Vehicle control method and vehicle control device

Abstract

Provides optimal parking assistance. [Solution] When at least a portion of the vehicle 1 is located inside the parking space PS and the operating device receives an instruction to re-park, the vehicle control device superimposes the turning stop position TP onto the surrounding image acquired by the camera and displays it on the display device. When the vehicle 1 moves forward toward the turning stop position TP and, before the vehicle 1 reaches the turning stop position TP, the vehicle control device detects the parking space PS as a detected parking space DS based on the surrounding image under predetermined conditions, it displays a prompt to reverse on the display device. When the vehicle control device receives an instruction to reverse, it controls at least acceleration, deceleration and steering to move the vehicle 1 in reverse and park it in the detected parking space DS by autonomous driving.

Description

【Technical Field】 , , , , , , 【0006】 , , 【0005】 , , , 【0007】 , , , , 【0001】 The present disclosure relates to a vehicle control method and a vehicle control device. 【Background Art】 【0002】 Generally, parking spaces in houses are often narrow and parking can be difficult, so there is a high need for automatic parking and leaving the garage. 【0003】 A vehicle control device that realizes this type of automatic driving is known. For example, when parking a vehicle in a parking space, the vehicle is driven forward until it passes through the parking space and then stopped, and the vehicle is reversed from the stop position to park in the parking space. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2012 - 66709 【Patent Document 2】 Japanese Unexamined Patent Application Publication No. 2022 - 69161 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 However, there may be cases where the passenger desires re - parking of the vehicle due to vehicle displacement or the like even after parking is completed. However, in the prior art, support for re - parking has not been sufficiently provided, and it has been difficult to perform suitable parking support in some cases. 【0006】 An object of the present disclosure is to provide a vehicle control method and a vehicle control device that can provide suitable parking support. 【Means for Solving the Problems】 【0007】 The vehicle control method according to this disclosure is a vehicle control method performed by a vehicle control device mounted on a vehicle that includes an operating device for receiving input from an occupant, a camera for acquiring surrounding images, a display device visible to the occupant, and a movement control device for controlling at least acceleration, deceleration, and steering, wherein at least a portion of the vehicle is located inside a parking space, and when the operating device receives an instruction to re-park, the display device is made to superimpose a turning stop position onto the surrounding images acquired by the camera, and the vehicle moves forward toward the turning stop position. If, before the vehicle reaches the turning stop position, the camera detects the parking space as a detected parking space under predetermined conditions based on the surrounding images acquired by the camera, the display device is made to display a prompt to reverse, and then, when the operating device receives an instruction to reverse, the vehicle is made to reverse by controlling at least acceleration, deceleration, and steering to park in the detected parking space by autonomous driving. [Effects of the Invention] 【0008】 The vehicle control method and vehicle control device described herein can provide suitable parking assistance. [Brief explanation of the drawing] 【0009】 [Figure 1] Figure 1 is a block diagram showing an example of the overall configuration of a vehicle. [Figure 2] Figure 2 is an explanatory diagram illustrating an example of the arrangement of sensors and cameras. [Figure 3] Figure 3 is a schematic diagram showing an example of the external configuration of a vehicle. [Figure 4] Figure 4 shows an example of the configuration near the driver's seat of a vehicle. [Figure 5] Figure 5 is an explanatory diagram of an example of parking assistance. [Figure 6] Figure 6 is a schematic diagram of an example of a display screen. [Figure 7] Figure 7 is an explanatory diagram of an example of a stopping position for reversing. [Figure 8A] Figure 8A is an explanatory diagram illustrating an example of a display for the turning stop position. [Figure 8B] FIG. 8B is an explanatory diagram of an example of the display of the switching stop position. [Figure 8C] FIG. 8C is an explanatory diagram of an example of the display of the switching stop position. [Figure 8D] FIG. 8D is an explanatory diagram of an example of the display of the switching stop position. [Figure 9A] FIG. 9A is an explanatory diagram of an example of the detection of the detected parking space. [Figure 9B] FIG. 9B is an explanatory diagram of an example of the detection of the detected parking space. [Figure 9C] FIG. 9C is an explanatory diagram of an example of the detection of the detected parking space. [Figure 9D] FIG. 9D is an explanatory diagram of an example of the detection of the detected parking space. [Figure 10] FIG. 10 is a schematic diagram of an example of the display screen. [Figure 11] FIG. 11 is a schematic diagram showing an example of the state of the vehicle. [Figure 12] FIG. 12 is a flowchart showing an example of the flow of information processing executed by the control unit. [Figure 13] FIG. 13 is a block diagram showing an example of the hardware configuration of the vehicle control device. 【BEST MODE FOR CARRYING OUT THE INVENTION】 【0010】 Hereinafter, embodiments of the vehicle control method and the vehicle control device according to the present disclosure will be described with reference to the drawings. In the following description of the embodiments, the same reference numerals are given to the same parts, and redundant descriptions are omitted. 【0011】 FIG. 1 is a block diagram showing an example of the overall configuration of the vehicle 1. 【0012】 The vehicle 1 includes a vehicle control device 10, a movement control device 12, a sensor 14, a camera 16, a storage device 18, an operation device 20, and a display device 22. 【0013】 The vehicle control device 10 is connected to the movement control device 12, sensor 14, camera 16, storage device 18, operating device 20, and display device 22 so that data or signals can be exchanged between them. In other words, the vehicle control device 10 is configured to be communicatively connected to at least the operating device 20, camera 16, display device 22, and movement control device 12. 【0014】 The motion control device 12 controls at least the acceleration, deceleration, and steering of the vehicle 1. The motion control device 12 is a means for realizing the driving, braking, and turning motions necessary for the vehicle 1 to travel. For example, the motion control device 12 is composed of a drive motor, a power transmission mechanism, a brake device, a steering device, etc., and an electronic vehicle control device that controls them. The motion control device 12 drives the vehicle 1 by, for example, generating power with a drive motor and transmitting power to the wheels via a power transmission mechanism. The power transmission mechanism is, for example, a propeller shaft, a differential gear, and a drive shaft. 【0015】 To control steering at least means that the motion control device 12 controls at least one of the driving, braking, and turning motions necessary for the vehicle 1 to travel. In other words, to control steering means that the motion control device 12 controls at least one of the following: turning direction by steering, vehicle speed and acceleration by accelerator steering, and deceleration and stopping by brake steering. To control acceleration and deceleration at least means that the motion control device 12 controls at least one of the acceleration and deceleration of the vehicle 1. 【0016】 The movement control device 12 includes, in detail, an auxiliary control device 12A, a brake control device 12B, an engine control device 12C, and a power steering control device 12D. The brake control device 12B, the engine control device 12C, and the power steering control device 12D can be collectively referred to as the actuator control unit that controls the operation of the vehicle 1. 【0017】 The auxiliary control device 12A is a control device that monitors the transmission status of the vehicle control device 10B and operates to perform appropriate degraded control as a backup in the event that the vehicle control device 10B fails. However, if safety can be ensured by having a degraded control function within the vehicle control device 10B even in the event that the vehicle control device 10B fails, then degraded control is unnecessary. 【0018】 The brake control device 12B is a control device that controls the brakes (braking force control) of the vehicle 1. For example, the brake control device 12B controls the brakes of the vehicle 1 in response to the strengthening (pressing) and easing of the brake pedal (brake operation unit) operation by the occupant. In addition, the brake control device 12B controls the brakes in response to the surrounding video V during autonomous driving. 【0019】 The engine control device 12C is a control device that controls the engine that generates the driving force of the vehicle 1. The power steering control device 12D is a control device that controls the power steering of the vehicle 1. 【0020】 Sensor 14 is mounted on the vehicle 1 and acquires at least the external conditions of the vehicle 1. In detail, sensor 14 is a variety of sensors that detect the driving state of the vehicle 1 and the external conditions of the vehicle 1. Sensor 14 includes, for example, an accelerator position sensor that detects the accelerator position, a steering angle sensor that detects the steering angle of the steering device, an acceleration sensor that detects the acceleration acting on the vehicle 1 in the longitudinal direction, a torque sensor that detects the torque acting on the power transmission mechanism between the wheels and the drive motor of the vehicle 1, a vehicle speed sensor that detects the vehicle speed of the vehicle 1, a wheel speed sensor, etc. Sensor 14 also includes LiDAR (Light detection and ranging), radar, or ultrasonic sensors, etc. Sensor 14 outputs the sensor information obtained through detection to the vehicle control device 10. 【0021】 Camera 16 is a surrounding sensor mounted on vehicle 1 that monitors the environment around vehicle 1. Camera 16 has an image sensor. In this embodiment, camera 16 photographs the area around vehicle 1 and outputs the surrounding video data obtained from the photography to vehicle control device 10. The surrounding video data consists of multiple captured image data taken in chronological order around vehicle 1. Hereinafter, the surrounding video data may be simply referred to as surrounding video. In this embodiment, camera 16 is also used to detect objects present around vehicle 1 and to estimate the location of vehicle 1 based on the positional relationship between vehicle 1 and the objects present around vehicle 1. 【0022】 The position, number, and shooting direction of the cameras 16 are pre-adjusted so that they can photograph the area around the vehicle 1. For example, the vehicle 1 is equipped with four cameras 16 arranged to photograph the front, rear, left, and right directions of the vehicle 1. However, the number of cameras 16 installed on the vehicle 1 is not limited to four. 【0023】 The storage device 18 stores various types of data. In this embodiment, the storage device 18 stores data such as map data 18A. Map data 18A is data that symbolizes and represents some or all of the situation in real space. For example, map data used in a navigation system is pre-stored in the storage device 18 as map data 18A. 【0024】 The storage device 18 is, for example, an auxiliary storage device such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or flash memory. At least a portion of the data contained in the storage device 18 may be stored in an external storage device, such as a server device, located outside the vehicle 1 and connected to the vehicle control device 10 in a communicative manner. 【0025】 The control device 20 accepts operation from the occupant of the vehicle 1. The control device 20 includes steering control parts such as a steering wheel, a shift lever (forward / reverse control part) for shifting gears of the transmission, an accelerator pedal, a brake pedal (brake control part), a turn signal lever, and push switches, as well as input devices such as a keyboard, touch panel, and switches. The steering angle of the steering device is adjusted by the occupant's operation of the steering control parts. 【0026】 The shift lever (forward / reverse control unit) switches the vehicle 1 between at least forward and reverse. The brake pedal (brake control unit) is a control unit for the brake that controls the speed of the vehicle 1. The control device 20 may constitute part of an HMI (Human Machine Interface) or IVI (In-Vehicle Infotainment). 【0027】 The display device 22 is a display that outputs various images. The display device 22 is installed in a position visible to the occupants of the vehicle 1. Examples of displays include liquid crystal displays (LCDs), organic electroluminescent (EL) displays, and projectors. It may also be a touch panel display in which the display device 22 and the operating device 20 are integrated. The display device 22 is an example of at least one of HMI and IVI. 【0028】 Furthermore, the display device 22 is not limited to having only one display area. For example, the display device 22 may have multiple display areas. 【0029】 Furthermore, the vehicle 1 may be equipped with multiple display devices 22. For example, the display device 22 may include a first display unit and a second display unit, the first and second display units being displays that output various images. The first and second display units are separate display devices 22. The first and second display units may be located in different positions within the vehicle 1. For example, the first display unit may function as an IVI (In-Vehicle Inspection Device), and the second display unit may function as part of the instrument panel of the vehicle 1. 【0030】 Figure 2 is an explanatory diagram of an example arrangement of sensor 14 and camera 16. 【0031】 Vehicle 1 is equipped with, for example, four cameras 16 (cameras 16A to 16D) so as to be able to acquire the external conditions of vehicle 1 in at least four directions, such as the front, rear, right side, and left side of vehicle 1. 【0032】 Specifically, for example, camera 16 includes camera 16A, camera 16B, camera 16C, and camera 16D. Camera 16A is positioned at the front of vehicle 1 and photographs the area in front of vehicle 1. Camera 16A may be referred to as the front camera. Camera 16B is positioned at the right side of vehicle 1 and photographs the area to the right of vehicle 1. Camera 16C is positioned at the left side of vehicle 1 and photographs the area to the left of vehicle 1. Camera 16D is positioned at the rear of vehicle 1 and photographs the area behind vehicle 1. Camera 16D may be referred to as the rear camera, or rear-view camera, etc. 【0033】 The control unit 11 of the vehicle control device 10, which will be described later, may use the surrounding video data captured by the rear camera 16D, in particular, among the multiple cameras 16 installed on the vehicle 1, for the detection of parking spaces, which will be described later. Details of the surrounding video data and parking spaces will be described later. 【0034】 The number of cameras 16 installed on the vehicle 1 is not limited to four. Furthermore, it is preferable that the placement and number of object-detecting sensors, such as lidar, radar, sonar, and ultrasonic sensors included in the sensor 14, are pre-adjusted so that the external conditions on the right, left, front, and rear of the vehicle 1 can be acquired. For example, as shown in Figure 2, the sensor 14 includes sensors 14A to 14F. These sensors 14A to 14F are arranged on the vehicle 1 so that the external conditions on the right, left, front, and rear of the vehicle 1 can be acquired. The object-detecting sensors 14, such as lidar, radar, sonar, and ultrasonic sensors, may be placed only in the rear of the vehicle 1. 【0035】 Next, we will explain the configuration of Vehicle 1. 【0036】 Figure 3 is a schematic diagram showing an example of the external configuration of vehicle 1. 【0037】 Vehicle 1 comprises a body 2 and two pairs of wheels 23 arranged on the body 2 in a predetermined direction. The two pairs of wheels 23 each consist of one pair of front tires 23F and one pair of rear tires 23R (see also Figure 2). Figures 2 and 3 show an example where Vehicle 1 has four wheels 23. However, the number of wheels 23 provided on Vehicle 1 is not limited to this. 【0038】 Next, the configuration of the area near the driver's seat of vehicle 1 in this embodiment will be described. 【0039】 Figure 4 shows an example of the configuration near the driver's seat 24A of vehicle 1 in this embodiment. 【0040】 Vehicle 1 is equipped with a driver's seat 24A and a passenger seat 24B. In front of the driver's seat 24A are a windshield 25, a dashboard 26, a steering wheel (steering control unit, handle) 20A, control buttons 20B, and a display device 22. Near the driver's seat 24A is a shift lever 20C, which is a lever for shifting gears of the transmission. 【0041】 The steering wheel 20A, the control buttons 20B, and the shift lever 20C are examples of the control device 20. 【0042】 The steering wheel 20A is located in front of the driver's seat 24A and can be operated by the occupant. The rotation angle of the steering wheel 20A, i.e., the steering angle, is electrically or mechanically linked to the change in direction of the front tires 23F, which are the steering wheels. The steering wheels may also be the rear tires 23R, or both the front tires 23F and the rear tires 23R may be steering wheels. 【0043】 The operation button 20B is a button that can be operated by the passenger. The operation button 20B may also include a turn signal. The location of the operation button 20B is not limited to the example shown in Figure 4, and may be provided on the steering wheel 20A, for example. Although Figure 4 shows one operation button 20B, multiple operation buttons 20B may be provided. If the display device 22 also functions as a touch panel, the display device 22 may be an example of the operation device 20. 【0044】 Returning to Figure 1, we continue the explanation. 【0045】 The vehicle control device 10 is an electronic control unit that provides comprehensive control over all parts of the vehicle 1. 【0046】 The vehicle control device 10 uses sensor information received from the sensor 14 and camera 16, respectively, as well as surrounding video footage, to control the movement control device 12 so that the driving state of the vehicle 1 is optimized. The vehicle control device 10 also controls the movement control device 12 to enable the vehicle 1 to drive autonomously. 【0047】 The vehicle control device 10 includes a control unit 11. Part or all of the control unit 11 may be a software configuration realized through the cooperation of a processor and various programs stored in memory. Alternatively, part or all of the control unit 11 may be a hardware configuration realized by dedicated circuits or the like. 【0048】 The control unit 11 provides overall control over all parts of the vehicle 1. 【0049】 In this embodiment, the control unit 11 performs information processing for assisting the parking of the vehicle 1. 【0050】 In this embodiment, the vehicle 1 is driven forward by the passenger until at least a portion of the vehicle body 2 of the vehicle 1 has passed through at least a portion of the parking space, then the passenger stops the vehicle 1, and from the stopped position the vehicle 1 moves autonomously into the parking space by reversing. 【0051】 The vehicle control device 10 of this embodiment assists in re-parking a vehicle 1 that has been parked in a parking space. Re-parking means repositioning a vehicle 1 that has already been parked, or repositioning the vehicle 1 into the parking space. 【0052】 Figure 5 is an explanatory diagram of an example of parking assistance in this embodiment. Figure 5 shows a scene in which vehicle 1 is parked in parking space PS. 【0053】 A parking space PS is a space in which vehicle 1 can be parked. A parking space PS is an area that includes the position in which vehicle 1 can be parked, and its shape and size are not limited. 【0054】 For example, a parking space PS is an area of ​​size, shape, and inclination that allows a vehicle 1 to fit within the area represented by the parking space PS when the vehicle 1 is parked in a recommended position and orientation within the area represented by the parking space PS. The parking space PS is, for example, a substantially rectangular area that surrounds the outside of the vehicle 1 from the vehicle body 2 at a predetermined distance. In this embodiment, a form in which the parking space PS is a rectangular area will be described as an example. 【0055】 Parking of vehicle 1 in parking space PS may be at least partially done by autonomous driving of vehicle 1. Alternatively, parking of vehicle 1 in parking space PS may be at least partially done by driving by an occupant. 【0056】 Vehicle 1 moves forward under the control of the occupant (see arrow D and route R1 in Figure 5). 【0057】 The control unit 11 displays the surrounding video acquired by the camera 16 on the display device 22 while the vehicle 1 is moving forward in response to the operator's input received by the operating device 20. Even during autonomous driving, the control unit 11 displays the surrounding video acquired by the camera 16 on the display device 22. In principle, the display device 22 displays real-time surrounding video in the technology disclosed herein. That is, in this embodiment, when the display device 22 displays surrounding video, real-time surrounding video is displayed on the display device 22. 【0058】 While the vehicle 1 is moving forward under the control of the occupant (see arrow D and path R1 in Figure 5), the control unit 11 identifies a parking space PS from among the available parking spaces for the vehicle 1 included in the surrounding image acquired by the camera 16, in relation to the vehicle 1's current position, where the vehicle 1 is estimated to be able to park in one stroke by autonomous driving after passing the space, moving forward and stopping, and then reversing. Parking in one stroke by autonomous driving means parking by autonomous driving only by reversing from the stopping position to the parking space PS without any steering adjustments to the vehicle 1. 【0059】 Then, when the vehicle 1 has moved forward and stopped, and the forward / reverse operation unit (shift lever 20C) of the operating device 20 receives a reverse command operation, and the brake operation unit (brake pedal) of the operating device 20 receives a release of the brake operation, the control unit 11 generates a reverse path R2 from the stopped position to the parking space PS. Then, the control unit 11 controls the steering to reverse the vehicle 1 from the stopped position to the parking space PS, and parks the vehicle 1 in the parking space PS by autonomous driving. 【0060】 Furthermore, as mentioned above, parking of vehicle 1 in the parking space PS may be at least partially done by the occupant driving. For this reason, vehicle 1 may be parked from the stopping position to the parking space PS by the occupant driving. 【0061】 When at least a portion of the vehicle 1 is located inside the parking space PS and the operating device 20 receives an instruction to re-park, the control unit 11 superimposes the turning stop position onto the surrounding image acquired by the camera 16 and displays it on the display device 22. 【0062】 More specifically, the control unit 11 determines whether parking is complete or not. For example, the control unit 11 analyzes the surrounding video footage acquired by the camera 16 and the sensor information acquired by the sensor 14, and determines that at least a part of the vehicle 1 is located inside the parking space PS, and determines that parking is complete in the parking space PS. Alternatively, the control unit 11 may determine that parking is complete in the parking space PS if at least a part of the vehicle 1 is located inside the parking space PS and the vehicle 1 has stopped due to increased operation (pressing down) of the brake pedal (brake control unit) by the occupant. Furthermore, the control unit 11 may determine that parking is complete in the parking space PS if at least a part of the vehicle 1 is located inside the parking space PS, the vehicle 1 has stopped due to increased operation (pressing down) of the brake pedal (brake control unit) by the occupant, and the shift lever 20C included in the operating device 20 has been shifted to parking by the occupant. 【0063】 Then, when the control unit 11 determines that the vehicle 1 has completed parking in the parking space PS, it determines whether the gap between the parking space PS and the vehicle space VS is greater than or equal to a predetermined gap. 【0064】 The vehicle space VS is the area occupied by the vehicle 1 in real space RS. The vehicle space VS is, for example, the area obtained by orthorectifying the vehicle 1 onto the ground. In this embodiment, the vehicle space VS is described as a rectangular area consisting of four sides that surround the outer shape of the area obtained by orthorectifying the vehicle 1 onto the ground, with at least a portion of it in contact with said outer shape. 【0065】 The control unit 11 uses the surrounding video footage acquired by the camera 16 to calculate at least one of the positional misalignment and tilt misalignment between the parking space PS where the vehicle 1 is located and the vehicle space VS of the vehicle 1. 【0066】 For example, let's assume that the outer frame of the parking space PS is rectangular in shape, consisting of four sides: two opposing sides parallel to the first extension direction (see arrow H in Figure 5) and two opposing sides parallel to the second extension direction (see arrow W in Figure 5) which intersects the first extension direction. Let's also assume that the two opposing sides of the outer frame of the parking space PS that are parallel to the first extension direction (hereinafter referred to as the first extension direction H) are longer than the two opposing sides of the outer frame of the parking space PS that are parallel to the second extension direction (hereinafter referred to as the second extension direction W). 【0067】 In this case, the control unit 11 determines whether the difference between the parking space PS and the vehicle space VS is greater than or equal to a predetermined difference by determining whether at least one of the following conditions is met: the difference between the center position of the first extension direction H of the parking space PS and the center position of the first extension direction H of the vehicle space VS is greater than or equal to a first predetermined value; the difference between the center position of the second extension direction W of the parking space PS and the center position of the second extension direction W of the vehicle space VS is greater than or equal to a second predetermined value; the inclination between the side of the parking space PS parallel to the first extension direction H and the overall length direction of the vehicle 1 in the vehicle space VS is greater than or equal to a first predetermined angle; and the inclination between the side of the parking space PS parallel to the second extension direction W and the vehicle width direction of the vehicle 1 in the vehicle space VS is greater than or equal to a second predetermined angle. 【0068】 In other words, the predetermined deviation is represented by at least one of the above-mentioned first predetermined value, second predetermined value, first predetermined angle, and second predetermined angle. These predetermined deviation values ​​may be stored in the storage device 18 in advance. Furthermore, these predetermined deviation values ​​may be changed as appropriate in response to operational instructions from users such as passengers. 【0069】 When the control unit 11 has completed parking the vehicle 1 in the parking space PS and the discrepancy between the parking space PS and the vehicle space VS is greater than or equal to a predetermined discrepancy, it displays a message indicating a suggestion to re-park on the display device 22 by superimposing it on the surrounding video. 【0070】 Figure 6 is a schematic diagram of an example of the display screen 30A. The display screen 30A is an example of the display screen 30 that is displayed on the display device 22. 【0071】 When the control unit 11 has completed parking the vehicle 1 in the parking space PS and the gap between the parking space PS and the vehicle space VS is greater than or equal to a predetermined gap, it displays a display M1 indicating a suggestion to re-park on the display device 22 by superimposing it on the surrounding video V. 【0072】 Display screen 30A includes display M1. Display M1 is a display that indicates a suggestion to re-park. Figure 6 shows an example where display M1 is text prompting the suggestion to re-park. Display M1 may also be a still image, an animated image, or an icon, etc., and is not limited to text. 【0073】 Furthermore, the display screen 30A may also include peripheral video V captured by the camera 16. Figure 6 shows a configuration in which the display screen 30A includes video V1 and video V2 as peripheral video V. 【0074】 Video V1 is a video of the surrounding area in the direction of travel of vehicle 1. Video V2 is a top-down view of vehicle 1. A top-down view is an overhead view of vehicle 1 as if looking down from above. 【0075】 The display device 22 may include multiple display areas (first display area, second display area, etc.). For example, the control unit 11 may display video V1 in one display area and video V2 in the other display area. The vehicle 1 may also be equipped with multiple display devices 22. One of the multiple display devices 22 may be used as the first display area and another as the second display area. 【0076】 The surrounding video V displayed on the display screen 30 may be either video V1, which is a surrounding video V in the direction of travel of vehicle 1, or video V2, which is a top-down view video of vehicle 1. In addition, the display screen 30 may switch the display from the surrounding video V in the direction of travel of vehicle 1 to the surrounding video V to the side of vehicle 1, or the surrounding video V in the opposite direction of travel, etc., in response to an operation of the control device 20 by a passenger or the like. 【0077】 Figure 6 shows an example configuration in which video V1 and video V2 are displayed in each of the two display areas, and display M1 is superimposed on at least one of these video V1 and video V2. 【0078】 Alternatively, the display screen 30A may be a screen in which an icon image representing vehicle 1 is placed at the current location of vehicle 1. Figure 6 shows a state in which an icon image representing vehicle 1 is superimposed on the current location of vehicle 1 in video V2. 【0079】 When the control unit 11 receives a re-parking instruction from the passenger in response to a re-parking suggestion represented by display M1, it superimposes the re-stopping position onto the surrounding video V acquired by the camera 16 and displays it on the display device 22. 【0080】 The reversing stop position refers to the position where, after vehicle 1 has traveled forward or backward in a predetermined direction and stopped, it travels backward or forward in the opposite direction from the stopped position. When the occupant gives instructions to re-park in response to the re-parking suggestion shown by display M1, the reversing stop position superimposed on the surrounding image V represents the approximate destination of vehicle 1 when moving forward. 【0081】 Figure 7 is an explanatory diagram of an example of a turning stop position TP. Figure 5 will also be used for further explanation. 【0082】 As shown in Figure 5, the control unit 11 identifies a travel path DL adjacent to the opening side of the parking space PS of the vehicle 1 and extending in a direction intersecting the first extension direction H of the parking space PS. The control unit 11 then identifies a straight line E parallel to the second extension direction W that passes through the point Q furthest from the parking space PS in the area through which the vehicle 1 traveled when the vehicle 1, traveling along the travel path DL, passed the parking space PS, moved forward to stop, and then reversed to park in the parking space PS. Point Q corresponds, for example, to the position of the end of the vehicle 1 that moved forward and stopped, furthest from the parking space PS. This straight line E is also the line that passes through the position furthest from the parking space PS in the first extension direction H in the area through which the vehicle 1 traveling along the travel path DL traveled. 【0083】 This will be explained using Figure 7. The control unit 11 then identifies a position at a distance α from the straight line E towards the parking space PS as the turning stop position TP. Distance α is, for example, the sum of the vehicle width of vehicle 1 and the margin. The margin value can be set in advance. The margin value may also be changed as appropriate in response to operational instructions from the occupant or the like. 【0084】 The control unit 11 overlays the derived reversal stop position TP onto the surrounding video V and displays it on the display device 22. 【0085】 Figures 8A to 8D are explanatory diagrams illustrating an example of the display of the turning stop position TP. 【0086】 Figure 8A is a schematic diagram of an example of the display screen 30B. The display screen 30B is an example of the display screen 30 displayed on the display device 22. 【0087】 When the control unit 11 receives a re-parking instruction from the passenger in response to a re-parking suggestion represented by display M1, it superimposes the reversal stopping position TP onto the surrounding image V acquired by the camera 16 and displays it on the display device 22. 【0088】 For example, the control unit 11 causes the display device 22 to display a display screen 30B superimposed on the surrounding video V, which represents the turning stop position TP represented by a rectangular image Ia. The display screen 30B may also include a display M2. Display M2 is a display that prompts the passenger to move forward toward the turning stop position TP. Figure 8B shows an example where display M2 is text prompting the passenger to move forward toward the turning stop position TP. Display M2 may be a still image, an animated image, or an icon, etc., that prompts the passenger to move forward toward the turning stop position TP, and is not limited to text. 【0089】 Figure 8B is a schematic diagram of an example of the display screen 30C. The display screen 30C is an example of the display screen 30 displayed on the display device 22. 【0090】 For example, the control unit 11 causes the display device 22 to display a display screen 30C on which the reversal stop position TP, represented by a circular image Ib, is superimposed on the surrounding video V. In this way, the control unit 11 may display the circular image Ib representing the reversal stop position TP by superimposing it on the surrounding video V. Also, similarly to the above, the display screen 30C may include display M2. 【0091】 Figure 8C is a schematic diagram of an example of the display screen 30D. The display screen 30D is an example of the display screen 30 displayed on the display device 22. 【0092】 For example, the control unit 11 causes the display device 22 to display a display screen 30D superimposed on the surrounding video V, which represents the turning stop position TP, an estimated position reached by the outer frame 1c of the vehicle 1. In this way, the control unit 11 may superimpose the outer frame Ic, which represents the outer shape of the vehicle 1 when it is estimated to have reached the turning stop position TP, onto the surrounding video V as a display representing the turning stop position TP. Also, similarly to the above, the display screen 30C may include a display M2. 【0093】 Figure 8D is a schematic diagram of an example of the display screen 30E. The display screen 30E is an example of the display screen 30 displayed on the display device 22. 【0094】 For example, the control unit 11 causes the display device 22 to display a display screen 30E superimposed on the surrounding video V, in which the turning stop position TP, represented by a line image Id representing the direction toward the turning stop position TP, is superimposed on the surrounding video V. In this way, the control unit 11 may display the line image Id representing the turning stop position TP, which represents the path toward the turning stop position TP, by superimposing it on the surrounding video V. The display screen 30E may also include a display M3. Display M3 is a display of steering wheel operation for moving forward toward the turning stop position TP. Figure 8D shows an example where display M3 is the words for steering wheel operation for moving forward toward the turning stop position TP. Display M3 may be a still image, an animated image, or an icon, etc., representing the steering wheel operation for moving forward toward the turning stop position TP, and is not limited to words. 【0095】 Returning to Figure 7, we continue the explanation. 【0096】 The control unit 11, when the vehicle 1 moves forward towards the turning stop position TP (see arrow RF in Figure 7), and before the vehicle 1 reaches the turning stop position TP, detects a parking space PS as a parking space based on the surrounding video V acquired by the camera 16, and if it detects a parking space under predetermined conditions, displays a message on the display device 22 prompting the vehicle to reverse. 【0097】 In detail, when the control unit 11 displays the turning stop position TP superimposed on the surrounding video V, the vehicle 1 moves forward toward the turning stop position TP. 【0098】 The forward movement of vehicle 1 toward the turning stop position TP may be performed in response to an operation performed by the occupant on the control device 20, or it may be performed by having the movement control device 12 control at least acceleration, deceleration, and steering. 【0099】 In other words, the forward movement of vehicle 1 toward the turning stop position TP may be performed by the occupant driving. Alternatively, the forward movement of vehicle 1 toward the turning stop position TP may be performed by the control unit 11 controlling the movement control device 12 to make vehicle 1 autonomously travel. The control of the movement control device 12 to make vehicle 1 autonomously travel by the control unit 11 can be performed by known methods. 【0100】 Then, before the vehicle 1 moves forward and reaches the turning stop position TP, the control unit 11 detects the parking space PS as a detected parking space under predetermined conditions based on the surrounding video V acquired by the camera 16. 【0101】 Figures 9A to 9D are explanatory diagrams illustrating an example of the detection of a detected parking space DS. 【0102】 Figure 9A shows an example of a vehicle 1 parked in parking space PS beginning to move forward (see arrow RF). 【0103】 The detected parking space DS is the area occupied by vehicle 1 when it is assumed to be parked in the recommended position and orientation within the parking space PS. For example, the detected parking space DS is a rectangular area surrounding the outer frame of vehicle 1. 【0104】 Here, it is dangerous from a safety standpoint for vehicle 1 to move forward until the aperture end point FP of the parking space PS is captured in the surrounding image V taken by camera 16D, which is a rear camera that photographs the area behind vehicle 1 (see Figure 9B). 【0105】 Therefore, before the vehicle 1 moves forward and reaches the turning stop position TP, the control unit 11 detects the parking space PS as a detected parking space DS based on the surrounding video V acquired by the camera 16, under predetermined conditions. 【0106】 The predetermined condition is when the control unit 11 detects that at least one of the lengths of the first side s1 of the parking space PS and the second side s2 opposite the first side s1 is greater than or equal to a predetermined length. 【0107】 The first side s1 is one of the two sides of the four sides that make up the outer frame of the parking space PS that are aligned with the first extension direction H. The second side s2 is the other of the two sides of the four sides that make up the outer frame of the parking space PS that are aligned with the first extension direction H. The predetermined length is a value less than the length of the first extension direction H of the parking space PS. Furthermore, the predetermined length is a length less than the length of the first extension direction H of the parking space PS and less than or equal to the maximum length of the side that can be captured by the rear camera, camera 16D, when at least a part of the vehicle 1 is located inside the parking space PS. Specifically, the predetermined length is, for example, 40 cm, but is not limited to this length. 【0108】 Furthermore, the predetermined conditions are that the control unit 11 detects that at least one of the lengths of the first side s1 of the parking space PS and the second side s2 opposite the first side s1 is greater than or equal to a predetermined length, and that a path to the detected parking space DS can be generated. 【0109】 Specifically, the control unit 11 detects a detected parking space DS when it detects that at least one of the lengths of the first side s1 of the parking space PS and the second side s2 opposite the first side s1 is greater than or equal to a predetermined length. 【0110】 The control unit 11 uses at least one of the first side s1 and the second side s2 of the parking space PS to detect a vehicle space DS as a detected parking space, which is obtained by correcting at least one of the position and angle of the second extension direction W of the vehicle space VS (see Figure 5) of the vehicle 1 when it was previously parked, so that the position of the vehicle 1 in the second extension direction W after re-parking is located approximately in the center of the second extension direction W of the parking space PS. 【0111】 Furthermore, as shown in Figure 9C, if the camera 16A, which is the front camera of the vehicle 1, captures the opening end point FP of the parking space PS when the vehicle 1 is moving forward, the control unit 11 may further correct at least one of the position and angle of the first extension direction H of the vehicle space VS (see Figure 5) of the vehicle 1 when it was previously parked, so that the position of the vehicle 1 in the first extension direction H after re-parking is located approximately in the center of the first extension direction H of the parking space PS, and detect a vehicle space as the detected parking space DS. 【0112】 Furthermore, as shown in Figure 9D, the control unit 11 may detect the detected parking space DS in the same manner as described above before the vehicle 1 parked in the parking space PS starts moving forward. 【0113】 When the control unit 11 detects a parking space DS, it generates a re-parking path in which the vehicle autonomously reverses and parks in the detected parking space DS. 【0114】 The control unit 11 can generate a re-parking route for autonomous driving to the detected parking space DS using a known method, based on the surrounding video V acquired by the camera 16. 【0115】 When the control unit 11 generates a re-parking path that involves autonomously reversing and parking in the detected parking space DS, it displays a prompt to reverse on the display device 22 and also displays the detected parking space DS superimposed on the surrounding image V acquired by the camera 16 on the display device 22. 【0116】 Figure 10 is a schematic diagram of an example of the display screen 30F. The display screen 30F is an example of the display screen 30 displayed on the display device 22. 【0117】 When the control unit 11 detects a parking space PS as a detected parking space DS under predetermined conditions, it causes the display device 22 to display an indicator M3 prompting the vehicle to reverse. 【0118】 Figure 10 shows an example of a reverse-direction indicator M3, which is a text message prompting the driver to reverse. The indicator M3 may also be a still image, an animated image, or an icon, and is not limited to text. 【0119】 Furthermore, the display screen 30F may include an image representing the detected parking space DS. That is, when the control unit 11 detects a parking space PS as a detected parking space DS under predetermined conditions, it may display a prompt M3 to reverse on the display device 22, and also display the detected parking space DS superimposed on the surrounding video V. 【0120】 Figure 11 is a schematic diagram showing an example of the state of vehicle 1. 【0121】 As a result of the above process, when vehicle 1, which was parked in parking space PS, receives an instruction to re-park and moves forward towards the turning stop position TP (see arrow RF in Figure 11), the control unit 11 of vehicle 1 detects parking space PS as parking space DS under predetermined conditions before vehicle 1 reaches the turning stop position TP, and displays an indication M3 prompting the vehicle to reverse on the display device 22. 【0122】 Then, when the control unit 11 receives a reverse command from the operating device 20, it instructs the movement control device 12 to control at least acceleration, deceleration, and steering to move the vehicle 1 in reverse (see arrow RB in Figure 11), and parks the vehicle 1 in the detected parking space DS. 【0123】 In detail, when the vehicle 1 parked in the parking space PS receives an instruction to re-park and moves forward towards the turning stop position TP and stops, the control unit 11 receives an instruction to reverse, and the operating device 20 receives an instruction to reverse. 【0124】 The vehicle 1 after moving forward may be stopped by either control based on the surrounding video V by the control unit 11, or by strengthening the brake operation on the brake pedal (brake operation unit) of the operating device 20. 【0125】 Strengthening the brake operation at the brake pedal (brake operation unit) of the control device 20 means increasing the amount and force with which the occupant presses the brake pedal. In other words, strengthening the brake operation at the brake pedal (brake operation unit) of the control device 20 means the occupant's braking action to stop the vehicle 1. 【0126】 When the control unit 10 receives an instruction to re-park the vehicle 1 parked in the parking space PS, it moves forward towards the reversing stop position TP and stops (see arrow RF), and when the operating device 20 receives an instruction to reverse, the control unit 10 controls at least acceleration, deceleration, and steering to move the vehicle 1 in reverse and park it in the detected parking space DS by autonomous driving (see arrow RB). 【0127】 When the operating device 20 receives a reverse command, it means that the shift lever (forward / reverse control unit) for shifting gears of the transmission is operated by the occupant, causing the shift to be changed to reverse. Alternatively, when the operating device 20 receives a reverse command, it may also mean that the shift lever (forward / reverse control unit) is operated by the occupant, causing the shift to be changed to reverse and the shift lever (forward / reverse control unit) to be switched to reverse, and subsequently, the brake control unit (brake pedal) of the operating device 20 accepts a release of the brake operation. 【0128】 Then, when the control unit 11 receives a reverse command from the operating device 20, it controls at least acceleration, deceleration, and steering to move the vehicle 1 in reverse and park the vehicle 1 in the detected parking space DS by autonomous driving. 【0129】 In detail, the control unit 11 compares the current position of the vehicle 1 in real space RS with the generated re-parking path, controls the steering to the extent that the current position of the vehicle 1 is on the re-parking path, and controls the movement control device 12 to drive along the re-parking path. During autonomous driving, the vehicle 1 is automatically controlled by the vehicle control device 10 without manual driving operations by the occupant. 【0130】 Next, we will explain an example of the information processing flow performed by the control unit 11 of the vehicle control device 10. 【0131】 Figure 12 is a flowchart showing an example of the information processing flow performed by the control unit 11. 【0132】 The control unit 11 determines whether or not the vehicle 1 has completed parking (step S100). For example, the control unit 11 analyzes the surrounding video acquired by the camera 16 and the sensor information acquired by the sensor 14 and determines that at least a part of the vehicle 1 is located inside the parking space PS, and determines that parking has been completed in the parking space PS. Alternatively, the control unit 11 may determine that parking has been completed in the parking space PS if at least a part of the vehicle 1 is located inside the parking space PS and the vehicle 1 has stopped due to increased operation (pressing down) of the brake pedal (brake operating unit) by the occupant. Furthermore, the control unit 11 may determine that parking has been completed in the parking space PS if at least a part of the vehicle 1 is located inside the parking space PS, the vehicle 1 has stopped due to increased operation (pressing down) of the brake pedal (brake operating unit) by the occupant, and the shift lever 20C included in the operating device 20 has been shifted to parking by the occupant. 【0133】 The control unit 11 repeatedly makes a negative decision (step S100: No) until it makes an affirmative decision (step S100: Yes) in step S100. When the control unit 11 makes an affirmative decision (step S100: Yes) in step S100, it proceeds to step S102. 【0134】 The control unit 11 determines whether the discrepancy between the parking space PS and the vehicle space VS is greater than or equal to a predetermined discrepancy (step S102). If the determination in step S102 is negative (step S102: No), this routine terminates. If the determination in step S102 is positive (step S102: Yes), the process proceeds to step S104. 【0135】 In step S104, the control unit 11 overlays a display indicating a suggestion for re-parking onto the surrounding video V and displays it on the display device 22 (step S104). As a result of the process in step S104, for example, the display screen 30A shown in Figure 6 is displayed on the display device 22. 【0136】 The control unit 11 determines whether or not it has received an instruction to re-park from the passenger in response to the re-parking suggestion represented by the re-parking display M1 (step S106). For example, the control unit 11 determines that it has received an instruction to re-park when it receives a predetermined operation from the passenger using the operating device 20 to instruct the execution of re-parking. Such predetermined operation is, for example, pressing the button image area representing the execution instruction displayed on the display device 22. 【0137】 If the judgment in step S106 is negative (step S106: No), this routine terminates. If the judgment in step S106 is positive (step S106: Yes), proceed to step S108. 【0138】 In step S108, the control unit 11 superimposes the reversal stop position TP onto the surrounding video V acquired by the camera 16 and displays it on the display device 22 (step S108). As a result of the processing in step S108, for example, one of the display screens 30 shown in Figures 8A to 8D is displayed on the display device 22. 【0139】 Then, when the vehicle 1 moves forward towards the turning stop position TP due to the occupant's driving or autonomous driving (step S100), the control unit 11 determines whether it is possible to detect the detected parking space DS and generate a re-parking circuit to the detected parking space DS (step S112). 【0140】 In detail, the control unit 11 detects a parking space PS as a detected parking space DS under predetermined conditions based on the surrounding video V acquired by the camera 16 before the vehicle 1 travels forward and reaches the turning stop position TP (see Figures 9A to 9D). The predetermined conditions are, as described above, when the control unit 11 detects that at least one of the length of the first side s1 of the parking space PS and the length of the second side s2 opposite to the first side s1 is greater than or equal to a predetermined length. Alternatively, the predetermined conditions may also be when, as described above, the control unit 11 detects that at least one of the length of the first side s1 of the parking space PS and the length of the second side s2 opposite to the first side s1 is greater than or equal to a predetermined length, and a path to the detected parking space DS can be generated. 【0141】 Then, when the control unit 11 detects a detected parking space DS, that is, a detected parking space DS which is corrected from the vehicle space VS of the vehicle 1 when parked in step S100, it generates a re-parking route to the detected parking space DS by autonomous driving based on the surrounding image V acquired by the camera 16. 【0142】 If the control unit 11 determines that step S112 is negative (step S112: No), it returns to step S110. If it determines that step S112 is positive (step S112: Yes), it proceeds to step S114. 【0143】 In step S114, vehicle 1 determines whether the re-parking path generated in step S112 has 3 strokes or more (step S114). 【0144】 A stroke refers to the number of partial paths separated by the vehicle 1's steering maneuvers. Specifically, a re-parking path of 1 stroke means that the vehicle 1 travels from the stopping position to the detected parking space DS without performing any steering maneuvers. A re-parking path of 2 strokes means that the vehicle travels from the stopping position to the detected parking space DS with one steering maneuver. A re-parking path of 3 strokes or more means that the vehicle travels from the stopping position to the detected parking space DS with two or more steering maneuvers. 【0145】 If the control unit 11 makes a positive determination in step S114 (step S114: Yes), it proceeds to step S116. 【0146】 In step S116, the control unit 11 notifies that if the shift lever included in the operating device 20 is shifted to reverse, it is possible to re-park in 3 strokes or more (step S116). For example, when the shift lever included in the operating device 20 is shifted to reverse, the control unit 11 displays on the display device 22 an indication that it is possible to re-park in 3 strokes or more, superimposed on the surrounding video V. 【0147】 The control unit 11 receives a reverse (R) instruction when the shift lever included in the operating device 20 is shifted to reverse (R) (step S118). Next, the control unit 11 starts the vehicle 1 moving in reverse by controlling at least acceleration, deceleration and steering to move the vehicle 1 in reverse (step S120). 【0148】 When the vehicle 1 reaches a position where a reversing steering maneuver is performed, which is included in a re-parking path of three strokes or more (step S122), the control unit 11 returns to step S108. 【0149】 On the other hand, if a negative judgment is made in step S114 (step S114: No), the process proceeds to step S124. 【0150】 In step S124, the system notifies the user that re-parking is possible when the shift lever included in the operating device 20 is shifted to reverse (step S124). For example, the control unit 11 displays on the display device 22 an indication that re-parking is possible when the shift lever included in the operating device 20 is shifted to reverse, superimposed on the surrounding video V. 【0151】 The control unit 11 receives a reverse command when the shift lever included in the operating device 20 is shifted to reverse (R) (step S126). Next, the control unit 11 controls at least acceleration, deceleration, and steering to move the vehicle 1 in reverse, thereby initiating autonomous reverse driving of the vehicle 1, and parking the vehicle 1 in the detected parking space DS by autonomous driving (step S128). Then, this routine ends. 【0152】 As described above, the vehicle control device 10 of this embodiment is a vehicle control device 10 mounted on a vehicle 1, comprising an operating device 20 that receives input from the occupant, a camera 16 that acquires surrounding video footage V, a display device 22 that is visible to the occupant, and a movement control device 12 that controls at least acceleration, deceleration, and steering. When at least a part of the vehicle 1 is located inside the parking space PS and the operating device 20 receives an instruction to re-park, the vehicle control device 10 superimposes the turning stop position TP onto the surrounding video footage V acquired by the camera 16 and displays it on the display device 22. When the vehicle 1 moves forward towards the turning stop position TP, and before the vehicle 1 reaches the turning stop position TP, the vehicle control device 10 detects the parking space PS as a detected parking space DS under predetermined conditions based on the surrounding video footage V acquired by the camera 16, and displays a prompt to reverse on the display device 22. Next, when the operating device 20 receives an instruction to reverse, the vehicle control device 10 controls at least acceleration, deceleration, and steering to reverse the vehicle 1 and park it in the detected parking space DS by autonomous driving. 【0153】 As described above, in this embodiment, when at least a portion of the vehicle 1 is located inside the parking space PS and the operating device 20 receives an instruction to re-park, the vehicle control device 10 superimposes the turning stop position TP onto the surrounding video V and displays it on the display device 22. When the vehicle 1 moves forward towards the turning stop position TP and detects the parking space PS as a detected parking space DS under predetermined conditions before reaching the turning stop position TP, the display device 22 displays a prompt to reverse. Then, when the operating device 20 receives an instruction to reverse, the vehicle control device 10 controls at least acceleration, deceleration, and steering to reverse the vehicle 1 and park it in the detected parking space DS by autonomous driving. 【0154】 Therefore, the vehicle control device 10 of this embodiment can suitably assist in the re-parking of the vehicle 1 after it has finished parking. 【0155】 Therefore, the vehicle control device 10 of this embodiment can provide suitable parking assistance. 【0156】 Next, the hardware configuration of the vehicle control device 10 in this embodiment will be described. 【0157】 Figure 13 is a block diagram showing an example of the hardware configuration of the vehicle control device 10. 【0158】 The vehicle control device 10 has a hardware configuration that utilizes a standard computer, with a CPU (Central Processing Unit) 13A, ROM (Read Only Memory) 13B, RAM (Random Access Memory) 13C, and I / F 13D for connecting to various devices, all interconnected by a bus 13E. 【0159】 The CPU 13A is an arithmetic unit that controls the overall processing of the vehicle control device 10. The RAM 13C stores data necessary for various processes performed by the CPU 13A. The ROM 13B stores programs and other data that implement the various processes performed by the CPU 13A. The I / F 13D is an interface that connects to external devices and external terminals via communication lines, etc., and is used to send and receive data between the connected external devices and external terminals. 【0160】 The program for executing the various processes described above, which are performed by the vehicle control device 10, is provided pre-installed in a ROM 13B or the like. The program for executing the vehicle control method performed in this embodiment may also be provided as a file in an installable or executable format for these devices, recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disc). 【0161】 Furthermore, the program for executing the vehicle control method performed in this embodiment may be stored on a computer connected to a network such as the Internet and provided by allowing download via the network. Alternatively, the program for executing the vehicle control method performed in this embodiment may be provided or distributed via a network such as the Internet. 【0162】 While embodiments of this disclosure have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols] 【0163】 1 vehicle 10. Vehicle control system 11 Control Unit 12 Mobile control device 14 sensors 16 cameras 20 Operating device 22 Display device

Claims

[Claim 1] A vehicle control method performed by a vehicle control device mounted on a vehicle, comprising: an operating device that receives input from the passenger; a camera that acquires images of the surrounding area; a display device that is visible to the passenger; and a movement control device that controls at least acceleration, deceleration, and steering, If at least a portion of the vehicle is located inside the parking space, and the operating device receives an instruction to re-park, the camera will superimpose the turning stop position onto the surrounding image and display it on the display device. The vehicle moves forward towards the stopping position, Before the vehicle reaches the turning stop position, if the camera detects the parking space as a parking space based on the surrounding image acquired by the camera under predetermined conditions, the display device will display a message prompting the vehicle to reverse. Next, when the operating device receives a reverse command, it controls at least acceleration, deceleration, and steering to move the vehicle in reverse and park it in the detected parking space by autonomous driving. Vehicle control method. [Claim 2] A vehicle control method according to claim 1, The forward movement of the vehicle toward the counter-stop position is performed in response to an operation performed by the occupant on the control device. Vehicle control method. [Claim 3] A vehicle control method according to claim 1, The forward movement of the vehicle toward the counter-turning stop position is performed by causing the movement control device to control at least acceleration, deceleration, and steering. Vehicle control method. [Claim 4] A vehicle control method according to claim 1, The display prompting the camera to reverse is superimposed on the surrounding image acquired by the camera and displayed on the display device. Vehicle control method. [Claim 5] A vehicle control method according to claim 1, Before the vehicle reaches the turning stop position, if the camera detects the parking space as a detected parking space based on the surrounding image acquired by the camera under predetermined conditions, the display device will display a message prompting the vehicle to reverse, and the detected parking space will be superimposed on the surrounding image acquired by the camera and displayed on the display device. Vehicle control method. [Claim 6] A vehicle control method according to claim 1, The display device comprises at least a first display unit and a second display unit. Vehicle control method. [Claim 7] A vehicle control method according to claim 1, The camera includes at least a rear camera that photographs the area behind the vehicle. Vehicle control method. [Claim 8] A vehicle control method according to claim 1, When the aforementioned parking space is detected as a parking space under predetermined conditions, This occurs when at least one of the first length of the first side of the parking space and the second length opposite to the first side is detected to be greater than or equal to a predetermined length. Vehicle control method. [Claim 9] A vehicle control method according to claim 1, When the aforementioned parking space is detected as a parking space under predetermined conditions, When at least one of the first length of the first side of the parking space and the second length opposite to the first side is detected to be greater than or equal to a predetermined length, This is the case when a route to the detected parking space can be generated. Vehicle control method. [Claim 10] A vehicle control method according to claim 1, The operating device comprises at least a forward / reverse operating unit for switching between forward and reverse, and a brake operating unit for controlling the vehicle's speed. The reverse instruction received by the aforementioned operating device is After the vehicle has come to a stop, the forward / reverse control unit is switched to reverse, and thereafter, the brake control unit accepts the operation to release the brake. Vehicle control method. [Claim 11] A vehicle control device mounted on a vehicle, comprising: an operating device that receives input from the passenger; a camera that acquires images of the surrounding area; a display device that is visible to the passenger; and a motion control device that controls at least acceleration, deceleration, and steering, If at least a portion of the vehicle is located inside the parking space, and the operating device receives an instruction to re-park, the camera will superimpose the turning stop position onto the surrounding image and display it on the display device. The vehicle moves forward towards the stopping position, Before the vehicle reaches the turning stop position, if the camera detects the parking space as a parking space based on the surrounding image acquired by the camera under predetermined conditions, the display device will display a message prompting the vehicle to reverse. Next, when the operating device receives a reverse command, it controls at least acceleration, deceleration, and steering to move the vehicle in reverse and park it in the detected parking space by autonomous driving. Vehicle control system. [Claim 12] A vehicle control device according to claim 11, The forward movement of the vehicle toward the counter-stop position is performed in response to an operation performed by the occupant on the control device. Vehicle control system. [Claim 13] A vehicle control device according to claim 11, The forward movement of the vehicle toward the counter-turning stop position is performed by causing the movement control device to control at least acceleration, deceleration, and steering. Vehicle control system. [Claim 14] A vehicle control device according to claim 11, The display prompting the camera to reverse is superimposed on the surrounding image acquired by the camera and displayed on the display device. Vehicle control system. [Claim 15] A vehicle control device according to claim 11, Before the vehicle reaches the turning stop position, if the camera detects the parking space as a detected parking space based on the surrounding image acquired by the camera under predetermined conditions, the display device will display a message prompting the vehicle to reverse, and the detected parking space will be superimposed on the surrounding image acquired by the camera and displayed on the display device. Vehicle control system. [Claim 16] A vehicle control device according to claim 11, The display device comprises at least a first display unit and a second display unit. Vehicle control system. [Claim 17] A vehicle control device according to claim 11, The camera includes at least a rear camera that photographs the area behind the vehicle. Vehicle control system. [Claim 18] A vehicle control device according to claim 11, When the aforementioned parking space is detected as a parking space under predetermined conditions, This occurs when at least one of the first length of the first side of the parking space and the second length opposite to the first side is detected to be greater than or equal to a predetermined length. Vehicle control system. [Claim 19] A vehicle control device according to claim 11, When the aforementioned parking space is detected as a parking space under predetermined conditions, When at least one of the first length of the first side of the parking space and the second length opposite to the first side is detected to be greater than or equal to a predetermined length, This is the case when a route to the detected parking space can be generated. Vehicle control system. [Claim 20] A vehicle control device according to claim 11, The operating device comprises at least a forward / reverse operating unit for switching between forward and reverse, and a brake operating unit for controlling the vehicle's speed. The reverse instruction received by the aforementioned operating device is After the vehicle has come to a stop, the forward / reverse control unit is switched to reverse, and thereafter, the brake control unit accepts the operation to release the brake. Vehicle control system.

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