Parking support device

Abstract

PURPOSE: To provide a parking support device that can improve safety of a pedestrian existing around an own vehicle.SOLUTION: A processor of a parking support device 1 controls an own vehicle so that the own vehicle stops at a predetermined point P when advancing the own vehicle toward the inside of a parking spot PS to get to the point P and then advancing the own vehicle from the point P toward outside of the parking spot PS and when a percentage of a portion of the own vehicle entering the parking spot PS to the entire of the vehicle exceeds a threshold at the point P; and controls the own vehicle so that the own vehicle advances toward the outside of the parking spot PS when sensing that a driver in the own vehicle executes predetermined operation in a state where the own vehicle stops at the point P.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a parking assistance device that assists a driver in parking a vehicle in a parking spot. [Background technology]

[0002] A parking assistance device has been proposed that assists in driving a vehicle to park it in a parking spot (see, for example, Patent Document 1 below). This type of parking assistance device (hereinafter referred to as a "conventional device") includes on-board sensors, including a camera, radar, etc., for acquiring information about targets located around the vehicle, and a processor that controls the vehicle's drive system, braking system, steering system, etc. (hereinafter referred to as "drive system, etc."). The processor identifies a parking spot based on the information acquired from the on-board sensors and acquires (calculates) a target route for driving the vehicle into the parking spot. The processor controls the drive system, etc., so that the vehicle proceeds along the target route. As the vehicle proceeds along the route, the position and attitude of the vehicle relative to the parking spot change. Therefore, during this process, the output of the on-board sensor (information about the parking spot and its surrounding targets) is successively updated. The processor successively acquires information from the on-board sensor. The processor sequentially updates the target route based on information acquired from the start of processing (control of the drive unit, etc.) to park the vehicle in the parking spot up to the present time. When the processor detects that the vehicle is within the parking spot and that a predetermined margin is provided between the inner periphery of the parking spot and the outer periphery of the vehicle, the processor stops the vehicle and activates the parking brake of the vehicle. Next, the processor shifts the shift position to the parking position and stops the engine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-160476 Summary of the Invention

[0004] In the process of parking a vehicle in a parking spot, a processor of a conventional device may switch the vehicle's direction of travel from a direction toward the inside of the parking spot to a direction toward the outside of the parking spot (e.g., from reverse to forward) in order to correct (optimize) the lateral position of the vehicle relative to the parking spot. In this situation, a pedestrian (e.g., a pedestrian, another vehicle, etc.) located near the parking spot may predict that the vehicle will continue to travel toward the inside of the parking spot and complete parking if the vehicle is traveling toward the inside of the parking spot and most of the vehicle is within the parking spot. In other words, the pedestrian may predict that the vehicle is unlikely to reverse its direction of travel and travel toward the outside of the parking spot. In this case, there is a risk that the pedestrian may enter the area ahead of the vehicle (the area through which the vehicle passes when traveling toward the outside of the parking spot).

[0005] An object of the present invention is to provide a parking assistance device that can improve the safety of pedestrians around the vehicle.

[0006] In order to achieve the above object, the parking assistance device (1) of the present invention comprises: an on-board sensor (20) for acquiring information about targets located around the host vehicle (V0); a processor (10) configured to control the vehicle (30, 40, 50) based on information acquired from the on-board sensor so that the vehicle moves from outside the parking spot (PS) toward the parking spot and is parked within the parking spot; Equipped with. The processor controls the vehicle to move toward the inside of the parking spot until it reaches a predetermined point (P), and then moves the vehicle from the predetermined point toward the outside of the parking spot.If the proportion of the portion of the vehicle that has entered the parking spot to the entire vehicle at the predetermined point exceeds a threshold, the processor controls the vehicle to stop at the predetermined point.If the processor detects that the driver of the vehicle has performed a predetermined operation while the vehicle is stopped at the predetermined point, the processor controls the vehicle to move toward the outside of the parking spot.

[0007] The processor of the parking assistance device according to the present invention temporarily stops the vehicle at a predetermined point when the vehicle is moving from a state where most of the vehicle is inside the parking spot to a state where the vehicle is moving toward the outside of the parking spot. In this state, the driver can confirm the safety of the surroundings. Then, when the driver confirms the safety of the surroundings, the processor can execute a predetermined operation to start the vehicle toward the outside of the parking spot (to resume assistance by the parking assistance device (automatic control of the drive system, etc.)). This improves the safety of pedestrians around the vehicle.

[0008] In one aspect of the present invention, there is provided a parking assistance device, The processor controls the vehicle's notification device (60) so that, when the vehicle is stopped at the specified point, the driver of the vehicle is provided with information to encourage the driver to check the safety of the area around the vehicle.

[0009] According to this, when the vehicle reaches a predetermined point, the driver is provided with information (for example, images and / or audio) to prompt the driver to check the safety of the surroundings, allowing the driver to quickly start checking the safety of the surroundings of the vehicle.

[0010] In another aspect of the present invention, there is provided a parking assistance device comprising: When the processor detects that the brake pedal has been depressed, it determines that the predetermined operation has been performed.

[0011] When the processor is controlling the host vehicle (brake device) to stop the host vehicle at the predetermined point, the brake pedal is not being used. That is, in this state, the brake pedal is released. In other words, the brake pedal depression depth is "0." From this state, when the brake pedal depression depth exceeds a threshold, the processor determines that the driver has completed checking the surrounding safety and is requesting that the host vehicle be started. This reduces the number of parts compared to when a dedicated operating device for starting the host vehicle is provided. This allows for reductions in parts costs, manufacturing costs, etc.

[0012] In another aspect of the present invention, there is provided a parking assistance device comprising: Based on information obtained from the onboard sensor, the processor obtains a map (M) showing the positional relationship between the host vehicle and the parking spot in a planar view, and at the specified point, obtains a first area (S0) which is the entire area of ​​the host vehicle on the map, and a second area (S1) which is the area of ​​the part of the host vehicle on the map that has entered the parking spot, and controls the host vehicle to stop at the specified point if the ratio (S1 / S0) of the second area to the first area exceeds a threshold value (Sth).

[0013] This allows the processor to relatively easily determine whether the current situation corresponds to a scene in which the vehicle should be stopped temporarily at a predetermined point and the driver should be urged to check the surrounding area for safety. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram of a parking assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view (map) showing an example in which the vehicle is parked in a parking spot by the parking assistance process. [Figure 3] FIG. 3 is a plan view showing a range in which the sensor can detect a target with high accuracy. [Figure 4] FIG. 4 is a plan view (map) showing a first scene in which the host vehicle advances from the point where it reaches a predetermined point within the parking spot to the outside of the parking spot. [Figure 5] FIG. 5 is a plan view (map) showing a second scene in which the host vehicle proceeds from the point where it has reached a predetermined point within the parking spot to the outside of the parking spot. [Figure 6] FIG. 6 is a flowchart of a program executed by the CPU to realize the parking assistance function. DETAILED DESCRIPTION OF THE INVENTION

[0015] (Summary) A parking assistance device 1 according to one embodiment of the present invention is applied to, for example, a vehicle V0 (hereinafter referred to as "the vehicle") equipped with an automatic driving function. The parking assistance device 1 has a function (automatic parking function) of parking the vehicle by driving the vehicle into a specific parking spot PS from the outside of the parking spot PS. When the parking assistance device 1 switches the direction of travel of the vehicle from a state in which the vehicle is traveling in a first direction (toward the inside of the parking spot PS) until most of the vehicle has entered the parking spot PS to a second direction (toward the outside of the parking spot PS), the parking assistance device 1 temporarily stops the vehicle at a point P where the direction of travel of the vehicle is to be switched. Then, when the parking assistance device 1 detects that the driver has performed a predetermined operation indicating that the driver has confirmed the safety of the surrounding area while the vehicle is stopped at the point P, the parking assistance device 1 starts to move the vehicle in the second direction.

[0016] (Specific configuration) As shown in FIG. 1, the parking assistance device 1 includes a parking assistance ECU 10, an on-vehicle sensor 20, a drive device 30, a braking device 40, a steering device 50, and an alarm device 60.

[0017] The parking assist ECU 10 includes a microcomputer equipped with a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc. The parking assist ECU 10 is connected to other ECUs provided in the host vehicle via a CAN (Controller Area Network).

[0018] The on-board sensor 20 includes a surrounding sensor for acquiring information about targets present around the vehicle. Specifically, the on-board sensor 20 includes a millimeter-wave radar 21, a sonar 22, and a camera 23 as surrounding sensors.

[0019] The millimeter-wave radar 21 includes a transmitter / receiver and a signal processor (not shown). The transmitter / receiver emits millimeter-wave band radio waves (hereinafter referred to as "millimeter waves") around the vehicle and receives millimeter waves (reflected waves) reflected by a three-dimensional object located within the emission range. The signal processor calculates the distance between the vehicle and the three-dimensional object, the position (direction) of the three-dimensional object relative to the vehicle, the speed of the three-dimensional object relative to the vehicle, etc. based on the time from when the transmitter / receiver emits the millimeter waves to when the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, etc., and transmits the calculation results to the parking assistance ECU 10.

[0020] The sonar 22 intermittently emits ultrasonic waves into the area surrounding the vehicle and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object. Based on the time from when the ultrasonic waves are transmitted until when the reflected waves are received, the sonar 22 calculates the distance between the vehicle and the three-dimensional object, the position (direction) of the three-dimensional object relative to the vehicle, and the like, and transmits the calculation results to the parking assistance ECU 10.

[0021] The camera 23 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging device is located above the front windshield glass and faces forward. The imaging device captures images of the front view of the host vehicle at a predetermined frame rate to acquire image data. The imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about objects located in front of the host vehicle from the images. For example, the image analysis device identifies (recognizes) the type of object located in front of the host vehicle (e.g., another vehicle, a lane marking, etc.) and transmits the identification result to the parking assistance ECU 10.

[0022] Additionally, the on-board sensors 20 include a brake pedal sensor 24 that detects the depression depth BD of the brake pedal.

[0023] The drive unit 30 applies drive force to the drive wheels. The drive unit 30 includes an engine ECU, an internal combustion engine, a drive force transmission mechanism (transmission) that transmits drive force to the wheels, etc. The engine ECU acquires information (target value) indicating a target drive force, a target shift position, etc. from another ECU (parking assistance ECU 10), and based on this information, drives the throttle valve opening of the internal combustion engine, the actuator of the transmission, etc. to adjust the drive force applied to the drive wheels.

[0024] If the vehicle to which the parking assistance device 1 is applied is a hybrid vehicle (HEV), the engine ECU can control the driving force of the vehicle generated by either or both of an internal combustion engine and an electric motor as the vehicle driving source. Also, if the vehicle to which the parking assistance device 1 is applied is an electric vehicle (BEV), an electric motor ECU can be used instead of the engine ECU to control the driving force of the vehicle generated by an electric motor as the vehicle driving source.

[0025] The braking device 40 applies braking force to the wheels (brake discs). The braking device 40 includes a brake ECU, a brake caliper, etc. The brake caliper includes an actuator that presses brake pads against the brake discs. The brake ECU acquires information (target value) indicating a target braking force from another ECU, and based on that information, drives the actuator of the brake caliper to adjust the braking force applied to the wheels (brake discs).

[0026] The steering device 50 controls the steering angle of the steered wheels (left front wheel and right front wheel). The steering device 50 includes a steering ECU, a steering mechanism, etc. The steering mechanism is a link mechanism including a knuckle arm, a tie rod, etc. The steering device 50 further includes an actuator that drives the steering mechanism to change the steering angle. The steering ECU obtains information (target value) indicating a target steering angle from another ECU, and drives the actuator based on that information to adjust the steering angle.

[0027] The notification device 60 includes an audio device and an image display device. The audio device reproduces a predetermined sound (beep) in response to a command transmitted from the parking assistance ECU 10. The image display device displays a predetermined image (message, icon, etc.) in response to a command transmitted from the parking assistance ECU 10.

[0028] (Parking assistance function) Next, the parking assistance function of the parking assistance device 1 will be described. The parking assistance ECU 10 starts a predetermined parking assistance process when it detects that a predetermined start operation (for example, an operation to switch a parking assistance switch (not shown) from an off state to an on state) has been performed while the host vehicle is stopped. Specifically, the parking assistance ECU 10 acquires various information from the millimeter-wave radar 21, the sonar 22, and the camera 23, and acquires the positions of each target object located around the host vehicle based on this information. Then, as shown in FIG. 2, the parking assistance ECU 10 generates (acquires) a map M (plan view) showing the positional relationship between the host vehicle and each target object. Furthermore, when the parking assistance ECU 10 detects, based on the acquired positions of each target object, that a parking spot PS where the host vehicle can be parked exists near the host vehicle, it calculates the position and attitude of the host vehicle relative to the parking spot PS and reflects the calculation result in the map M. The driver can select the parking direction (rearward parking or forward parking) of the host vehicle at the parking spot PS using an operation device (not shown). In addition, if the parking assistance ECU 10 is unable to detect a parking spot PS where the vehicle can be parked, it causes the alarm device 60 to display a predetermined image and play a predetermined sound to prompt the driver to manually move the vehicle closer to the parking spot.

[0029] When the parking assistance ECU 10 detects a parking spot PS, it sets (calculates) a target route R (a target trajectory of the center of gravity of the vehicle) based on the map M, which allows the vehicle to move into the parking spot PS while avoiding obstacles.

[0030] Next, the parking assist ECU 10 sets a control signal pattern for moving the host vehicle along the target route R (time-series data of various target values ​​to be supplied to the drive device 30, the braking device 40, and the steering device 50, respectively).

[0031] Next, the parking assist ECU 10 controls the drive devices and the like in accordance with the control signal pattern to move the host vehicle along the target route R.

[0032] The fields of view (the range in which targets can be detected) of the millimeter-wave radar 21, sonar 22, and camera 23 are relatively narrow. Therefore, as shown in Fig. 3, in map M, the recognition accuracy of targets near the host vehicle (the area indicated by the solid line in the figure) is relatively high, but the recognition accuracy of targets further away (the area indicated by the dashed line) is low. While the parking assist ECU 10 is moving the host vehicle in accordance with the control signal pattern, the parking assist ECU 10 successively acquires various pieces of information from the millimeter-wave radar 21, sonar 22, and camera 23, and successively updates the target route R based on this information.

[0033] 4 and 5, in a scene where the host vehicle is parked backward in a parking spot PS, the parking assistance ECU 10 may cause the host vehicle to move backward along a route R1 to reach a predetermined point P near or within the parking spot PS, and then reverse the direction of travel of the host vehicle from the point P. That is, in these examples, the parking assistance ECU 10 causes the host vehicle to move forward along a route R2 from the point P. That is, the parking assistance ECU 10 causes the host vehicle to move toward the inside of the parking spot PS along the route R1 until it reaches the point P, and then causes the host vehicle to move toward the outside of the parking spot PS from the point P.

[0034] 4, when most of the body of the host vehicle is within the parking spot PS at point P (the point where the host vehicle changes direction), a pedestrian located near the parking spot PS may predict that the vehicle V0 will continue to move backward and complete parking. In this case (when the pedestrian predicts that the vehicle V0 is unlikely to reverse its direction and move outside the parking spot PS), there is a risk that the pedestrian will enter the area ahead of the host vehicle (route R2).

[0035] Therefore, the parking assist ECU 10 executes the attention-calling process and the restart process when most of the host vehicle is in the parking spot PS at the point P, as will be described below.

[0036] (Warning processing) At point P, the parking assistance ECU 10 calculates an overall area S0 (first area) of the host vehicle's body on map M, and also calculates an area S1 (second area) of the portion of the host vehicle's body that has entered the parking spot PS. If the area S1 (the proportion of the portion of the host vehicle that has entered the parking spot PS to the entire host vehicle) relative to area S0 exceeds a threshold value Sth (e.g., 80%), the parking assistance ECU 10 determines that most of the host vehicle has entered the parking spot. In this case, the parking assistance ECU 10 stops the host vehicle at point P. The parking assistance ECU 10 keeps the host vehicle stopped until the driver performs a predetermined operation (a resume request operation) described below. Then, the parking assistance ECU 10 causes the alarm device 60 to display a predetermined image (a predetermined message, an image of the host vehicle's surroundings captured by the camera 23, etc.) and play a predetermined sound (a beep) to alert the driver of the host vehicle to pedestrians around the host vehicle.

[0037] (Restart processing) When the driver confirms that the surroundings of the vehicle are safe (no pedestrians are approaching the vehicle) and requests the parking assistance ECU 10 to continue the parking assistance process (start the vehicle toward the outside of the parking spot PS), the driver depresses the brake pedal once and then releases it (within a short period of time). If the brake pedal depression depth BD exceeds a threshold value BDth (e.g., 50% of the maximum depth (full stroke)) and then becomes "0" within a predetermined period of time (e.g., within 3 seconds), the parking assistance ECU 10 determines that the driver has performed an operation indicating that the surroundings are safe (resume operation). In this case, the parking assistance ECU 10 starts controlling the drive system, etc. so that the vehicle moves along the route R toward the outside of the parking spot PS.

[0038] As shown in Figure 5, if the vehicle has not yet entered the parking spot PS at point P (S1 / S0≦Sth), the parking assistance ECU 10 immediately moves the vehicle toward the outside of the parking spot PS regardless of whether the above-mentioned restart operation is performed or not.

[0039] When the parking assist ECU 10 detects that the host vehicle is within the parking spot PS and that a predetermined margin is provided between the inner periphery of the parking spot PS and the outer periphery of the host vehicle, the parking assist ECU 10 ends the parking assist process. That is, the parking assist ECU 10 controls the drive unit and the like to stop the host vehicle and activate the side brake of the host vehicle. Next, the parking assist ECU 10 shifts the shift position to the parking position and stops the drive unit 30.

[0040] It should be noted that the parking assist ECU 10 will stop the parking assist process if a predetermined stop condition is met while the parking assist process is being executed (while the vehicle is moving in accordance with the control signal pattern).

[0041] For example, the parking assist ECU 10 determines that the cancellation condition is met when it detects a new obstacle and is unable to set a target route R for parking the vehicle in the parking spot PS while avoiding the obstacle. Furthermore, for example, the parking assist ECU 10 measures the duration Δt during which the brake pedal depression depth BD exceeds a threshold BDth, and determines that the cancellation condition is met when the measurement result exceeds a threshold Δtth. The parking assist ECU 10 then causes the notification device 60 to display an image indicating that the parking assist process cannot be continued and to play a predetermined sound.

[0042] Next, a program PR1 executed by the CPU 10a (hereinafter referred to as "CPU") of the parking assist ECU 10 to realize the parking assist function will be described with reference to Figure 6. The CPU executes the program PR1 at a predetermined cycle when a predetermined switch (parking assist switch) (not shown) is in an on state.

[0043] (Program PR1) The CPU starts execution of the program PR1 from step 100 and proceeds to step 101.

[0044] In step 101, the CPU sets (updates) the target route R based on the information acquired from the millimeter wave radar 21, the sonar 22, and the camera 23. Next, the CPU proceeds to step .

[0045] In step 102, the CPU controls the drive device and the like so that the host vehicle travels a predetermined minute distance Δd along the target route R. Next, the CPU proceeds to step 103.

[0046] In step 103, the CPU determines whether the host vehicle has reached point P (a point where the host vehicle's traveling direction switches from a first direction toward the inside of the parking spot PS to a second direction toward the outside of the parking spot PS). If the CPU determines that the host vehicle has reached point P (103: Yes), the CPU proceeds to step 104. On the other hand, if the CPU does not determine that the host vehicle has reached point P (103: No), the CPU proceeds to step 109, where it terminates execution of program PR1.

[0047] In step 104, the CPU determines whether or not most of the host vehicle has entered the parking spot PS (S1 / S0>Sth) based on the information acquired from the millimeter-wave radar 21, sonar 22, and camera 23. If the CPU determines that most of the host vehicle has entered the parking spot PS (104: Yes), it proceeds to step 105. On the other hand, if the CPU does not determine that most of the host vehicle has entered the parking spot PS (104: No), it proceeds to step 109, where it terminates execution of program PR1.

[0048] The CPU stops the host vehicle in step 105. Next, the CPU proceeds to step .

[0049] In step 106, the CPU controls the notification device 60 so that predetermined information (images and sounds) is provided to the driver to prompt the driver to check the safety of the surrounding area. Next, the CPU proceeds to step 107.

[0050] In step 107, the CPU determines whether the driver has performed a restart operation (depressing and releasing the brake pedal). If the CPU determines that the driver has performed a restart operation (107: Yes), the CPU proceeds to step 108. On the other hand, if the CPU does not determine that the driver has performed a restart operation (107: No), the CPU returns to step 107.

[0051] The CPU starts the host vehicle toward the outside of the parking spot PS in step 108. Next, the CPU proceeds to step 109, where it ends the execution of the program PR1.

[0052] If a termination condition is met during execution of program PR1, the CPU forcibly terminates execution of program PR1. For example, if the target route R cannot be set (updated) in step 101, the CPU determines that the termination condition is met and forcibly terminates execution of program PR1. If the termination condition is met, the CPU controls the notification device 60 so that information indicating that parking assistance processing cannot be executed is provided to the driver, and further transitions the parking assistance switch to the off state.

[0053] (effect) When the parking assistance ECU 10 of the parking assistance device 1 moves the host vehicle from a state where most of the host vehicle is inside the parking spot PS at point P to a state where the host vehicle moves toward the outside of the parking spot PS, the parking assistance ECU 10 temporarily stops the host vehicle at point P. In this state, the driver can confirm the safety of the surroundings. Then, when the driver can confirm the safety of the surroundings, the driver can start the host vehicle toward the outside of the parking spot PS (restart assistance by the parking assistance device) by performing a predetermined brake pedal operation (restart operation). This improves the safety of pedestrians around the host vehicle.

[0054] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0055] <Variation 1> 3 to 5 show an example in which the present invention is applied to a scene in which the host vehicle is parked backward into the parking spot PS, but the present invention may also be applied to a scene in which the host vehicle is parked forward into the parking spot PS. That is, the parking assistance ECU 10 moves the host vehicle forward to point P, and when most of the host vehicle is within the parking spot PS at point P, stops the host vehicle at point P. Then, when the parking assistance ECU 10 detects that the driver has performed a resume operation in this state, it moves the host vehicle backward toward the outside of the parking spot PS. The present invention may also be applied to a scene in which the host vehicle is parallel parked in the parking spot PS.

[0056] <Variation 2> In the above embodiment, the parking assist ECU 10 is configured to start the host vehicle toward the outside of the parking spot PS when it detects that the brake pedal is depressed and then released within a predetermined period of time while the host vehicle is stopped at point P. Alternatively, the parking assist ECU 10 is configured to start the host vehicle toward the outside of the parking spot PS when it detects that a predetermined operating device other than the brake pedal is operated in a predetermined manner (for example, that a predetermined push-button switch provided on the steering wheel is pressed) while the host vehicle is stopped at point P. [Explanation of symbols]

[0057] 1... parking assistance device, 10... parking assistance ECU, 20... in-vehicle sensor, 25... brake pedal sensor, 60... alarm device

Claims

1. an on-board sensor for acquiring information about targets located around the vehicle; a processor configured to control the vehicle based on information acquired from the on-board sensor so that the vehicle moves from outside the parking spot toward the parking spot and is parked within the parking spot; A parking assistance device comprising: The parking assistance device is configured such that, when the processor causes the vehicle to proceed toward the inside of the parking spot until it reaches a predetermined point, and then causes the vehicle to proceed from the predetermined point toward the outside of the parking spot, and if a ratio of the portion of the vehicle that has entered the parking spot to the entire vehicle at the predetermined point exceeds a threshold, the processor controls the vehicle to stop at the predetermined point, and if it detects that the driver of the vehicle has performed a predetermined operation while the vehicle is stopped at the predetermined point, the processor controls the vehicle to proceed toward the outside of the parking spot.

2. 2. The parking assistance device according to claim 1, The parking assistance device is configured such that, when the vehicle is stopped at the predetermined point, the processor controls the notification device of the vehicle so as to provide the driver of the vehicle with information to encourage the driver to check the safety of the area around the vehicle.

3. 2. The parking assistance device according to claim 1, The parking assistance device is configured such that, when the processor detects that a brake pedal has been depressed, it determines that the predetermined operation has been performed.

4. 4. The parking assistance device according to claim 1, The processor acquires a map showing the positional relationship between the host vehicle and the parking spot in a planar view based on information acquired from the on-board sensor, acquires a first area which is the entire area of ​​the host vehicle on the map at the specified point, and a second area which is the area of ​​the portion of the host vehicle on the map that has entered the parking spot, and if the ratio of the second area to the first area exceeds a threshold, controls the host vehicle to stop at the specified point.

Images