spaces within the target parking lot Pn based on those photos. Furthermore, the parking lot management device 150 may be located at a location remote from the target parking lot Pn.

[0181] In step 1310, the CPU acquires information identifying an empty parking space in the target parking lot Pn (empty parking space identification information) from the parking lot management device 150 corresponding to the target parking lot Pn via the communication ECU 20. Next, the CPU proceeds to step 1320, where it determines whether or not an empty parking space exists in the target parking lot Pn based on the information acquired from the parking lot management device 150.

[0182] If there is no vacant parking space in the target parking lot Pn, the CPU determines "No" in step 1320, proceeds directly to step 1395, and temporarily ends this routine.

[0183] In contrast, if a vacant parking space exists in the target parking lot Pn, the CPU determines "Yes" in step 1320 and proceeds to step 1330. In step 1330, the CPU selects one of the vacant parking spaces in the target parking lot Pn as the target parking space based on the information identifying the vacant parking space obtained from the parking lot management device 150 and a predetermined rule. This predetermined rule, for example, is a rule that selects the vacant parking space with the shortest straight-line distance from the entrance point P1 of the target parking lot Pn as the target parking space. Alternatively, the predetermined rule may be a rule that, when parking spaces in the target parking lot Pn are assigned sequential numbers, selects the vacant parking space with the smallest number as the target parking space. In addition, the predetermined rule may be a different rule. Furthermore, the process of selecting one of the vacant parking spaces as the target parking space may be performed by the parking lot management device 150, or may be a process of presenting vacant parking spaces to the occupant of the vehicle HV using the display 18 and allowing the occupant of the vehicle HV to select one of the vacant parking spaces.

[0184] Next, the CPU proceeds to step 1340 and transmits to the cloud server 101 a download request for an optimal parking path (reference path) for the target parking space selected in step 1330, in association with data identifying the target parking space Pn (parking space identification information) and data identifying an empty parking space (empty parking space identification information). The CPU then downloads from the cloud server 101 data identifying the optimal parking path for the target parking space (i.e., reference path identification information identifying a reference path stored in the cloud server 101 in association with the same parking space as the empty parking space identified by the empty parking space identification information). Note that in step 1340, the CPU may transmit to the cloud server 101 a download request for an optimal parking path (reference path) for the target parking space selected in step 1330 in association with only the "data identifying an empty parking space (empty parking space identification information)." In this case as well, the CPU can download from the cloud server 101 reference path identification information identifying a reference path stored in the cloud server 101 in association with the same parking space as the empty parking space identified by the empty parking space identification information.

[0185] Next, the CPU proceeds to step 1350, where it automatically drives the vehicle HV using automatic route parking control with the optimal parking route specified by the downloaded optimal parking route (reference route) as the target route so that the vehicle HV moves along the optimal parking route. That is, the CPU automatically drives the vehicle HV so that feature point information acquired at any time based on vehicle surroundings images matches the feature point information represented by the optimal parking route. As a result, the vehicle HV is automatically parked in an available parking space.

[0186] As described above, in the fourth modified example, information about vacant parking spaces in the target parking lot Pn is acquired from the parking lot management device 150. Therefore, the parking assistance ECU 10 according to the fourth modified example can omit the process of searching for vacant parking spaces while driving the vehicle HV along the first route, as in the above embodiment and the first to third modified examples.

[0187] The present invention is not limited to the above-described embodiment and modifications, and various modifications including those described below can be adopted within the scope of the present invention.

[0188] (Fifth Modification) The parking system may use "actual route, actual circuit route, actual passage driving route, reference route, reference circuit route, reference passage driving route, etc." that are set for each vehicle class (large vehicle, small vehicle, light passenger car, etc.) that indicates the size of the vehicle in which the device DS is installed.

[0189] That is, in step 730 of Fig. 7, the device DS of the vehicle functioning as the first vehicle associates vehicle class information that specifies the class of the vehicle in which the device DS is installed with other data, with the actual route identification information, and transmits the associated information to the cloud server 101. In step 760 of Fig. 7, the device DS of the vehicle functioning as the first vehicle associates vehicle class information that specifies the class of the vehicle in which the device DS is installed with other data, with the actual circuit route identification information or actual passage travel route identification information, and transmits the associated information to the cloud server 101.

[0190] In step 850, the cloud server 101 stores (accumulates) in non-volatile memory the actual route in association with the target parking lot Pn, the parking space corresponding to the manual parking completion space, and the vehicle class. Furthermore, in step 850, the cloud server 101 stores (accumulates) in non-volatile memory the actual circuit route or the actual passage driving route in association with the target parking lot Pn and the vehicle class.

[0191] In step 870, the cloud server 101 acquires a reference route for each target parking lot Pn, parking space, and vehicle class, and stores the reference route in non-volatile memory in association with the target parking lot Pn, parking space, and vehicle class.In step 870, the cloud server 101 acquires a reference circuit route or a reference passage driving route for each target parking lot Pn and vehicle class, and stores the reference circuit route or the reference passage driving route in non-volatile memory in association with the target parking lot Pn and vehicle class.

[0192] In step 635, the device DS of the vehicle functioning as the second vehicle downloads data identifying the reference route stored in the cloud server 101 in association with the target parking lot Pn and the same vehicle class as the second vehicle as data identifying the first route.

[0193] Furthermore, in step 650, the device DS of the vehicle functioning as the second vehicle downloads data specifying the reference circular route and the reference passage driving route stored in the cloud server 101 in association with the target parking lot Pn, vehicle class, and parking space that is the same as the vacant parking space, as data specifying the second route.

[0194] In this fifth variant, when the number of data items for the actual route of a specific vehicle class and either the actual circuit route of a specific vehicle class or the actual passage driving route of a specific vehicle class becomes sufficiently large, the cloud server 101 may acquire the "reference route, reference circuit route or reference passage driving route" for that specific vehicle class even if the number of data items for other vehicle classes is insufficient. In this case, if the "reference route and / or reference loop route (or reference passage travel route)" corresponding to the vehicle class of the vehicle functioning as the second vehicle has not been acquired and is not stored in the cloud server 101, the cloud server 101 may download the "reference route and / or reference loop route (or reference passage travel route)" corresponding to a different vehicle class to the device DS along with "information indicating that the vehicle class is different." Then, when the vehicle HV enters the target parking lot, the device DS may display on the display 18 a message indicating that "although this is a route obtained from a vehicle of a different vehicle class, automatic route parking is possible according to this route," and an operation button for inquiring the occupant whether or not they wish to use such automatic route parking. Alternatively, in step 1210, the device DS according to the third modification may display on the display 18 a message indicating that automatic route parking will be performed based on a route obtained from a vehicle of a different vehicle class, and an operation button for prohibiting the automatic route parking.

[0195] (Sixth Modification) The device DS mounted on the vehicle functioning as the second vehicle may execute so-called automatic driving by the automatic driving ECU 30. In this case, when the vehicle HV approaches the first specific area while being driven automatically, the CPU may determine "Yes" in step 605 to cancel the automatic driving and transition to driving using the automatic route parking control according to the above embodiment and the above modification.

[0196] Furthermore, the CPU of the parking assist ECU 10 mounted in the second vehicle according to each of the above embodiments and modifications may cancel (stop) the automatic driving under the automatic route parking control in response to an instruction from an occupant, the presence of an obstacle, etc., while the second vehicle is being automatically driven under the automatic route parking control, which sets the optimal parking route for the available parking space as a target route. For example, the CPU may automatically drive the second vehicle under the automatic route parking control, which sets the optimal parking route for the available parking space as a target route, until the second vehicle moves close to the available parking space, and if the parking assist switch 17 is operated at that point, the CPU may terminate the automatic route parking control, and may calculate a target parking route from the current position of the vehicle HV to the available parking space by well-known calculation based on a vehicle surroundings image, and park the second vehicle in the available parking space by moving the second vehicle along the target parking route.

[0197] (Seventh Modification) Although the vehicle HV functioning as the first vehicle uploads actual route identification information representing an actual route to the server when parked in a parking space by manual driving, this is not limited to this. For example, when the vehicle HV functioning as the first vehicle reaches a first predetermined area of ​​a target parking lot Pn, the vehicle HV may automatically drive using the automatic driving ECU 30 to a point (a point represented by latitude and longitude) that identifies a predetermined parking space in the target parking lot Pn as a destination point, move to the vicinity of the predetermined parking space by automatic driving using the automatic driving ECU 30, stop the first vehicle near the predetermined parking space, calculate a parking route from that point to the predetermined parking space based on a vehicle surroundings image, move the first vehicle to the predetermined parking space according to the calculated parking route and park the first vehicle in the predetermined parking space, and acquire the driving route within the target parking lot Pn up to that point as an actual route and upload actual route identification information representing the actual route to the server.

[0198] As described above, it can be said that the above embodiment and the above modified example are configured as follows.

[0199] A parking system according to one embodiment of the present invention includes a plurality of first vehicles, a second vehicle, and a server, and is a system that drives the second vehicle toward one of a plurality of parking spaces in a parking lot in order to park the second vehicle in one of the parking spaces.

[0200] Each of the multiple first vehicles (HVs) is configured to upload actual route identification information (data identifying the manual driving / parking route) that identifies the actual route (manual driving / parking route C1) when the first vehicle (HV) is manually driven from a first specific area (an area in which the entrance point P1 can be recognized based on an image of the vehicle's surroundings) determined by a first predetermined point (entrance point P1) to one of the parking spaces and parked (steps 615, 620, and 730).

[0201] The server (101) stores a reference route (optimal parking route) based on the uploaded actual route specification information (data specifying the manual driving / parking route) (step 870), and is configured to be able to download reference route specification information (data specifying the first route or the second route) specifying the stored reference route (steps 920, 940).

[0202] The second vehicle (HV) is configured to automatically drive by automatic route parking control with the reference route (first route or second route) specified by the reference route specification information (data specifying the first route or the second route) downloaded from the server (101) as the target route so as to move along the reference route (first route or second route) (steps 635, 640, 650, and 655).

[0203] According to this aspect, a large number of actual routes are collected by a plurality of first vehicles when the first vehicles are manually driven to and parked in one of a plurality of parking spaces in a parking lot. The server stores a reference route based on the large number of actual routes. The second vehicle automatically drives along the reference route stored by the server using automatic route parking control. As a result, the second vehicle is automatically parked in one of the parking spaces in the parking lot having a plurality of parking spaces, or is automatically moved toward that parking space. Therefore, the occupant (user) of the second vehicle can easily park the second vehicle in one of the parking spaces in the parking lot having a plurality of parking spaces.

[0204] In one aspect, the server is configured to perform a predetermined optimization process on the actual route (manual driving / parking route) identified by the uploaded actual route identification information to obtain a reference route to be stored in the server (step 870).

[0205] In one aspect, the second vehicle is configured to propose to an occupant of the second vehicle the use of the automatic route parking control when the second vehicle approaches a first predetermined point (entrance point P1) (e.g., when it enters a first specific area or a predetermined range corresponding to the first specific area) (step 625), and to start (allow the start of) the automatic route parking control if the occupant agrees to the use of the automatic route parking control (step 630: Yes, step 640, step 655).

[0206] According to this aspect, the occupant of the second vehicle can automatically move the second vehicle along the reference route by utilizing the automatic path parking control based on the occupant's intention.

[0207] In one aspect, the second vehicle is configured to notify an occupant of the second vehicle that the automatic route parking control will be initiated when the second vehicle approaches a first predetermined point (entrance point P1) (e.g., when the second vehicle enters a first specific area or a predetermined range corresponding to the first specific area) (step 1210), and to initiate (allow initiation of) the automatic route parking control unless the initiation of the automatic route parking control is prohibited by the occupant (step 1220: No, step 635, step 655).

[0208] According to this aspect, the occupant of the second vehicle can automatically move the second vehicle along the reference route without requiring any special operation, unless the occupant of the second vehicle indicates that they do not wish to have the second vehicle automatically move along the reference route using automatic route parking control.

[0209] In one aspect, The first vehicle is configured to associate the "actual route identification information (data identifying the driving / parking route)" with "parking lot identification information (data identifying the target parking lot Pn) that identifies the parking lot including the parking space where the vehicle was parked by manual driving" and upload it to the server (step 730).

[0210] The server is configured to store the actual route (driving / parking route) identified by the uploaded actual route identification information in association with the parking lot (Pn) identified by the parking lot identification information associated with the actual route identification information (step 850), and to store the reference route (optimal parking route) generated based on the stored actual route in association with the parking lot (Pn) stored in association with the actual route (step 870).

[0211] Further, in this embodiment, The second vehicle is configured to send a request to the server to download the reference route along with parking lot identification information (data identifying the target parking lot) that identifies the specified parking lot (Pn) where the second vehicle is to park (steps 635, 650).

[0212] Furthermore, the server is configured to download to the second vehicle reference route identification information (data identifying the first route) that identifies the reference route (first route) stored in association with the parking lot (Pn) identified by the parking lot identification information transmitted along with the reference route download request (steps 910, 920).

[0213] According to this aspect, an actual route is accumulated for each "parking lot (Pn) having multiple parking spaces" that is the target of this parking system. Furthermore, in the target parking lot (Pn), the second vehicle can be "automatically parked in one parking space by traveling along the reference route" or "automatically moved toward that one parking space along the reference route."

[0214] In one aspect, the first vehicle comprises: Obtain parking lot identification information (data identifying the target parking lot) that identifies the parking lot (Pn), When the first vehicle is parked in one of the plurality of parking spaces by the manual driving, manual parking completion space identification information (data identifying the manual parking completion space) that identifies the manual parking completion space that is the parked parking space and the actual route identification information are acquired (steps 605, 615, and 730); When the first vehicle is manually driven from the first specific area via the parking lot's circular route (R) to a second specific area determined by a second predetermined point (P4) without being parked, actual manual circular route identification information (manual circular route identification data) that identifies the actual manual circular route (S) from the first specific area to the second specific area is acquired (steps 605 and 615); Alternatively, if the first vehicle is manually driven from the first specific area to a third specific area determined by a fifth predetermined point (P5) via a passage (TR) of the parking lot without being parked, actual path travel route identification information is acquired that identifies an actual path travel route from the first specific area to the third specific area (step 605, step 615), When the actual route identification information (data identifying a driving / parking route) is acquired, the actual route identification information is associated with the parking lot identification information and the manual parking completion space identification information and uploaded to the server (step 730); When the actual manual circular route identification information is acquired, the actual manual circular route identification information is associated with the parking lot identification information and uploaded to the server (step 760). Or, When the actual passage travel route identification information is acquired, the actual passage travel route identification information is associated with the parking lot identification information and uploaded to the server (step 760). It is structured as follows.

[0215] The server The actual route identified by the uploaded actual route identification information is stored in association with the parking lot (Pn) identified by the parking lot identification information associated with the actual route identification information and the parking space identified by the manual parking completion space identification information associated with the actual route identification information (step 850); The actual manual circuit route identified by the uploaded actual manual circuit route identification information is stored in association with the parking lot identified by the parking lot identification information associated with the actual manual circuit route identification information (step 850); Or, The actual passage travel route identified by the uploaded actual passage travel route identification information is stored in association with the parking lot identified by the parking lot identification information associated with the actual passage travel route identification information (step 850); The reference route (optimal parking route) generated based on the stored actual route is stored in association with the parking lots and parking spaces stored in association with the actual route (step 870); The reference route generated based on the stored actual manual route is stored in association with the parking lot stored in association with the actual manual route (step 870). Or, The reference passage travel route generated based on the stored actual passage travel route is stored in association with the parking lot stored in association with the actual passage travel route (step 870). It is structured as follows.

[0216] The second vehicle is When the second vehicle is located in a first specific area (the area determined by the entrance point P1) of a predetermined parking lot, download from the server reference circuit route specification information that specifies the reference circuit route associated with the predetermined parking lot and stored in the server, or download from the server reference path travel route specification information that specifies the reference path travel route associated with the predetermined parking lot and stored in the server (step 635); automatically driving the vehicle by automatic route parking control along the reference circuit route (first route) specified by the downloaded reference circuit route specification information or the reference passage driving route (first route) specified by the downloaded reference passage driving route information (step 640); While the vehicle is automatically traveling along the reference circuit route or the reference passageway travel route by automatic route parking control, a vacant parking space is searched for among a plurality of parking spaces in the predetermined parking lot (step 645); When the vacant parking space is detected (step 645: Yes), reference route identification information (data identifying the optimal parking route for the vacant parking space) that identifies the reference route (second route, optimal parking route) stored in the server in association with the same parking space as the vacant parking space is downloaded from the server (step 650); The vehicle automatically travels by automatic route parking control, with the route (second route, optimal parking route) specified as the reference route by the downloaded reference route specification information (data specifying the optimal parking route for an available parking space) as the target route (step 655). It is structured as follows.

[0217] According to this aspect, the second vehicle is first automatically driven by automatic route parking control along a "reference circuit route or reference passage driving route" as a first route. Then, if an available parking space (an available parking space) is detected while the second vehicle is driving along the "reference circuit route or reference passage driving route," the second vehicle is automatically driven by automatic route parking control along a reference route (optimal parking route, second route) for that available parking space. Therefore, even if an available parking space cannot be identified when entering a specified parking lot, the second vehicle can be parked in the available parking space.

[0218] In one aspect, the first vehicle comprises: Obtain parking lot identification information (data identifying the parking lot) that identifies the parking lot (Pn) and manual parking completion space identification information (data identifying the manual parking completion space) that identifies "one of the multiple parking spaces" in which the first vehicle was parked by manual driving (steps 605, 615, and 730); The actual route identification information (data identifying the driving / parking route) is uploaded to the server in association with the parking lot identification information and the manual parking completion space identification information (step 730). It is structured as follows.

[0219] The server The actual route (manual driving / parking route) identified by the uploaded actual route identification information is stored in association with the parking lot (Pn) identified by the parking lot identification information associated with the actual route identification information and the parking space identified by the manual parking completion space identification information associated with the actual route identification information (step 850); The reference route (optimal parking route) generated based on the stored actual route is stored in association with the parking lots and parking spaces stored in association with the actual route (step 870); It is structured as follows.

[0220] The second vehicle is When the second vehicle is located in a first specific area (area determined by the entrance point P1) of a predetermined parking lot, first reference route identification information is downloaded from the server, which is reference route identification information that identifies a first reference route (for example, a reference route stored in the server in association with the first route, e.g., a parking space farthest from the entrance point P1), which is "one of the reference routes (optimal reference routes)" stored in the server in association with the predetermined parking lot (step 635a), The vehicle automatically travels by automatic route parking control with the first reference route specified by the downloaded first reference route specification information as the target route (step 640); While the vehicle is automatically traveling under automatic route parking control with the first reference route as the target route, a vacant parking space is searched for among a plurality of parking spaces in the predetermined parking lot (step 645); When the vacant parking space is detected (step 645: Yes), the second reference route (second route, optimal parking route) that is the reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server (step 650), which is the reference route identification information that identifies the second reference route (second route, optimal parking route) (data that identifies the optimal parking route for the vacant parking space), The vehicle automatically travels by automatic route parking control, with the second reference route (second route, optimal parking route) as the reference route specified by the downloaded second reference route specification information (data specifying the optimal parking route for an available parking space) as the target route (step 655). It is structured as follows.

[0221] According to this aspect, the second vehicle is first automatically driven by automatic route parking control along a first reference route (one of the optimal parking routes, first route), which is one of the reference routes. Then, if an available parking space (an available parking space) is detected while the second vehicle is driving along the first reference route, the second vehicle is automatically driven by automatic route parking control along a second reference route (optimal parking route, second route), which is a reference route for the available parking space. Therefore, even if an available parking space cannot be identified when entering a specified parking lot, the second vehicle can be parked in the available parking space.

[0222] In one aspect, the first vehicle comprises: Parking lot identification information (data identifying the parking lot) that identifies the parking lot (Pn) and manual parking completion space identification information (data identifying the manual parking completion space) that identifies "one of the multiple parking spaces" in which the first vehicle was parked by manual driving are acquired (steps 605 and 615 in FIG. 13, step 730 in FIG. 7), The actual route identification information (data identifying the driving and parking route) is uploaded to the server in association with the parking lot identification information and the manual parking completion space identification information (step 730). It is structured as follows.

[0223] The server The actual route (manual driving / parking route) identified by the uploaded actual route identification information is stored in association with the parking lot (Pn) identified by the parking lot identification information associated with the actual route identification information and the parking space identified by the manual parking completion space identification information associated with the actual route identification information (step 850); The reference route (optimal parking route) generated based on the stored actual route is stored in association with the parking lots and parking spaces stored in association with the actual route (step 870); It is structured as follows.

[0224] The second vehicle is When the second vehicle is located in the first specific area (the area determined by the entrance point P1) of the specified parking lot, obtain vacant parking space identification information that identifies a vacant parking space among the multiple parking spaces that the specified parking lot has from the parking lot management device (150) corresponding to the specified parking lot (step 1310); Download from the server reference route identification information (data identifying the optimal parking route) that identifies the reference route (optimal parking route) stored in the server in association with the specified parking lot and the same parking space as the vacant parking space identified by the vacant parking space identification information (step 1340); The vehicle automatically travels by automatic route parking control, with the route (optimal parking route) as the reference route specified by the downloaded reference route specification information (data specifying the optimal parking route) as the target route (step 1350). It is structured as follows.

[0225] According to this aspect, the second vehicle acquires information specifying vacant parking spaces from the parking lot management device, acquires a reference route (optimal parking route) for one of the vacant parking spaces specified by the information specifying the vacant parking spaces from the server, and automatically drives according to the reference route using automatic route parking control. Therefore, the second vehicle does not need to search for vacant parking spaces while driving, and can smoothly park in a vacant parking space.

[0226] In one aspect, the first vehicle is configured to generate the actual route identification information using feature point information extracted from a vehicle surroundings image acquired by a camera (11-14) mounted on the first vehicle; The second vehicle is configured to automatically drive by the automatic route parking control based on feature point information extracted from vehicle surroundings images acquired by cameras (11-14) mounted on the second vehicle and reference route identification information downloaded from the server.

[0227] Furthermore, the first predetermined point is a point where a three-dimensional structure (a sign, a landmark, etc.) indicating the entrance point (P1) of the parking lot is installed, the first vehicle is configured to recognize the three-dimensional structure based on the vehicle surroundings image, and generate the actual route identification information in association with a position of the recognized three-dimensional structure; The server is configured to generate the reference path in association with a position of the three-dimensional structure.

[0228] According to this aspect, the actual route identification information and the reference route identification information can be easily generated, and the second vehicle can be easily caused to travel along the reference route by the automatic route parking control. [Explanation of symbols]

[0229] 10...Parking assistance ECU, 11...Front camera, 12...Back camera, 13...Right side camera, 14...Left side camera, 20...Communication ECU, 100...Data center, 101...Cloud server (server).

Claims

1. A parking system including a first vehicle, a second vehicle, and a server, the system driving the second vehicle toward one of a plurality of parking spaces in a parking lot in order to park the second vehicle in the one of the parking spaces, the first vehicle is configured to upload to the server actual route identification information that identifies an actual route taken when the first vehicle travels from the first specific area to one of the parking spaces and is parked there; the server is configured to be able to download reference route identification information that identifies a reference route generated based on an actual route identified by the uploaded actual route identification information; the second vehicle is configured to automatically travel under automatic route parking control with a reference route specified by the reference route specification information downloaded from the server as a target route; Parking system.

2. 2. The parking system according to claim 1, the server is configured to perform a predetermined optimization process on the actual route identified by the uploaded actual route identification information to generate the reference route. Parking system.

3. 2. The parking system according to claim 1, the second vehicle is configured to propose use of the automatic route parking control to an occupant of the second vehicle when the second vehicle enters a predetermined range corresponding to the first specific area, and to allow start of the automatic route parking control when the occupant agrees to use the automatic route parking control. Parking system.

4. 2. The parking system according to claim 1, the second vehicle is configured to notify an occupant of the second vehicle that the automatic route parking control will be initiated when the second vehicle enters a predetermined range corresponding to the first specific area, and to allow the initiation of the automatic route parking control unless the initiation of the automatic route parking control is prohibited by the occupant. Parking system.

5. The parking system according to any one of claims 1 to 4, the first vehicle is configured to acquire parking lot identification information that identifies the parking lot, and to upload the actual route identification information to the server in association with the parking lot identification information; the server is configured to store the reference route in association with a parking lot identified by the parking lot identification information associated with the uploaded actual route identification information; The second vehicle is configured to transmit a reference route download request to the server together with parking lot identification information that identifies a parking lot where the second vehicle is to park; the server is configured to download, to the second vehicle, reference route identification information that identifies the reference route stored in association with a parking lot identified by the parking lot identification information transmitted together with the reference route download request; Parking system.

6. The parking system according to any one of claims 1 to 4, The first vehicle is acquiring parking lot identification information that identifies the parking lot; When the first vehicle is parked in one of the plurality of parking spaces, Acquire completed parking space identification information that identifies the completed parking space, which is the parking space where the car has been parked, and the actual route identification information; The actual route identification information is associated with at least the completed parking space identification information and uploaded to the server; When the first vehicle travels from the first specific area to the second specific area via the parking lot's circular route without being parked, acquiring actual route identification information that identifies an actual route from the first specific area to the second specific area; uploading the actual route specification information to the server in association with the parking lot specification information; It is configured as follows: The server storing the reference route in association with at least a parking space identified by completed parking space identification information associated with the uploaded actual route identification information; storing a reference route generated based on the actual route specified by the uploaded actual route specification information in association with a parking lot specified by parking lot specification information associated with the uploaded actual route specification information; It is configured as follows: The second vehicle is When the second vehicle is located in the first specific area of ​​a predetermined parking lot, downloading from the server reference route identification information that identifies the reference route stored in the server in association with the predetermined parking lot; starting automatic traveling by automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route; searching for an available parking space among a plurality of parking spaces in the predetermined parking lot while traveling under automatic route parking control with the reference circular route as the target route; When the vacant parking space is detected, reference route identification information that identifies the reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; It was configured as follows: Parking system.

7. The parking system according to any one of claims 1 to 4, The first vehicle is acquiring parking lot identification information that identifies the parking lot; When the first vehicle is parked in one of the plurality of parking spaces, acquire completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked and the actual route identification information; The actual route identification information is associated with at least the completed parking space identification information and uploaded to the server; When the first vehicle travels through the aisle of the parking lot from the first specific area to the third specific area without being parked, acquire actual passage travel route identification information that identifies an actual passage travel route from the first specific area to the third specific area; The actual passage travel route identification information is associated with the parking lot identification information and uploaded to the server. It is configured as follows: The server storing the reference route in association with at least a parking space identified by completed parking space identification information associated with the uploaded actual route identification information; storing a reference passage travel route generated based on the actual passage travel route identified by the uploaded actual passage travel route identification information in association with a parking lot identified by parking lot identification information associated with the uploaded actual passage travel route identification information; It is configured as follows: The second vehicle is When the second vehicle is located in the first specified area of ​​a predetermined parking lot, downloading from the server reference path travel route identification information that identifies a reference path travel route stored in the server in association with the predetermined parking lot, starting automatic driving by automatic route parking control with the reference path driving route specified by the downloaded reference path driving route specification information as the target route; searching for an available parking space among a plurality of parking spaces in the predetermined parking lot while the vehicle is automatically traveling under automatic route parking control with the reference path traveling route as the target route; When the vacant parking space is detected, reference route identification information that identifies a reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; It was configured as follows: Parking system.

8. The parking system according to any one of claims 1 to 4, The first vehicle is acquire completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked, and upload the actual route identification information to the server in association with the completed parking space identification information; It is configured as follows: The server storing the reference route in association with a parking space identified by completed parking space identification information associated with the uploaded actual route identification information; It is configured as follows: The second vehicle is When the second vehicle is located in the first specific area of ​​a predetermined parking lot, download from the server reference route identification information that identifies a reference route stored in the server in association with the same parking space as the temporary parking space that is a predetermined one of the plurality of parking spaces; starting automatic driving by automatic route parking control with the provisional reference route, which is the reference route specified by the downloaded reference route specification information, as the target route; searching for an available parking space among a plurality of parking spaces in the predetermined parking lot while the vehicle is automatically traveling under automatic route parking control with the provisional reference route as the target route; When the vacant parking space is detected, reference route identification information that identifies a reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; It was configured as follows: Parking system.

9. The parking system according to any one of claims 1 to 4, The first vehicle is acquire completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked, and upload the actual route identification information to the server in association with the completed parking space identification information; It is configured as follows: The server storing the reference route in association with a parking space identified by completed parking space identification information associated with the uploaded actual route identification information; It is configured as follows: The second vehicle is When the second vehicle is located in the first specific area of ​​a predetermined parking lot, vacant parking space identification information is acquired from a parking lot management device corresponding to the predetermined parking lot, the vacant parking space identification information identifying a vacant parking space among the plurality of parking spaces; downloading, from the server, reference route identification information that identifies a reference route stored in the server in association with the same parking space as the vacant parking space identified by the vacant parking space identification information; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; It was configured as follows: Parking system.

10. The parking system according to any one of claims 1 to 4, the first vehicle is configured to generate the actual route identification information using feature point information extracted from a vehicle surroundings image acquired by a camera mounted on the first vehicle; the second vehicle is configured to automatically drive by the automatic route parking control based on feature point information extracted from a vehicle surroundings image acquired by a camera mounted on the second vehicle and reference route identification information downloaded from the server, Parking system.

11. 11. The parking system according to claim 10, The first specific area is a predetermined surrounding area around a point where a three-dimensional structure indicating an entrance point of the parking lot is installed, the first vehicle is configured to recognize the three-dimensional structure based on the vehicle surroundings image, and to generate the actual route identification information by associating the recognized three-dimensional structure with a position of the three-dimensional structure; The server is configured to generate the reference path in association with the position of the three-dimensional structure. Parking system.

12. A vehicle capable of communicating with a server, the vehicle being configured, when driven from a first specific area to one of a plurality of parking spaces in a parking lot and parked, to upload to the server actual route identification information that identifies the actual route from the first specific area to the parking space where the vehicle is parked.

13. 13. A vehicle according to claim 12, acquiring parking lot identification information that identifies the parking lot; The vehicle is configured to upload the actual route identification information to the server in association with the parking lot identification information.

14. 13. A vehicle according to claim 12, obtain completed parking space identification information that identifies one of the plurality of parking spaces in which the vehicle is parked; The vehicle is configured to upload the actual route identification information to the server in association with the completed parking space identification information.

15. 15. A vehicle according to claim 14, acquire actual route identification information that identifies an actual route that the vehicle will take when it travels from the first specific area to the second specific area via a circular route in the parking lot without being parked; uploading the actual route specification information to the server in association with the parking lot specification information; A vehicle configured as follows.

16. 15. A vehicle according to claim 14, acquire actual passageway travel route identification information that identifies an actual passageway travel route when the first vehicle travels through a passageway of the parking lot from the first specific area to a third specific area without being parked; The actual passage travel route identification information is associated with the parking lot identification information and uploaded to the server. A vehicle configured as follows.

17. 13. A vehicle according to claim 12, A vehicle configured to generate the actual route specification information using feature point information extracted from a vehicle surroundings image acquired by a camera mounted on the vehicle.

18. 18. The vehicle according to claim 17, wherein the vehicle is configured to recognize a three-dimensional structure indicating an entrance point to the parking lot based on the vehicle surroundings image, and to generate the actual route identification information by associating the position of the recognized three-dimensional structure with the position of the recognized three-dimensional structure.

19. a server capable of communicating with the first vehicle and the second vehicle, receiving actual route identification information from the first vehicle that identifies an actual route taken by the first vehicle when the first vehicle travels from a first specific area to one of a plurality of parking spaces in a parking lot and is parked therein; transmitting reference route identification information that identifies a reference route generated based on the received actual route identification information to the second vehicle; Server configured as follows:

20. 20. The server of claim 19, a server configured to perform a predetermined optimization process on the actual route identified by the received actual route identification information to generate the reference route;

21. 20. The server of claim 19, receiving parking lot identification information that identifies a parking lot through which the first vehicle traveled when the first vehicle acquired the actual route identification information as information associated with the actual route identification information; storing the reference route in association with a parking lot identified by the parking lot identification information associated with the actual route identification information; Server configured as follows:

22. 20. The server of claim 19, receiving parking lot identification information that identifies a parking lot through which the first vehicle traveled when the first vehicle acquired the actual route identification information as information associated with the actual route identification information; storing the reference route in association with a parking lot identified by the parking lot identification information associated with the actual route identification information; Server configured as follows:

23. 20. The server of claim 19, receiving completed parking space identification information that identifies one of the plurality of parking spaces in which the first vehicle is parked as information associated with the actual route identification information; storing the reference route in association with a parking space identified by the completed parking space identification information associated with the actual route identification information; Server configured as follows:

24. A vehicle capable of communicating with a server, downloading, from the server, reference route specification information that specifies a reference route for driving from the first specified area to one of a plurality of parking spaces in the parking lot and parking; automatically traveling under automatic route parking control with the reference route specified by the reference route specification information downloaded from the server as a target route; A vehicle configured as follows.

25. 25. The vehicle of claim 24, wherein the vehicle is configured to suggest to an occupant of the vehicle that the use of the automatic route parking control be made when the vehicle enters a predetermined range corresponding to the first specific area, and to allow the start of the automatic route parking control if the occupant agrees to the use of the automatic route parking control.

26. 25. The vehicle according to claim 24, wherein the vehicle is configured to notify an occupant of the vehicle that the automatic route parking control will be initiated when the vehicle enters a predetermined range corresponding to the first specific area, and to allow the automatic route parking control to be initiated unless the occupant prohibits the initiation of the automatic route parking control.

27. 25. A vehicle as described in claim 24, configured to send a reference route download request to the server together with parking lot identification information identifying a predetermined parking lot in which the vehicle is to park.

28. 25. A vehicle as claimed in claim 24, When the vehicle is located in the first specific area of ​​a predetermined parking lot, download from the server reference route specification information that specifies a reference route, which is a route that travels from the first specific area of ​​the predetermined parking lot to a second specific area via a circular route of the predetermined parking lot without being parked, and which is stored in the server in association with the predetermined parking lot; starting automatic traveling by automatic route parking control with the reference route specified by the downloaded reference route specification information as the target route; searching for an available parking space among a plurality of parking spaces in the predetermined parking lot while the vehicle is automatically traveling under automatic route parking control with the reference circular route as the target route; When the vacant parking space is detected, reference route identification information that identifies the reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; A vehicle configured as follows.

29. 25. A vehicle as claimed in claim 24, When the vehicle is located in the first specific area of ​​a predetermined parking lot, downloading from the server reference path travel route identification information that identifies a reference path travel route along a parking lot passage from the first specific area to a third specific area, starting automatic driving by automatic route parking control with the reference path driving route specified by the downloaded reference path driving route specification information as the target route; searching for an available parking space among a plurality of parking spaces in the predetermined parking lot while the vehicle is automatically traveling under automatic route parking control with the reference path traveling route as the target route; When the vacant parking space is detected, reference route identification information that identifies the reference route stored in the server in association with the same parking space as the vacant parking space is downloaded from the server; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; A vehicle configured as follows.

30. 25. A vehicle as claimed in claim 24, When the vehicle is located in the first specific area of ​​a predetermined parking lot, vacant parking space identification information that identifies a vacant parking space among the plurality of parking spaces is obtained from a parking lot management device corresponding to the predetermined parking lot; downloading, from the server, reference route identification information that identifies a reference route stored in the server in association with the same parking space as the vacant parking space identified by the vacant parking space identification information; automatically driving the vehicle by automatic route parking control, with the reference route specified by the downloaded reference route specification information as the target route; A vehicle configured as follows.

31. A vehicle according to any one of claims 24 to 30, A vehicle configured to automatically drive using the automatic route parking control based on feature point information extracted from an image of the vehicle's surroundings acquired by a camera mounted on the vehicle and reference route identification information downloaded from the server.

32. uploading actual route identification information to a server, the actual route being identified when the first vehicle travels from the first specific area to one of a plurality of parking spaces in a parking lot having a plurality of parking spaces and is parked there; storing a reference route generated based on the uploaded actual route identification information in the server; downloading reference route identification information that identifies the reference route from the server to a second vehicle; a step of automatically driving the second vehicle by an automatic route parking control in which a reference route specified by the reference route specification information downloaded by the second vehicle from the server is set as a target route of the second vehicle; Parking methods including.

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