Parking support method, parking support apparatus, and program

Abstract

To update parking information stored in a server at appropriate timing.SOLUTION: A processor 10 executes the following steps of: recognizing a captured feature on the basis of detection information of a sensor 2 of an own vehicle; referring to parking information 50, 70 stored in a first storage device 5 of a parking support apparatus 200 or in a second storage device 7 of a server 300 and including a reference feature which is a feature recognized, about each parking position, from surrounding detection information including each parking position where the own vehicle or another vehicle has been parked before; calculating a first target parking position on the basis of a first matching feature which is the reference feature of a target parking position; executing first parking control to park the own vehicle at the first target parking position; when execution thereof is suspended, referring to the parking information 70 in the second storage device 7 of the server 300, and acquiring, as a second matching feature, the reference feature which includes a common target parking position and is different from the first matching feature; and executing second parking control to autonomously park the own vehicle at a second target parking position calculated on the basis of the acquired second matching feature and the captured feature.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a parking assistance method, a parking assistance device, and a program. [Background technology]

[0002] A technology is known in which parking lot information is acquired when other vehicles park and stored in a server, and the vehicle is parked in a parking space based on the acquired parking lot information (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. WO2019 / 244537 Summary of the Invention [Problem to be solved by the invention]

[0004] However, although it is necessary to update the parking information used for parking control in response to changes in the parking environment, the timing of updating has not been considered.

[0005] The problem to be solved by the present invention is to update parking information used for parking control at an appropriate timing. [Means for solving the problem]

[0006] The present invention solves the above problem by calculating a first target parking position based on an acquisition feature recognized from detection information acquired by a sensor of the vehicle at the target parking position and a first matching feature of parking information of the target parking position stored in an external server or parking assistance device, and starting execution of a first parking control to park the vehicle at the first target parking position; if the first parking control is interrupted, acquiring a second matching feature different from the first matching feature from the server, and autonomously parking the vehicle at the second target parking position calculated based on the second matching feature and the acquisition feature. [Effects of the Invention]

[0007] According to the present invention, parking information used for parking control can be updated at an appropriate timing. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing the configuration of a parking assistance system. [Figure 2] FIG. 2 is a flowchart showing an example of a control procedure for parking assistance. [Figure 3] FIG. 3 is a diagram illustrating an example of a method for calculating a target parking position. DETAILED DESCRIPTION OF THE INVENTION

[0009] An embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a parking assistance system 100 according to this embodiment. The parking assistance system 100 includes a parking assistance device 200 mounted on a vehicle and a server 300 located remotely therefrom. The parking assistance device 200 and the server 300 constitute a parking assistance system that cooperates by exchanging information with each other. The communication device 30 of the parking assistance device 200 and the communication device 320 of the server 300 are equipped with wireless communication capabilities, and the two devices exchange information (including operational commands) with each other via a network 400. The first processor 10 of the parking assistance device 200 accesses the second storage device 7 of the server 300, reads the second parking information 70 stored therein, performs a search process, and can acquire the second parking information 70 containing the desired second reference feature 71 from the server 300. The processor 10 of the parking assistance device 200 sends a command to the second processor 310 of the server 300, causing the second processor 310 to read the second parking information 70 from the second storage device 7, perform a search process, and provide the second parking information 70 including the desired second reference feature 71 to the parking assistance device 200. The parking assistance device 200 acquires a target reference feature as a matching feature, calculates a target parking position using the matching feature and the acquired feature, and performs autonomous parking control by moving the vehicle there and parking it. The parking assistance device 200 includes a control device 1, a sensor 2, a navigation device 3, a vehicle controller 4, and a first storage device 5. Each device is connected via a CAN (Controller Area Network) or other wired / wireless in-vehicle LAN and exchanges information with each other. Each device may be a device mounted on the vehicle, or may be configured as a portable terminal device that can be brought into the vehicle and connected to the in-vehicle LAN. The parking assistance device is provided in each vehicle, including the vehicle itself and other vehicles. The parking assistance device 200 provided in the vehicle and the parking assistance devices 200-1 to 200-n (hereinafter referred to as 200n) provided in the other vehicles have the same functions. In this specification, the processor provided in the parking assistance device 200 provided in the own vehicle and the parking assistance device 200n provided in the other vehicle will be referred to as the first processor 10, and the processor provided in the server 300 will be referred to as the second processor 310 to distinguish between the two.

[0010] The sensor 2 includes one or more cameras 21 arranged on the vehicle. The camera 21 includes an image sensor equipped with an imaging element such as a CCD, an ultrasonic camera, or an infrared camera, and captures images of the surroundings of the vehicle in all directions. The sensor 2 includes a radar device 22 that detects (measures distance to) the presence, position, and change in position of objects around the vehicle. The radar device 22 measures the distance and direction to the object by emitting electromagnetic waves toward the object and measuring the reflected waves. The radar device 22 includes a laser radar, a millimeter wave radar (LRF), a LiDAR (light detection and ranging) unit, an ultrasonic radar, and a sonar. The sensor 2 acquires detection information about the surroundings of the vehicle's current position, including the target parking position. The target parking position is the location where the user wishes to park. When the vehicle's position, obtained from the position detection device 31 of the navigation device 3, approaches the target parking position within a predetermined distance, the sensor 2 begins acquiring detection information and continues acquiring detection information until the target parking position is calculated or parking control is completed. The sensor 2 periodically and continuously acquires detection information about the surroundings, including the target parking position, from when the vehicle approaches the target parking position within a predetermined distance until the vehicle reaches the target parking position. The detection range is not limited, but can be 15-30 meters horizontally and 10-20 meters vertically from the target parking position. The processor 10 acquires detection information (captured images or measurement information) along the route the vehicle takes to the target parking position by chronologically arranging and integrating multiple pieces of detection information acquired multiple times from the approach point where the vehicle is determined to have approached the target parking position to the actual arrival at the target parking position. This allows the positional relationship (approach or coincidence) between the vehicle and the target parking position to be determined with high accuracy from the approach point to the target parking position. Furthermore, based on the similarity of the route from the point where it is determined that the vehicle has approached the target parking position to the target parking position, it is possible to predict candidate target parking positions for the vehicle before the vehicle reaches the target parking position. The detection information includes one or more of the following that serve as markers for parking spaces: white lines, curbs, steps, installations (such as poles), walls, patterns (including colors) of the parking surface, and unevenness of the parking surface. The first processor 10 at least temporarily stores the provided detection information in the first storage device 5 of the parking assistance device 200 and / or the second storage device 7 of the server 300.

[0011] The navigation device 3 includes a position detection device 31, map information 32, and parking lot information 33. The position detection device 31 includes a receiver for signals from a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System), a gyro sensor, and a vehicle speed sensor, and uses these to detect the position of the vehicle. The map information 32 includes information on each location and each route. The parking lot information 33 includes information identifying a parking lot, including its representative position (latitude and longitude) and the location of one or more parking lots.

[0012] The vehicle controller 4 includes a steering control device 41 and a drive control device 42. The vehicle controller 4 calculates a parking path to a target parking position, autonomously moves the host vehicle along the parking path, and realizes an autonomous parking control function that parks the host vehicle at the target parking position. The autonomous parking control function can also be realized by remote operation. The vehicle controller 4 acquires command values ​​for autonomous parking control and causes the host vehicle to travel along the parking path in accordance with the command values. Based on the command values, the vehicle controller 4 inputs longitudinal and lateral forces that control the host vehicle's traveling position to the drive control device 42. Based on these inputs, the drive control device 42 controls the behavior of the vehicle body and the behavior of the wheels so that the host vehicle autonomously travels along a path to the target parking position. Based on these controls, at least one of the drive actuator and brake actuator of the vehicle body's drive mechanism and the steering actuator of the steering control device 41, which is activated as needed, operate autonomously, thereby executing autonomous parking control that causes the vehicle to autonomously travel along the target path. The command values ​​for parking control are generated by the vehicle controller 4 or the first processor 10. The vehicle controller 4 can perform manual parking in accordance with command values ​​based on the manual operation of the driver input via the input / output device 20. When the first processor 10 of the parking assistance device 200 requests manual driving, the vehicle controller 4 performs parking in accordance with the manual operation of the driver input via the input / output device 20 for the steering, accelerator, brake, etc., without performing autonomous parking control.

[0013] The first storage device 5 stores first parking information 50 so that it can be referenced (read) by the first processor 10. The first parking information 50 includes parking information acquired when the host vehicle performed parking control, or parking information acquired when another vehicle performed parking control in the past that was downloaded from the server 300. The first parking information 50 includes first reference features 51. The first parking information 50 includes first history information 52 and / or first setting information 53. The first reference feature 51 is a feature recognized from surrounding detection information including each parking position where the vehicle has previously parked. The feature is a feature recognized from image information and / or a feature recognized from radar measurement information. In this specification, the captured feature and feature are a feature vector including feature elements recognized from the detection information and their quantities. The first history information 52 includes the success or failure of parking control, the number of times parking control has succeeded or failed, and an evaluation based on these. Successful parking control refers to a state in which the vehicle reaches the target parking position and parking control is completed without manual retry. Failure of parking control refers to a state in which parking control cannot be started, is interrupted midway through after being started, is interrupted because the parking control time exceeds a predetermined time, or is interrupted based on a user instruction, and is not completed. This failure of parking control occurs due to incorrect recognition of each feature or a decrease in matching accuracy. Errors in recognition of each feature and a decrease in matching accuracy occur due to changes in the detection environment, changes in the environment around the target parking position, changes in the detection performance of the sensor 2, etc. The evaluation of parking control is calculated based on the total number of times parking control is performed, the number of times parking control is successful, and / or the number of times parking control is unsuccessful. The more successes there are compared to the total number of times parking control is performed, the higher the evaluation calculated. The more failures there are compared to the total number of times parking control is performed, the lower the evaluation calculated. The success or failure of parking control may be stored by distinguishing whether it is a failure based on a user's interrupt instruction or a failure based on the judgment of the parking assistance device 200. The first setting information 53 includes vehicle information of the subject vehicle or another vehicle that executed parking control, the time when parking control was executed or when parking information was stored, detection settings related to parking control, and user settings related to parking control. The vehicle information includes one or more of identification information for identifying the vehicle, the vehicle model, the vehicle type (light car, sedan, wagon, etc.), vehicle specifications, and vehicle performance. The detection setting includes setting the distance between the detected obstacle and the host vehicle. When the distance to the obstacle is set relatively short, the host vehicle can be brought much closer to the obstacle than when the distance is not set, resulting in parking control with fewer turns and along a relatively short parking path. When the distance to the obstacle is set relatively long, the host vehicle needs to maintain a relatively longer distance from the obstacle than when the distance is not set, resulting in parking control with more turns and along a relatively long parking path. The detection setting can be set based on the sensor performance, vehicle performance, and vehicle specifications of the host vehicle. The user settings are settings related to the user's preferences regarding parking control, and include any one or more of the following: a turning position of the parking trajectory, a forward distance when turning, the number of turning, a shape of the parking trajectory (compact shape, wide shape), a required time for parking control, a distance of the parking trajectory, and individual settings such as a rightward or leftward, rearward or forwardward position of the parking position relative to the parking area (parking space).

[0014] The first reference feature 51, the first history information 52, and the first setting information 53 are associated with each other by identification information that identifies the parking location or the parking lot corresponding to the parking location. The parking location can be determined based on location information such as latitude and longitude and / or the captured feature. Using the captured feature, the parking location, or the identification information as a search key, the first reference feature 51, the first history information 52, and the first setting information 53 that share the captured feature, the parking location, or the identification information can be extracted. After the parking control is executed, the first processor 10 of the parking assistance device 200 of the host vehicle and the parking assistance device 200n of the other vehicle stores (accumulates) the first parking information 50 in the first storage device 5. The first processor 10 can read out the corresponding first reference feature 51, first history information 52, and first setting information 53 from the first parking information 50 in the first storage device 5. After the parking control is executed, the first processor 10 of the parking assistance device 200 of the host vehicle and the parking assistance device 200n of the other vehicle stores the second parking information 70 in the second storage device 7 of the server 300. The first processor 10 may store the first parking information 50 in the first storage device 5, and further store the second parking information 70 in the second storage device 7. The content of the second parking information 70 stored in the second storage device 7 corresponds to the content of the first parking information 50 stored in the first storage device 5. The content of the second reference feature 71 of the second parking information 70 corresponds to the content of the first reference feature 51, the content of the second history information 72 corresponds to the content of the first history information 52, and the content of the second setting information 73 corresponds to the content of the first setting information 53. The reference features include the first reference feature 51 and the second reference feature 71. In this specification, the first reference feature 51 and the second reference feature 71 are also referred to as reference features, the first history information 52 and the second history information 72 are also referred to as history information, the first setting information 53 and the second setting information 73 are also referred to as setting information, and the first parking information 50 and the second parking information 70 are also referred to as parking information.

[0015] The parking assistance method is used by a first processor 10 included in a control device 1 of the parking assistance device 200. The first processor 10 includes a ROM (Read Only Memory) 12 storing a program for calculating a target parking position and performing autonomous parking control, a CPU (Central Processing Unit) 11 executing the program stored in the ROM 12, and a RAM (Random Access Memory) 13 functioning as an accessible memory. The first processor 10 may use an MPU (Micro Processing Unit) or a GPU (Graphics Processing Unit) instead of a CPU, or may be configured with an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The control device 1 is a computer. The program is stored in the ROM 12, which is a computer-readable storage medium. The control device 1 controls the parking assistance device 200 by executing the program. The first processor 10 implements the parking assistance method using each piece of hardware in the parking assistance system 100 and each piece of hardware in the server 300.

[0016] The first processor 10 uses GPS signals or GNSS signals to refer to parking lot information 33 in map information 32 and determines that the vehicle is approaching the target parking position. The first processor 10 recognizes captured features based on surrounding detection information, including the target parking position, acquired using the vehicle's sensor 2. The captured features are features of the target parking position and its surrounding detection information. The captured features are features recognized from detection information acquired by the vehicle's sensor 2 before parking at the target parking position. The first processor 10 extracts features from images captured by the camera 21 or measurement information from the radar device 22 and recognizes captured features unique to the target parking position. The captured features are features resulting from two-dimensional targets, such as images of the surroundings of the parking position or patterns on the parking position, or three-dimensional targets, such as unevenness or structures on the parking position. Changes in the features of the targets over time may also be used as captured features. The first processor 10 refers to the first parking information 50 including the first reference feature 51 or the second parking information 70 including the second reference feature 71, sets the first reference feature 51 or the second reference feature 71 associated with the target parking position as a first matching feature, and calculates the first target parking position based on the identified first matching feature. The first processor 10 calculates the first target parking position using the position, size, and arrangement (including the positional relationship between the features) of one or more features of the first reference feature 51 or the second reference feature 71 that have been set as the first matching feature as landmarks.

[0017] The first processor 10 starts the execution of a first parking control to autonomously park the host vehicle in a first target parking position and monitors it until it is completed. The first parking control is completed when the host vehicle moves to the first target parking position and stops at the first target parking position. Additional conditions for completion may include the host vehicle being powered off, the doors being opened, or an occupant getting out of the vehicle (no occupant detected by the seating sensor). The first processor 10 determines whether the first parking control was interrupted before completion. If the first parking control is interrupted, the first processor 10 reads the parking information 70 from the second storage device 7 of the server 300. The first processor 10 acquires, as the second matching feature, a second reference feature 71 that is the same as the target parking position and is different from the first matching feature, from the second storage device. The first processor 10 compares the first matching feature with each second reference feature 71 and selects a second reference feature 71 that has a feature different from the first matching feature. The first processor 10 acquires the selected second reference feature 71 as the second matching feature. The first processor 10 calculates a second target parking position based on the acquired second matching feature and the acquired feature, and executes second parking control to autonomously park the host vehicle at the second target parking position. Each time parking control of the host vehicle is executed, the first processor 10 stores the recognized captured features in the first storage device 5 and / or the second storage device 7 as reference features of each target parking position. The first storage device 5 stores the first reference features 51 when the host vehicle executes parking control and / or the second reference features 71 downloaded from the server 300. The second storage device 7 stores the second reference features 71 when the host vehicle and other vehicles execute parking control. These first reference features 51 or second reference features 71 will be used in future parking assistance.

[0018] The input / output device 20 has an input function for accepting information input from the user and an output function for presenting the judgment of the first processor 10 and the surrounding situation. A touch panel display, steering, accelerator, and brake are used as the input / output device 20 for realizing the input function. A display, microphone, and speaker are used as the input / output device 20 for realizing the output function. Input information includes approval input of the target parking position and a command for manual parking. Output information includes a video of the surroundings, a request to confirm the target parking position, and a parking route. The communication device 30 exchanges information with each device in the parking assistance device 200 and the server 300 .

[0019] The server 300 includes an information processing device 301, a communication device 320, and a second storage device 7. The term "server" in this application includes a cloud-based server, a server installed as an external device in another vehicle, and a server simply functioning as an external storage device. The second processor 310 of the information processing device 301 reads the second parking information 70, performs search processing, and provides search results based on its own judgment or a command from the first processor 10. The second processor 310 of the information processing device 301 includes a read-only memory (ROM) 312 that stores a program for selecting the second reference feature 71, a central processing unit (CPU) 311 that executes the program stored in the ROM 312, and a random access memory (RAM) 313 that functions as an accessible memory. The second processor 310 may use a semiconductor integrated circuit similar to that of the first processor 10. The communication device 320 exchanges information with each device in the server 300 and with the parking assistance device 200 and parking assistance device 200n of the host vehicle. The second storage device 7 stores second reference features 71, second history information 72, and second setting information 73 for each parking position, which are acquired from the parking assistance devices 200n of one or more vehicles via the communication device 320. The content of the information of the second reference features 71 is common to the content of the information of the first reference features 51, the content of the second history information 72 is common to the content of the first history information 52, and the content of the second setting information 73 is common to the content of the first setting information 53. To avoid redundant explanations, all descriptions of the first reference features 51, the first history information 52, and the first setting information 53 are incorporated herein by reference as descriptions of the second reference features 71, the second history information 72, and the second setting information 73.

[0020] Referring to FIG. 2, the control procedure of the parking assistance method for autonomously parking the vehicle at a target parking position will be described. The first processor 10 of the parking assistance device 200 acquires the current position from the position detection device 31 (S1) and determines whether the vehicle is approaching the target parking position based on the distance between the current position and the target parking position (S2). The threshold for the determination can be set arbitrarily, such as 5 m to 30 m. The target parking position may be a destination parking lot input into the navigation device 3. An occupant of the vehicle may input an approach to the target parking position via the input / output device 20. When the vehicle approaches the target parking position, the first processor 10 causes the sensor 2 to start capturing images and / or measuring (S3). The first processor 10 acquires detection information of the target parking position from the sensor 2 (S4). The first processor 10 extracts features from the detection information of the surroundings, including the target parking position. The method for extracting features from captured images and measurement information is not limited, and any method known at the time of filing may be used. The first processor 10 recognizes the acquired feature based on the extracted feature (S5). The acquired feature is a feature recognized from the detection information of the area including the target parking position.

[0021] The first processor 10 selects the first reference feature 51 or the second reference feature 71 corresponding to the target parking position from the first reference feature 51 stored in the first storage device 5 mounted on the parking assistance device 200 of the host vehicle or the second reference feature 71 stored in the second storage device 7 of the server 300. The first processor 10 first refers to the first parking information 50 stored in the first storage device 5 (S6). The first parking information 50 includes first reference features 51. The first reference features 51 include features based on detection information acquired when the host vehicle performed parking control, or features based on detection information acquired when another vehicle performed parking control and previously downloaded from the server 300. The first processor 10 determines whether the first reference features 51 of the first parking information 50 of the target parking position have been acquired (S7). If the first reference features 51 of the target parking position have been acquired (YES in S7), the first reference features 51 are set as first matching features (S8). On the other hand, if the first reference features 51 of the target parking position have not been acquired (NO in S7), the server 300 is accessed (S16) to refer to the second parking information 70 stored in the second storage device 7 (S17). At this time, the second reference features 71 may be downloaded to the parking assistance device 200 and stored in the first storage device 5 before being referenced. The first processor 10 acquires the second reference features 71 associated with the target parking position (S18). If the second reference feature 71 is acquired (YES in S18), the second reference feature 71 is output to the parking assistance device 200 (S19). The first processor 10 sets the second reference feature 71 acquired from the server 300 as the first matching feature (S8). In this embodiment, the first reference feature 51 in the first storage device 5 is first searched, and then the server 300 is accessed to search for the second reference feature 71 in the second storage device 7. This order is not limited, and it is also possible to first access the server 300 to search for the second reference feature 71 in the second storage device 7, and then search for the first reference feature 51 in the first storage device 5 of the parking assistance device 200.

[0022] In S19, the second parking information 70 stored in the server 300 and provided to the parking assistance device 200 includes information on parking control performed by another vehicle driven by another person. In this embodiment, a situation is considered in which, when performing parking control using the second parking information 70 registered by the other vehicle, consent from the person who parked and registered the other vehicle is required. When acquiring the second parking information of the other vehicle for a parking position corresponding to the target parking position from the server 300, the first processor 10 transmits an application for permission to use the second parking information to the server 300, and acquires the second parking information 70 from the server 300 only if permission is obtained from the user who registered the second parking information. The method of obtaining permission is not particularly limited, and the first processor 10 may transmit a request to the server 300 including identification information identifying the parking position of the second parking information 70 of the other vehicle, the server 300 may forward the request for the host vehicle to the registered user who registered the second parking information 70, and may forward the consent obtained from the registered user to the parking assistance device 200 for the host vehicle. In addition, a request for permission may be sent to the contact information (e.g., communication address) of the registered user who registered the second parking information 70, and the permission reply and the second parking information 70 may be received by the communication device 30 of the parking assistance device 200. This allows a user to use parking information based on the experience of other registered users, provided that the user obtains permission from the registered user who registered the second parking information 70, thereby protecting the privacy of the registered users of the parking information.

[0023] If the second reference feature 71 associated with the target parking position cannot be selected (NO in S18), the first processor 10 determines that autonomous parking control based on feature matching is not possible and issues an instruction to switch to manual parking to the occupant via the input / output device 20 (S20). The occupant then performs parking control by manual driving (S21). If there are no first reference features 51 or second reference features 71 associated with the target parking position, the target parking position cannot be calculated based on the acquired features and the first reference feature 51 or second reference feature 71. In such a case, the system promptly switches to manual parking to ensure smooth parking assistance. After manual parking, the parking information obtained during parking is stored in the first storage device 5 (S22).

[0024] If the first reference feature 51 or the second reference feature 71 of the target parking position can be selected (YES in S7 or YES in S18), the first processor 10 sets the selected first reference feature 51 or second reference feature 71 as the first matching feature (S8). The first processor 10 calculates the host vehicle position based on the first matching feature (S9). The first processor 10 calculates a parking position relative to the calculated host vehicle position (S10). The first processor 10 sets the calculated parking position as the first target parking position where the host vehicle will park (S11). Through the above processing, the captured feature is recognized using detection information acquired after the host vehicle approaches the target parking position, the first matching feature (first reference feature 51 or second reference feature 71) of the target parking position is selected, and the first target parking position is calculated based on the captured feature and the first matching feature. This makes it possible to calculate the first target parking position with high accuracy. The first matching feature may be a feature to be matched with the captured feature. The first processor 10 calculates a first parking route from the current position of the host vehicle to the first target parking position, and calculates a first parking control command to autonomously move the host vehicle to the first target parking position (S12).

[0025] Here, a method for calculating a target parking position based on the first reference feature 51 or the second reference feature 71, which is set as the first matching feature, will be described with reference to Fig. 3. Fig. 3 shows the first reference feature 51 or the second reference feature 71 and the target parking position PKT. The target parking position PKT is attached to the house H. In this example, the first reference feature 51 stored in the parking assistance device 200 is used. Of course, the second reference feature 71 stored in the server 300 may also be used. The first reference feature 51 includes two-dimensional target features corresponding to two circular patterns (including colors) 2D1 and 2D2, three-dimensional target features corresponding to structures 3D1, 3D2, and 3D3 having heights parallel to the target parking position PKT, and three-dimensional target features corresponding to a protrusion 3D4 at the entrance to the parking lot and a car stop 3D5 facing it. The first reference feature 51 may include the target parking position PKT for parking control when it was registered. The first processor 10 calculates the target parking position using these features included in the first reference feature 51 as references (landmarks). Specifically, the first processor 10 compares the position of the captured feature with the position of the feature of the first reference feature 51 to calculate the current position of the vehicle in the coordinate system of the first reference feature 51, and calculates the target parking position PKT based on this current position. Alternatively, the position of the first reference feature 51 may be calculated in the coordinate system of the real space in which the vehicle exists, and calculates the target parking position PKT based on the position of the first reference feature 51. The target parking position determined based on the acquired features, using the position of the first reference feature 51 as a landmark, has high position accuracy. The target parking position calculated based on the acquired features and the first reference feature 51 enables autonomous parking control even in locations where there are no parking spaces or where the host vehicle has never registered a parking position. The first processor 10 uses the vehicle controller 4 to move the host vehicle V1, which is located at position P1, forward along the parking path RT1, stop the host vehicle V1 at the turning position P2, and move the host vehicle V1 backward along the parking path RT2, thereby parking the host vehicle V1 at the target parking position PKT. The target parking position can also be calculated using the second reference feature 71, enabling autonomous parking control. A similar method can be applied to autonomous parking control, where the target parking position is calculated based on the first reference feature 51 or the second reference feature 71, which are used as the second matching feature.

[0026] Returning to FIG. 2 , the first processor 10 inputs a parking command to the vehicle controller 4 and starts executing autonomous first parking control (S13). The first processor 10 monitors the execution of the parking control until the execution of the first parking control is completed. If the first parking control is completed without interruption (YES in S14), the first processor 10 stores parking information 50 about the executed first parking control in the first storage device 5 and / or the second storage device 7 (S25) and completes the parking assist control. The first parking information 50 stored in the first storage device 5 includes first reference features 51, first history information 52, and first setting information 53, and the second parking information 70 stored in the second storage device 7 includes second reference features 71, second history information 72, and second setting information 73.

[0027] On the other hand, if the first parking control is interrupted (NO in S14), the process proceeds to S31. An interruption of the first parking control occurs when the first parking control is terminated (interrupted) midway between the start of the first parking control in S13 and the completion of the first parking control. The interruption of the parking control may occur due to a change in the target parking position and its surrounding conditions. The change in conditions is a change that occurred in the first target parking position between the time when the first parking information 50 or the second parking information 70, which is the first verification feature, was stored and the time when the first parking control is executed this time. When an object is moved, removed, or placed in the first target parking position (parking area), the situation of the first target parking position changes. When the situation of the first target parking position changes, the detection information of the captured image of the camera 21 and the measurement information of the radar device 22 also changes. Even if there is no physical change to the object (presence or absence, change in position), the detection information may change if there is a difference in weather or calendar between the time when the first parking information 50 or the second parking information 70 is stored and the time when the first parking control is executed. For example, due to differences in weather, the shadow of the same object may or may not be reflected in the image information of the camera 21. Due to differences in calendars, the direction and length of the shadow of the same object may differ. Because the camera 21 acquires shadow information as image information in the same way as the object, the content of the detection information may change even if the parking position is the same. As described above, changes in the situation cause changes in the detection information, resulting in differences between the reference features and the acquired features identified from the detection information. In other words, even for the same target parking position, the previously registered first reference feature 51 or second reference feature 71 may differ in at least part from the acquired features of the detection information of the host vehicle's sensor 2 for which parking control is about to be performed. If there is even a partial difference between the acquired features and the first reference feature or the second reference feature, a decision may be made not to perform the matching process, which is performed continuously at a predetermined interval from the start to the completion of parking control. If the matching process fails during parking control, the first target parking position cannot be confirmed sequentially, and the first target trajectory leading to the first target parking position cannot be calculated and confirmed. Ultimately, the first parking control may not be completed. For example, if the change is limited to a part of the parking path or if the difference between the feature vectors is less than a predetermined value, parking control may be initiated. However, after the parking control is initiated, the acquired feature identified along the parking path may not match the previously registered first reference feature 51 or second reference feature 71. If the acquired feature cannot be matched with the first reference feature 51 or second reference feature 71 and a parking path maintaining an appropriate distance from each obstacle cannot be calculated, the first processor 10 causes the vehicle controller 4 to abort the parking control. Furthermore, if there is a change in the feature when the parking path is recalculated for some reason, such as due to user intervention, a parking path maintaining an appropriate distance from each obstacle cannot be regenerated, and the first processor 10 causes the vehicle controller 4 to abort the parking control. Furthermore, if the host vehicle approaches a new obstacle within a predetermined distance while moving along the parking path calculated based on the acquired feature and the reference feature, the parking control is interrupted. The first processor 10 determines that the started parking control has been interrupted without being completed. Before proceeding to S31, the first processor 10 also performs a process of storing parking information indicating that the executed parking control has been interrupted in the first storage device 5 and / or the second storage device 7, as indicated by the dashed line (S22).

[0028] The first processor 10 of each parking assistance device 200 of the host vehicle or other vehicle accesses the server 300 and refers to the second parking information 70 in the second storage device 7 (S31). The first processor 10 selects a second reference feature 71 that has a common target parking position and is different from the first matching feature (S32). The method for selecting the second reference feature having a feature different from the first matching feature is not particularly limited, and any method known at the time of filing can be used, which compares the features of imaging information or measurement information and evaluates their similarities or differences. For example, the first processor 10 extracts the representative feature having the largest feature amount from the first matching feature and the second reference feature 71, and selects the second reference feature 71 having a representative feature vector whose position is separated from the representative feature vector of the first matching feature by a predetermined value or more. The first processor 10 extracts the representative feature having the largest feature amount from the first matching feature and the second reference feature 71, compares the feature amounts of both representative features, and selects the second reference feature 71 whose feature positions match but whose feature amount differs from the representative feature vector of the first matching feature by a predetermined value or more. Of course, the second reference feature 71 whose representative position and feature amount differ from the representative feature vector of the first matching feature by a predetermined value or more may also be selected. The first processor 10 may use one or more of the number of features, feature positions, feature amounts, and shapes corresponding to the features as evaluation items for the first matching features, assign (add) points according to the degree of match, and select the second reference feature with the lowest score (mismatch).Of course, it may also select the second reference feature with a score within a predetermined threshold (similar but different). Furthermore, as described above, a second reference feature 71 having a feature different from the first matching feature may be selected by directly comparing the first matching feature with the second reference feature. Alternatively, a second reference feature 71 associated with setting information different from the setting information associated with the first matching information may be selected as the second reference feature 71 different from the first matching feature. In this selection process (S32), when parking control is interrupted, the first processor 10 selects, as the second matching feature, a second reference feature 71 associated with setting information different from the setting information associated with the first matching information used in the initial first parking control. The second reference feature 71 having different setting information from the first matching feature when parking control is interrupted is set as the second matching feature, and the second parking control is performed using this second matching feature. The setting information includes vehicle information of the host vehicle or other vehicle that executed parking control, the time when parking control was executed or the parking information was stored, detection settings related to parking control, and user settings related to parking control. The setting information of the first reference feature 51 or the second reference feature 71 corresponding to the first matching feature used in the previously executed parking control can be acquired from the first setting information 53 or the second setting information 73. The processor 10 refers to the second setting information 73 held in the parking information 70 in the second storage device 7 of the server 300, and selects the second reference feature 71 having the second setting information 73 different from the setting information of the first matching feature used in the previously executed parking control. If the second setting information 73, which is any one or more of the vehicle information, parking control time, detection setting, and user setting attached to the second parking information 70, is different, the detection information when parking control is executed will be different, and the features identified from the detection information may be different. In this embodiment, instead of directly comparing the information of the first matching feature and the second reference feature 71 themselves, attention is focused on the difference in setting information, and the second reference feature 71 having setting information different from that of the first matching feature is selected as the second reference feature 71 having features different from the first matching feature. Although not particularly limited, the first processor 10 selects, as the second matching feature, the second reference feature 71 of the second parking information 70 having the second setting information 73 in which the vehicle identification information of the vehicle information is different, the vehicle type is different, or the vehicle performance is different. The first processor 10 selects, as the second matching feature, the second reference feature 71 of the second parking information 70 having the second setting information 73 in which the parking position is the same and the parking control time is later, i.e., closer to the current time. The first processor 10 selects, as the second matching feature, the second reference feature 71 of the second parking information 70 having the second setting information 73 in which the parking position is the same and the detection setting is different, for example, the set distance to the obstacle is significantly different. The first processor 10 selects, as the second matching feature, the second reference feature 71 of the second parking information 70 having the second setting information 73 in which the parking position is the same and the user setting is different, for example, the number of turns or the shape of the parking route (compact route, wide route). Furthermore, in the selection process of the second reference feature 71, it is preferable to select a second reference feature 71 that has a high probability of successful parking control. In S22, the first processor 10 stores historical information of parking control executed at each parking position in the second storage device 7 of the server 300, including the parking information. The first processor 10 calculates an evaluation of the second parking control based on the historical information and records it in the second historical information 72. If the first parking control is interrupted (NO in S14), the first processor 10 accesses the server 300 to refer to the second parking information 70, and if there are multiple pieces of second parking information 70 with the same target parking position, obtains the second parking information 70 with a relatively high evaluation of the parking control calculated based on the second historical information 72. In this way, in the process of selecting the second reference feature 71 to be used as the second matching feature, by referencing the second parking information 70 that has the second history information 72 with a common parking position and a relatively high evaluation of the parking control, it is possible to select the second reference feature 71 of the second parking information 70 with a high probability of success. By performing the second parking control using this second reference feature 71 as the second matching feature, it is possible to increase the likelihood of the second parking control being successful. This makes it possible to avoid repeated failures of the parking control. The selection process of the second matching feature may be performed by the first processor 10 accessing the second storage device 7, or the first processor 10 may act on the second processor 310 to cause the second processor 310 to select the second reference feature 71 from the second storage device 7.

[0029] If the second reference feature 71 cannot be selected (NO in S33), for example, because there is no parking information for a parking position that is the same as the target parking position, an instruction to switch to manual parking is presented (S20) without performing autonomous parking control, and the processing of S21-S22 is executed. If the second reference feature 71 can be selected (YES in S33), the selected second reference feature 71 is set as the second matching feature (S34). The first processor 10 sends the second matching feature to the vehicle controller 4 of the parking assistance device (S35). The first processor 10 calculates the host vehicle position based on the second matching feature (S36). The first processor 10 calculates a second parking position relative to the calculated host vehicle position (S37). The first processor 10 sets the calculated second parking position as a second target parking position where the host vehicle will park (S38), and calculates a second parking route and second control command to reach the second target parking position (S39). The first processor 10 starts executing the autonomous second parking control (S40), and if the second parking control is completed (YES in S41), the first processor 10 registers the parking information in the first storage device 5 and / or the second storage device 7 (S22). If parking control is interrupted (NO in S41), the server 300 is accessed again to select another second reference feature 71 (S31). The selected second reference feature 71 is a second reference feature 71 that has a common target parking position and is different from the first matching feature. The first processor 10 sets the selected second reference feature 71 as the second matching feature to be used in the second parking control to be executed next. If the second reference feature 71 to be used as the second matching feature can be selected (YES in S33), the processing from S34 onwards is repeated. If another second reference feature 71 cannot be selected (NO in S33), the system switches to manual parking (S20) and executes S21-S22.

[0030] If parking control execution is initiated but interrupted midway, it can be determined that the first matching feature (first reference feature 51 or second reference feature 71) used in parking control does not match the actual features of the detection information around the target parking position. Parking control includes the process of inputting a command to start autonomous parking control, calculating a target parking position, calculating a parking path to the target parking position, and starting parking operation of the host vehicle. In this embodiment, parking control begins when the host vehicle starts moving along the calculated parking path. If the target parking position or parking path cannot be calculated, parking control is not started at all. In this embodiment, after the host vehicle starts moving along the parking path to the calculated target parking position, if parking control cannot be continued based on detection information detected during movement, the server 300 references the second reference feature 71 in the second parking information 70 to acquire the second matching feature. After starting movement along the parking path based on the second matching feature, the first processor 10 references the second reference feature 71 if the host vehicle becomes too close to an obstacle or otherwise becomes unable to continue moving along the parking path.

[0031] Instead of the first matching feature (first reference feature 51 or second reference feature 71), the first processor 10 selects a second matching feature (reference feature) of the common parking position from the second reference feature 71 of the parking information 70 in the second storage device 7 of the server 300, the second matching feature having a different characteristic from the first matching feature used in the interrupted parking control. In this case, the situation targeted by the detection information from which the second matching feature was extracted is different from the situation targeted by the detection information from which the first matching feature was extracted. In other words, the first target parking position calculated based on the first matching feature may be different from the second target parking position calculated based on the second matching feature. Furthermore, the first parking route from the current position of the host vehicle to the first target parking position may be different from the second parking route from the current position of the host vehicle to the second target parking position. If the acquired feature does not match the first matching feature, for example, if there is a change in the situation of the target parking position, and the acquired feature based on the detection information includes the feature of an object (obstacle) near the parking path, but the first matching feature does not include the feature corresponding to this obstacle, the execution of the first parking control calculated based on the first matching feature cannot be completed. However, even if the first parking control using the first matching feature is interrupted, there is a possibility that the second parking control using the second matching feature that matches the feature of the situation after the change in the target parking position can be completed without interruption. When the first parking control is interrupted, a second matching feature having a feature different from the first matching feature is selected from the second reference feature 71 of the second parking information 70 of other vehicles stored in the server 300, thereby increasing the possibility that the retried parking control can be completed without interruption. Furthermore, if the setting information differs, the features captured from the detection information may also differ, and if the setting information differs, it may be possible to calculate a parking path. By using the second reference feature 71, which is associated with setting information different from the setting information of the first matching feature when the parking control was interrupted, as the second matching feature and performing the second parking control using this second matching feature, it is possible to increase the possibility that the second target parking position will be reached and the second parking control will be completed without being interrupted as in the case of the first parking control.

[0032] It is preferable that the first parking information 50 and the second parking information 70 used for parking control are updated to appropriate content. The first processor 10 deletes from the first storage device 5 of the parking assistance device 200 the first parking information 50 whose evaluation, calculated based on the first history information 52, is less than a predetermined evaluation value, acquires from the server 300 second parking information 70 of another vehicle related to the parking position of the deleted first parking information 50, and stores the acquired second parking information 70 in the first storage device 5 of the parking assistance device 200 in place of the deleted first parking information 50. The first processor 10 determines that the evaluation of the first parking information 50 is less than the predetermined evaluation value when the number of successful parking controls executed is less than a predetermined value or when the number of unsuccessful parking controls executed is equal to or greater than a predetermined value. This predetermined value may be the same value or different values. The first processor 10 deletes the first parking information 50 that has a low evaluation based on the parking control history, and instead acquires the second parking information 70 related to the same parking position from the server 300 and stores it in the first storage device 5. This allows the low-evaluation first parking information 50 to be automatically replaced with another second parking information 70, thereby maintaining a high evaluation level for the first parking information 50 stored in the first storage device 5. Furthermore, since the first parking information 50 in the first storage device 5 can be automatically replaced with a highly evaluated one, the possibility of executing parking control by referring to the first storage device 5 increases, the frequency of accessing the server 300 is reduced, and processing delays and communication costs due to communication time can be reduced. Furthermore, simply deleting the low-evaluation first parking information 50 would result in the loss of the first parking information 50 for a target parking position with a usage history that is likely to be used again, making it impossible to execute autonomous parking based on the acquired features. In this embodiment, instead of the deleted first parking information 50, the second parking information 70 of the parking position corresponding to the target parking position is stored in the first storage device 5, making it easier to perform autonomous parking control using the reference features (matching features) stored in the first storage device 5.

[0033] After the vehicle has parked at a target parking position and stored the parking information in the second storage device 7, if the parking information of a parking position corresponding to a target parking position where the vehicle has previously parked has been updated in the second storage device 7, the first processor 10 receives a notification of this from the server 300. The server 300 sends information such as "The parking information for parking position PK01 has been updated. Would you like to download it?" to the parking assistance device 200. The first processor 10 recognizes that the second parking information 70 for a parking position that the vehicle has previously used has been updated. When the first processor 10 receives the information that the second parking information 70 has been updated, the first processor 10 requests the server 300 to transmit the updated second parking information 70, obtains the updated second parking information 70 from the server 300, and stores it in the first storage device 5. When the second parking information 70 of a parking position that the parking assistance device 200 previously set as a target parking position is updated, the first processor 10 acquires information to that effect and the updated second parking information 70 from the server 300, stores the acquired second parking information 70 in the first storage device 5 of the parking assistance device 200, and updates the first parking information 50. This allows the second parking information 70 of the server 300 updated by the other vehicle to be reflected at any time in the first parking information 50 of the first storage device 5 of the parking assistance device 200. Even if the situation of a target parking position previously used by the vehicle changes, the first parking information 50 can be updated based on the second parking information 70 of the other vehicle until the vehicle next parks at the target parking position, so the first parking information 50 of the parking assistance device 200 of the vehicle can always be kept up to date.

[0034] It is preferable that the first parking information 50 stored in the first storage device 5 of the parking assistance device 200 be limited to the information to be used. The first processor 10 stores the second parking information 70 acquired from the server 300 in the first storage device 5 of the parking assistance device 200 for a predetermined period only. The first processor 10 controls the period for storing the second parking information in the first storage device 5. This is to prevent downloaded second parking information 70 that is used infrequently from occupying the storage area of ​​the first storage device 5. The processor 10 sets a longer storage period for the second parking information 70 as the number of times or frequency of use of the second parking information 70 stored in the first storage device 5 increases. When the storage period expires, the first processor 10 deletes the second parking information 70 acquired from the server 300 from the first storage device 5. The first processor 10 determines the storage period for the second parking information 70 depending on the period (hours or days) from the last use to the current use. For example, the usage period is extended by the period from the last use to the current use. Specifically, if the period between the last use and the current use is three days, an additional period of three days is added to the predetermined storage period of seven days, updating the storage period to ten days. The shorter the period between the last use and the current use, the longer the storage period may be extended. The more times the parking information is used within the set predetermined period (the higher the frequency of use), the longer the storage period may be extended. If the number of uses or frequency of use of the downloaded second parking information 70 exceeds a predetermined threshold, the storage period restriction may be lifted and the information may be stored in the first storage device 5. If the extended storage period exceeds the predetermined period, the storage period restriction may be lifted and the information may be stored in the first storage device 5. This makes it possible to prevent the second parking information 70 that has been downloaded but has a low number of uses or a low frequency of use from being stored indefinitely. It also makes it possible to avoid consuming the storage capacity of the first storage device 5 by the second parking information 70 that has a low number of uses or a low frequency of use. On the other hand, for the second parking information 70 that has a high number of uses or a high frequency of use, the upper limit on the storage period can be lifted, and it can be continuously stored in the first storage device 5 of the vehicle unless a specific instruction to delete it is received.

[0035] It is preferable that the first parking information 50 stored in the first storage device 5 and the second parking information 70 downloaded from the server 300 are each managed appropriately. The first parking information 50 is information based on parking control actually performed by the vehicle itself, and the second parking information 70 is information based on parking information of other vehicles. The first processor 10 distinguishes between them and manages each appropriately. The first storage device 5 of the parking assistance device 200 has a first area with a first storage capacity that stores host vehicle parking information based on the host vehicle's parking control, and a second area with a second storage capacity that stores shared parking information based on the parking control of other vehicles downloaded from the server 300. The first storage capacity and the second storage capacity may be a natural number multiple of the unit information volume of the parking information and designed to store a predetermined number of pieces of parking information. A user can store multiple pieces of parking information for the same parking location according to their preferences in the first storage device 5. Although not particularly limited, the first area that stores host vehicle parking information based on the host vehicle's parking control may have a larger storage capacity than the second area that stores shared parking information of other vehicles. When storing newly acquired shared parking information in the second area, if the first processor 10 determines that the second storage capacity of the second area or a predetermined number (the maximum number of parking information pieces that can be stored) of parking information will be exceeded, the first processor 10 deletes at least a portion (one piece) of the shared parking information stored in the second area and stores the newly acquired shared parking information in the second area of ​​the first storage device. In this embodiment, an upper limit is set for the capacity of the second area for storing the shared parking information in the first storage device 5 of the parking assistance device 200 of the host vehicle. The shared parking information is stored in the second area, and is not stored in the first area for the host vehicle's parking information. When shared parking information is downloaded from the server 300, it is possible to prevent situations in which the shared parking information is automatically overwritten on the user's own parking information, or the user's own parking information that the user wants to keep is deleted against his or her will.By setting an upper limit in the second area, old shared parking information can be automatically rewritten with new shared parking information, even if the shared parking information obtained from the server 300 does not have to be sorted one by one.

[0036] Furthermore, it is preferable that the second parking information 70 of the server 300 downloaded to the first storage device 5 be organized for easy use. The second storage device 7 of the server 300 consolidates and stores the first parking information 50 of parking locations belonging to a predetermined range. The predetermined range can be defined by the distance from a reference point. The predetermined range may be an area including one or more parking lots of a facility. The multiple parking lots may be contiguous or discontinuous. The consolidated multiple pieces of second parking information 70 are assigned common group identification information. By specifying the group identification information, parking locations belonging to the consolidated group can be specified. The first processor 10 can download all of the consolidated second parking information at once by specifying the group identification information. The downloaded second parking information is at least temporarily stored in the first storage device 5. The group identification information may be identification information specifying the facility to which the parking locations belong. By inputting identification information specifying a facility such as a shopping mall, second parking information for multiple parking locations attached to the facility can be acquired collectively. For example, in a shopping park with multiple parking lots (parking locations), a parking location that was available (empty) may become unavailable because another vehicle has parked there. In such a case, if the second parking information 70 integrated as parking positions in the shopping park is downloaded all at once, even if the target parking position becomes unavailable, the second parking information 70 of other parking positions can be immediately used. The first processor 10 estimates the target parking position from the detection information of the vehicle itself, and presents one or more estimated target parking positions as candidates to the user via the input / output device 20. The first processor 10 acquires the second parking information 70 of the target parking position selected by the user and starts parking control processing. This avoids the time and effort required to download second parking information 70 one by one in facilities with multiple parking spaces, and then download the second parking information 70 for other parking spaces when that parking space becomes unavailable. In large shopping parks, for example, downloading second parking information 70 one by one could result in another vehicle using that parking space while the second parking information 70 is being downloaded, making it impossible for the vehicle to park there. By downloading the integrated second parking information 70 all at once, the second parking information 70 can be used immediately when an available parking space becomes available. Furthermore, consolidating the information allows for easy editing to accommodate expansion, modification, or reduction of parking areas, and deletion and replacement processes can also be easily performed for each integrated group. [Explanation of symbols]

[0037] 100...parking assistance system, 200, 200n...parking assistance device, 1...controller, 10...first processor, 11...CPU, 12...ROM, 13...RAM, 20...input / output device, 30...communication device, 2...sensor, 21...camera, 22...radar device, 3...navigation device, 31...position detection device, 32...map information, 33...parking lot information, 4...vehicle controller, 41...steering control device, 42...drive control device, 5...first storage device, 51...first reference feature, 52...first history information, 53...first setting information, 400...network, 300...server, 301...information processing device, 310...second processor, 311...CPU, 312...ROM, 313...RAM, 320...communication device, 7...second storage device, 71...second reference feature, 72...second history information, 73...second setting information

Claims

1. A parking assistance method for assisting autonomous parking control to park a vehicle at a target parking position, the parking assistance method being used in a parking assistance device capable of exchanging information with a server, the parking assistance method comprising: The processor of the parking assistance device Recognizing a captured feature based on surrounding detection information including the target parking position acquired using a sensor of the host vehicle; referring to parking information stored in a first storage device of the parking assistance device or a second storage device of the server, the parking information including reference features recognized from surrounding detection information including parking positions where the host vehicle or another vehicle has previously parked, and acquiring the reference features of the target parking position as first matching features; Calculating a first target parking position based on the captured feature and the first matched feature; start execution of a first parking control for autonomously parking the host vehicle at the first target parking position; determining whether the first parking control is interrupted before completion; When the first parking control is interrupted, the parking information in the second storage device of the server is referenced, and the reference feature that has the same target parking position and is different from the first matching feature is acquired as a second matching feature; Calculating a second target parking position based on the captured feature and the second matched feature; A parking assistance method that executes a second parking control to autonomously park the host vehicle at the second target parking position.

2. the parking information includes setting information regarding the executed parking control, 2. The parking assistance method according to claim 1, wherein, when the parking control is interrupted, the processor accesses the server and acquires, from the second storage device, the reference feature associated with setting information different from setting information associated with the first matching feature as the second matching feature.

3. The processor stores history information of the parking control executed at each of the parking positions in the second storage device of the server, the history information being included in the parking information; 2. The parking assistance method according to claim 1, wherein, when the first parking control is interrupted, the server is accessed, an evaluation of the parking control is calculated based on the history information, and the reference features of the parking information having a relatively high evaluation are obtained from the second storage device.

4. The processor stores history information of the parking control executed at each of the parking positions in the first storage device of the parking assistance device, the history information being included in the parking information; Calculating an evaluation of the parking control based on the history information; The parking information whose evaluation is less than a predetermined evaluation value is deleted from the parking assistance device; 2. The parking assistance method according to claim 1, wherein the parking information of the other vehicle relating to the parking position of the deleted parking information is acquired from the server and stored in the first storage device of the parking assistance device in place of the deleted parking information.

5. 2. The parking assistance method according to claim 1, wherein when the processor receives from the server information that the parking information of the parking position corresponding to the target parking position where the vehicle is parked has been updated in the second storage device, the processor receives the updated parking information from the server.

6. 2. The parking assistance method according to claim 1, wherein when the processor obtains the parking information of the other vehicle for the parking position corresponding to the target parking position from the server, the processor transmits an application for permission to use the parking information to the server, and obtains the parking information from the server only when permission is obtained from the server from the user who registered the parking information.

7. The parking assistance method according to claim 1, wherein the processor sets a storage period for storing the parking information acquired from the server in the first storage device of the parking assistance device to a longer period the higher the number of times or frequency of use of the parking information.

8. 8. The parking assistance method according to claim 7, wherein the processor, when the number of times or frequency of use of the parking information reaches or exceeds a predetermined threshold, removes the limitation on the storage period and stores the parking information in the first storage device.

9. the first storage device of the parking assistance device has a first area with a first storage capacity for storing host vehicle parking information based on the parking control of the host vehicle, and a second area with a second storage capacity for storing shared parking information based on the parking control of the other vehicle, The parking assistance method described in claim 1, wherein when the processor determines that the newly acquired shared parking information will exceed the second storage capacity of the second area when storing the newly acquired shared parking information in the second area, the processor deletes at least a portion of the shared parking information stored in the second area and stores the shared parking information in the second area of ​​the first storage device.

10. 2. The parking assistance method according to claim 1, wherein the processor collectively downloads the parking information of the integrated parking positions that belong to a predetermined range from the server and stores it at least temporarily in a first storage device of the parking assistance device.

11. The parking assistance device and the server constitute a parking assistance system that cooperates by exchanging information with each other, the server stores the parking information including the reference features, which are features recognized from the detection information of the surroundings including each of the parking positions where the host vehicle or the other vehicle has previously parked, in the second storage device; The parking assistance method according to claim 1 , wherein the processor of the parking assistance device refers to the parking information in the second storage device of the server and acquires the second matching feature of the target parking position.

12. A parking assistance device that can exchange information with a server and assists autonomous parking control to park a vehicle at a target parking position, The processor included in the parking assistance device Recognizing a captured feature based on surrounding detection information including the target parking position acquired using a sensor of the host vehicle; referring to parking information stored in a first storage device of the parking assistance device or a second storage device of the server, the parking information including reference features recognized from surrounding detection information including parking positions where the host vehicle or another vehicle has previously parked, and acquiring the reference features of the target parking position as first matching features; Calculating a first target parking position based on the captured feature and the first matched feature; start execution of a first parking control for autonomously parking the host vehicle at the first target parking position; determining whether the first parking control is interrupted before completion; When the first parking control is interrupted, the parking information in the second storage device of the server is referenced, and the reference feature that has the same target parking position and is different from the first matching feature is acquired as a second matching feature; Calculating a second target parking position based on the captured feature and the second matched feature; A parking assistance device that executes second parking control to autonomously park the host vehicle at the second target parking position.

13. A program for controlling, by a computer, a parking assistance device that can exchange information with a server and performs autonomous parking assistance control to park a vehicle at a target parking position, A process of recognizing a captured feature based on surrounding detection information including the target parking position acquired using a sensor of the host vehicle; a process of referring to parking information stored in a first storage device of the parking assistance device or a second storage device of the server, the parking information including reference features recognized from surrounding detection information including parking positions where the host vehicle or another vehicle has previously parked, and acquiring the reference features of the target parking position as first matching features; A process of calculating a first target parking position based on the captured feature and the first matched feature; A process of starting execution of a first parking control for autonomously parking the host vehicle at the first target parking position; A process of determining whether the first parking control is interrupted before completion; When the first parking control is interrupted, a process of referring to the parking information in the second storage device of the server and acquiring the reference feature, which has the same target parking position and is different from the first matching feature, as a second matching feature; A process of calculating a second target parking position based on the captured feature and the second matched feature; A program that causes the computer to execute a process of performing second parking control to autonomously park the host vehicle at the second target parking position.

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