Parking assistance method, program, and parking assistance device

Abstract

To provide a technique for performing efficient parking by appropriately setting an area to be secured for traveling of a vehicle to enter a parking lot.SOLUTION: There is provided a parking support method for supporting parking of a vehicle capable of performing an automatic driving at least inside a parking lot. The parking support method includes steps of: setting an exclusive area where traveling of another vehicle is prohibited in order to secure an area for traveling of the vehicle to enter the parking lot and which is uniformly determined according to a position of a parking frame; acquiring a parking operation area which is generated by the vehicle and required for a parking operation when the vehicle starts the parking operation to park at the parking frame; and changing the exclusive area to secure at least the parking operation area based on the parking operation area.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a parking assistance method, a program, and a parking assistance device that assist in parking a vehicle in a parking lot. [Background technology]

[0002] Patent Document 1 discloses a technology for safely guiding an autonomous vehicle in a parking assistance device that assists autonomous vehicles in parking in a parking lot. When multiple vehicles are parked in the same time period, the parking assistance device generates guide routes for the multiple vehicles so that they do not overlap with each other. Completed portions of the generated guide routes are excluded from the route.

[0003] In addition to Patent Document 1, Patent Document 2 below can be mentioned as an example of a document that shows the technical level at the time of filing in the technical field of the present disclosure. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2021 / 020092 [Patent Document 2] JP 2019-182154 A Summary of the Invention [Problem to be solved by the invention]

[0005] A technology is known that assists in parking of an autonomous vehicle in a parking lot. In such a technology, a driving route to a parking frame assigned to a vehicle entering the parking lot is automatically determined by a control server or the like and transmitted to the vehicle. The vehicle can park in a parking space by driving in the parking lot using an autonomous driving function according to the received driving route. In addition, in such a technology, in order to increase safety in the parking lot, an area for the vehicle entering the parking lot to drive is secured by the control server. The secured area is determined to be an area including an area required for the vehicle to drive and with a margin that takes into account variations. Then, other vehicles are prohibited from driving in the secured area until the entry of the vehicle is completed. The vehicle can drive in the secured area and enter the parking lot safely without coming into contact with other vehicles.

[0006] Until approaching the assigned parking frame, the vehicle moves forward along the driving route, so the variation in the area required for the vehicle to drive is small. However, when the parking frame approaches, the vehicle performs actions such as turning its head and turning around in order to park in the parking frame. Since such parking actions vary depending on the performance and size of the vehicle and the surrounding parking environment, the area required for the vehicle to drive also changes around the parking frame where the vehicle is parked. If the area secured by the control server for the vehicle to drive is narrower than the area that the vehicle actually needs to drive, other vehicles may pass through the area that the vehicle needs to drive, and safety in the parking lot may not be guaranteed. Conversely, if the area secured by the control server for the vehicle to drive is wider than the area that the vehicle actually needs to drive, even other vehicles that are actually capable of driving may be prohibited from driving, and may not be able to start driving until the vehicle has entered the parking frame. This results in unnecessary waiting time.

[0007] The present disclosure has been made in consideration of the above-mentioned problems. The present disclosure has an object to appropriately set an area in a parking lot to be reserved for vehicles entering the parking lot, thereby enabling efficient parking. [Means for solving the problem]

[0008] The present disclosure provides a parking assistance method for assisting in parking a vehicle that is capable of autonomous driving at least within the parking lot. Parking assistance methods include: A step of setting an exclusive area in which other vehicles are prohibited from traveling in order to secure an area in which a vehicle entering the parking lot can travel, the exclusive area being determined uniformly according to the position of the parking space; When the vehicle starts a parking operation to park in a parking space, a parking operation area required for the parking operation is obtained, the parking operation area being generated by the vehicle; changing the exclusive area based on the parking operation area to ensure at least the parking operation area; Includes It is characterized by:

[0009] The present disclosure provides a program for causing a computer to execute, in a parking lot, assistance in parking a vehicle capable of autonomous driving at least within the parking lot. The program includes: A step of setting an exclusive area in which other vehicles are prohibited from traveling in order to secure an area in which a vehicle entering the parking lot can travel, the exclusive area being determined uniformly according to the position of the parking space; When starting a parking operation of parking the vehicle in the parking space, acquiring a parking operation area required for the parking operation; modifying the exclusion area based on the parking operation area; to cause a computer to execute It is characterized by:

[0010] The present disclosure provides a parking assistance device that assists in parking a vehicle that is capable of autonomous driving at least within the parking lot. The parking assistance device is Setting an exclusive area in which other vehicles are prohibited from driving in order to secure an area in which a vehicle entering the parking lot can drive, the exclusive area being determined uniformly according to the position of the parking space; When the vehicle starts a parking operation to park in a parking space, a parking operation area required for the parking operation is obtained; Vary the exclusion area based on the parking operation area; It is characterized by: Effect of the Invention

[0011] According to the technology disclosed herein, in a technology for assisting in parking of vehicles capable of autonomous driving, an area to be reserved for the driving of entering vehicles can be appropriately set, enabling efficient parking. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a parking lot according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram for explaining an exclusive region according to an embodiment of the present disclosure. [Diagram 3] FIG. 2 is a schematic diagram for illustrating a parking operation area according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a schematic diagram for explaining a first embodiment of the present disclosure. [Diagram 5] FIG. 11 is a schematic diagram for explaining a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0014] 1. Overview The parking assistance method of the present disclosure is a method for assisting parking of a vehicle in a parking lot. The parking assistance method of the present disclosure is mainly executed by a parking assistance device that assists parking of a vehicle in a parking lot. FIG. 1 shows a schematic diagram of a parking lot 100 to which a parking assistance device 20 that assists parking of a vehicle 10 is applied. The parking assistance device 20 may be a device included in a control server that manages the parking lot 100. The parking lot 100 is a parking lot that includes a plurality of parking spaces 101 in each of which a vehicle 10 can be parked. The vehicle 10 is a vehicle that is configured to be capable of automatic driving at least within the parking lot 100. For example, the vehicle 10 may be an autonomous vehicle, or an AVP (Automated Valet Parking) vehicle that supports automatic valet parking.

[0015] The automatic driving of the vehicle 10 in the parking lot 100 is controlled by a vehicle control system mounted on the vehicle 10. The vehicle control system is wirelessly connected to the parking assistance device 20. The parking assistance device 20 includes a control device 21 and a storage device 22. The control device 21 is a computer connected to the vehicle control system via a wireless network, and executes various processes required to assist in parking the vehicle 10 in the parking lot 100. The storage device 22 is a storage device built into or external to the control device 21, or a data server connected to the control device 21 via a network. The storage device 22 stores various programs executable by the control device 21 and various data required for executing the various programs.

[0016] The entry of the vehicle 10 is performed, for example, in the following manner. The parking assistance device 20, which has received a request for entry of the vehicle 10 transmitted from the user of the vehicle 10 or the like, allocates a parking frame to the vehicle 10 as a target parking frame, taking into consideration the availability of the parking lot 100 and the like. The parking assistance device 20 creates a driving route for the vehicle 10 based on the position of the target parking frame. The created driving route is transmitted to the vehicle control system, and the vehicle 10 automatically drives according to the driving route under the control of the vehicle control system, and automatically parks in the target parking frame. For example, FIG. 1 shows a vehicle 10a parked at a departure / arrival point 102 to start entering the parking lot 100. The vehicle 10a automatically drives in the parking lot 100 according to the driving route indicated by the dotted line from the departure / arrival point 102, and automatically parks in the parking frame 101a, which is the target parking frame.

[0017] The parking assistance of the vehicle 10 by the parking assistance device 20 includes the allocation of the target parking frame and the creation of a driving route. The parking assistance device 20 can uniformly create the driving route of the vehicle 10 as a route connecting the departure / arrival point 102 and the target parking frame according to the position of the target parking frame.

[0018] The parking assistance provided by the parking assistance device 20 for the vehicle 10 also includes reserving an area for the vehicle 10 to drive in when the vehicle 10 enters the parking lot 100. Other vehicles are prohibited from driving in the reserved area until the vehicle 10 has completed entering the parking lot 10. By driving in the reserved area, the vehicle 10 can enter the parking lot safely without being hindered by other vehicles.

[0019] Hereinafter, in this specification, the area reserved by the parking assistance device 20 for the vehicle 10 to travel is called the exclusive area. The exclusive area is an area that is uniformly determined according to the position of the target parking frame. Basically, the exclusive area is determined to be an area that includes the area required for the vehicle 10 to travel, and that has a margin in consideration of the variation of each vehicle 10 or the situation at the time of parking.

[0020] The exclusive area will be described with reference to Fig. 2. In Fig. 2, the driving route of the vehicle 10 to which the target parking frame 101b is assigned is shown by a dotted line when the vehicle 10 enters the parking space. The area shown by the hatched area and the area shown by the dotted area in Fig. 2 is the exclusive area determined for the target parking frame 101b. The driving route and the exclusive area are uniformly determined by the parking assistance device 20 according to the position of the target parking frame 101b.

[0021] In addition, in Fig. 2, a part of the driving route of the vehicle 10c parked in the parking frame 101c when the vehicle 10c leaves the parking frame 101c is shown by a dashed line. As shown in Fig. 2, the driving route of the vehicle 10c passes through the exclusive area. Therefore, the parking assistance device 20 prohibits the vehicle 10c from driving until the vehicle 10 completes entering the target parking frame 101b.

[0022] As described above, the exclusive area is determined in consideration of the area required for the vehicle 10 to travel. The area of ​​the exclusive area shown by hatching in FIG. 2 is determined in consideration of the area required when the vehicle 10 advances along the travel path. For example, this area may be determined to be an area having a certain width along the travel path to the target parking space 101b. The certain width at this time may be, for example, the width of the body of the vehicle 10 using the parking lot 100 plus a margin.

[0023] On the other hand, the area shown by dots in Fig. 2 is an area determined in consideration of the area required when the vehicle 10 performs the operation to park in the target parking frame 101b. This area is determined to be an area including the target parking frame and the passage facing the parking frames of three frames in front of the target parking frame when viewed from the traveling direction of the vehicle. As can be seen from Fig. 2, this area is not an area along the travel route. This is because the vehicle 10 performs operations such as turning and turning around around the target parking frame in order to park in the target parking frame.

[0024] In the following description, the operation of the vehicle 10 to park in the target parking frame is called the parking operation, and the area required for the parking operation is called the parking operation area. Since the parking operation includes operations such as turning and turning, the parking operation area is different from the area required when the vehicle 10 is moving forward along the travel path, and varies greatly depending on the specifications of the vehicle 10 and the parking environment around the target parking frame.

[0025] The specifications of the vehicle 10 include the size and turning performance of the vehicle 10. For example, a large-sized vehicle 10 or a vehicle 10 with low turning performance is expected to perform many turns and have a wide parking operation area. In addition, the parking environment around the target parking frame includes the presence or absence of parked vehicles in the parking frames around the target parking frame and the positions of structures around the target parking frame, such as walls and pillars. For example, if there are no vehicles parked in the parking frames around the target parking frame, the vehicle 10 can park in the target parking frame with fewer turns, and the parking operation area may be narrowed.

[0026] The difference in the parking operation area due to the difference in the vehicle specifications and the parking environment around the target parking frame will be described with reference to FIG. 3. The vehicle 10d assigned to the target parking frame 101d and the vehicle 10e assigned to the target parking frame 101e are different in size and turning performance. The vehicle 10d is larger in size than the vehicle 10e and has lower turning performance. In addition, as a difference in the parking environment, the parking frame opposite the target parking frame 101d is filled with other vehicles, while no vehicles are parked in the parking frame opposite the target parking frame 101e.

[0027] Due to such differences, the parking operation area of ​​the vehicle 10d is different from the parking operation area of ​​the vehicle 10e. The vehicle 10d needs a range facing up to three parking frames in front of the target parking frame for parking operation, whereas the vehicle 10e needs only a range facing up to one parking frame in front of the target parking frame.

[0028] Here, Fig. 3 shows vehicles 10f and 10g parked in parking frames 101f and 101g that are in the same position relative to the target parking frames 101d and 101e. Although they are parked in the same position, due to the difference in the parking operation area between the vehicle 10d and the vehicle 10e, the driving route when the vehicle 10f leaves the parking lot passes through the parking operation area of ​​the vehicle 10d, whereas the driving route when the vehicle 10g leaves the parking lot does not pass through the parking operation area of ​​the vehicle 10e.

[0029] Basically, the exclusive area is determined as an area with a margin in consideration of variation. In the example of FIG. 3, it is assumed that the exclusive area is determined to include a range facing three parking frames in front of the target parking frame so that the area is wider than the parking operation area of ​​the vehicle 10d. However, in this case, as in the example of the vehicle 10e, when the parking operation area of ​​the entering vehicle 10 is narrow, the excess part of the exclusive area becomes large. In the example of FIG. 3, even though the driving path of the vehicle 10g does not pass through the parking operation area, the vehicle 10g is prohibited from driving until the entry of the vehicle 10e is completed. This causes unnecessary waiting time for the vehicle 10g.

[0030] If the only purpose is to reduce the excess portion of the exclusive area, the exclusive area may be determined to be a narrow area. For example, it is possible to determine the exclusive area so as to include only the range facing the parking frame one space ahead of the target parking frame based on the parking operation area of ​​the vehicle 10e. However, in that case, on the contrary, inconvenience occurs when a vehicle 10 that requires a wide area for parking operation, such as the vehicle 10d, enters the parking lot. In the example of FIG. 3, although the driving path of the vehicle 10f passes through the parking operation area of ​​the vehicle 10d, the vehicle 10f does not pass through the exclusive area, so the vehicle 10f is not prohibited from traveling. For this reason, there is a possibility that the vehicle 10f will start traveling before the vehicle 10d has completed entering the parking lot, and the safety in the parking lot 100 is not guaranteed.

[0031] If the parking assistance device 20 could set an area that matches the parking operation area of ​​the vehicle 10 as the exclusive area in advance, such a problem would not occur. However, in order to determine the parking operation, it is necessary to obtain the surrounding conditions of the vehicle 10 and the target parking frame when the parking operation is started by a recognition sensor mounted on the vehicle 10, such as an on-board camera. Furthermore, in order to determine the parking operation, in addition to the above information, the vehicle 10 must take into consideration information about the specifications of the vehicle 10. Therefore, the parking operation area can be created by the vehicle 10 only when the vehicle 10 starts the parking operation. Therefore, it is difficult for the parking assistance device 20 to determine an area that takes into consideration the parking operation area in advance as the exclusive area.

[0032] The parking assistance method of the present disclosure is a parking assistance method for solving problems that arise for such reasons. In the parking assistance method of the present disclosure, once a parking operation area is created by the vehicle 10, the exclusive area is changed based on the information so that the exclusive area becomes an appropriate area according to the entry of each vehicle 10. This makes it possible to reduce unnecessary waiting time while maintaining the safety of the parking lot 100, thereby realizing efficient parking.

[0033] The parking assistance method of the present disclosure includes three steps. The first step is a step of setting an exclusive area. The exclusive area set in the first step is uniformly determined according to the position of the target parking frame.

[0034] The second step is a step of acquiring a parking operation area generated by the vehicle 10 when the vehicle 10 starts a parking operation. When the vehicle 10 reaches a position where the parking operation starts, the vehicle 10 calculates information for determining the parking operation based on the specifications of the vehicle 10 and information on the parking environment around the target parking frame. The vehicle 10 can also generate a parking operation area based on the calculated information. The second step is a step of acquiring the parking operation area generated by the vehicle 10 in this way.

[0035] The third step is a step of changing the exclusive area based on the acquired parking operation area so as to secure at least the acquired parking operation area. The third step changes the exclusive area to an appropriate size. This makes it possible to prevent other vehicles from starting to travel and passing through the parking operation area before the vehicle 10 completes entering the parking area, and to reduce the wasteful waiting time of other vehicles that do not pass through the parking operation area.

[0036] 2. First embodiment A first embodiment of the parking assistance method of the present disclosure will be described. In the first embodiment, the exclusive area is set to be an area with a margin that takes into account variations. In the first embodiment, the exclusive area set in the second step includes an area that is uniformly determined to be larger than the parking operation area of ​​the vehicle 10.

[0037] FIG. 4 is a schematic diagram for explaining the first embodiment. In the example of FIG. 4, a target parking frame 101h is assigned to a vehicle 10h entering a parking lot 100. The area in the thick frame is an area that is uniformly determined as an area included in the exclusive area in the first embodiment. This area is determined to be larger than the parking operation area required by any vehicle 10. For example, this area may be determined to include a parking operation area required for a vehicle with the largest body and the lowest turning performance among the vehicles 10 using the parking lot 100 to park when the parking frames around the target parking frame are filled.

[0038] The shaded area in Fig. 4 is a parking operation area that is generated when the vehicle 10h starts parking into the target parking frame 101h. The thick-framed area of ​​the exclusive area is determined to be larger than the parking operation area required by any of the vehicles 10, and therefore the shaded area is smaller than the thick-framed area. That is, in the first embodiment, in the third step of the parking assistance method, the exclusive area is reduced to fit the parking operation area.

[0039] The effect of the first embodiment will be described by taking the exit of the vehicle 10i parked in the parking space 101i as an example. The dashed arrow indicates a part of the driving route of the vehicle 10i when it leaves the parking lot. Since the driving route of the vehicle 10i passes through the thick-framed area that is part of the exclusive area, the vehicle 10i is prohibited from traveling until the entry of the vehicle 10h is completed. Until the parking operation area is created, the driving of all vehicles that may pass through the parking operation area is prohibited, thereby improving safety in the parking lot 100.

[0040] Furthermore, in the first embodiment, the exclusive area is reduced in the third step to match the parking operation area. Therefore, once the parking operation area is generated and it is determined that the vehicle 10i will not pass through the parking operation area, the vehicle 10i can start leaving the parking lot without waiting for the vehicle 10h to complete entering the parking lot. In this way, the exclusive area is reduced, which reduces the wasteful waiting time until other vehicles can start driving, thereby realizing efficient parking.

[0041] 3. Second embodiment A second embodiment of the parking assistance method of the present disclosure will be described. In the second embodiment, in the second step, an exclusive area that does not take into account the parking operation area is uniformly set according to the position of the target parking frame.

[0042] FIG. 5 is a schematic diagram for explaining the second embodiment. In FIG. 5, the driving route of the vehicle 10j to which the target parking frame 101j is assigned is shown by a dotted line. The area in the thick frame shows an example of an exclusive area that is uniformly determined in the second embodiment. The exclusive area in the second embodiment is an area that does not take into account the parking operation area. For example, this area may be set as an area that includes only a part of the passage of the parking lot 100 that is along the driving route of the vehicle 10j.

[0043] The shaded area in Fig. 5 is a parking operation area that is generated when the vehicle 10j starts parking operation into the target parking frame 101j. The exclusive area shown in the thick frame is determined without considering the parking operation area, so the shaded area is an area that is extended forward from the thick frame area when viewed from the traveling direction of the vehicle 10j. That is, in the second embodiment, in the third step of the parking assistance method, the exclusive area is extended to match the parking operation area.

[0044] The effect of the second embodiment will be described by taking the exit of the vehicle 10k parked in the parking space 101k as an example. The dashed arrow indicates a part of the driving path of the vehicle 10k when it leaves the parking space. Since the driving path of the vehicle 10k is not included in the thick-framed area, the vehicle 10k can leave the parking space until the parking operation area of ​​the vehicle 10j is created. Since the driving of a vehicle that is not sure whether its driving path is included in the parking operation area is not prohibited, there is no need to wait, and efficient driving in the parking lot 100 can be realized.

[0045] Furthermore, in the third step, the exclusive area is expanded to fit the parking operation area. As a result, after the parking operation area is created, the vehicle 10k is prohibited from passing through the parking operation area. By expanding the exclusive area in this manner, the safety in the parking lot 100 can be improved in the second embodiment as well.

[0046] 4.Generating Parking Operation Area The information required for the vehicle 10 to calculate the parking operation includes the specifications of the vehicle 10 and information on the parking environment around the target parking frame. The specifications of the vehicle 10 include the size and turning performance of the vehicle 10. The vehicle 10 can acquire information on its own specifications in advance. In addition, the information on the parking environment around the target parking frame includes information on the parking status of the parking frames around the target parking frame and the distance between the vehicle 10 and the structures around the target parking frame. The vehicle 10 can acquire information on the parking environment around the target parking frame, for example, by a recognition sensor such as a camera mounted on the vehicle 10. When the vehicle 10 approaches the target parking frame and starts the parking operation, the vehicle 10 calculates information for the parking operation based on these pieces of information. Then, the vehicle 10 can generate a parking operation area based on the calculated information.

[0047] 5. Update exclusive area Information on the parking operation of the vehicle 10 is corrected and updated as needed according to the actual position even after the parking operation is started. If the parking operation changes, the parking operation area also changes, so the vehicle 10 may generate an updated parking operation area as needed until the entry is completed. In the parking assistance method disclosed herein, the parking assistance device 20 acquires the parking operation area at least when the vehicle 10 starts the parking operation. However, the parking operation area may be acquired at other times, and the parking operation area may be acquired as needed according to the progress of the entry of the vehicle 10 until the entry of the vehicle 10 is completed. In this case, when the updated parking operation area is acquired, the parking assistance device 20 updates the exclusive area based on the updated parking operation area. By updating the exclusive area as needed and making it more accurate according to the current situation, more efficient parking can be realized.

[0048] 6. Other embodiments The parking assistance method of the present disclosure can be applied to different parking modes. For example, it can be applied to both cases where the vehicle 10 is parked in a target parking space by back parking and forward parking. In either case, the vehicle 10 needs to perform operations such as turning its head and turning around when parking. Therefore, the parking operation area is affected by the specifications of the vehicle 10 and the parking environment around the target parking space, and changes for each vehicle 10 or each parking environment at that time. Therefore, regardless of the parking mode, the parking assistance method of the present disclosure allows the parking assistance device 20 to provide more efficient parking assistance.

[0049] 7. Summary As described above, the parking assistance method of the present disclosure can improve safety in the parking lot 100 and reduce the unnecessary waiting time of other vehicles when the vehicle 10 enters the parking lot 100. In this way, efficient parking can be achieved in the parking lot 100. [Explanation of symbols]

[0050] 10 Vehicles 20 Parking Assistance Device 21 Control device 22 Storage device 100 Parking 101 Parking space 102 Departure and Arrival Area

Claims

1. A parking assistance method for assisting parking of a vehicle capable of autonomous driving at least in a parking lot, comprising: setting an exclusive area in which other vehicles are prohibited from traveling in order to secure an area in which the vehicle entering the parking lot can travel, the exclusive area being determined uniformly according to the position of the parking space; At least when the vehicle starts a parking operation to park in the parking frame, a parking operation area required for the parking operation is acquired, the parking operation area being generated by the vehicle; changing the exclusive area based on the parking operation area so as to secure at least the parking operation area; Including, the step of setting the exclusive area is a step of setting an exclusive area including an area that is uniformly determined to be larger than the parking operation area, The step of changing the exclusive area is a step of reducing the exclusive area to match the parking operation area. Parking assistance methods.

2. 2. The parking assistance method according to claim 1, The parking operation area is generated based on information on a parking environment around the parking space and information on specifications of the vehicle. Parking assistance methods.

3. 2. The method of claim 1 , The parking operation area can be updated at any time according to a progress status of the entry of the vehicle until the entry of the vehicle is completed, When an updated parking operation area is acquired, the method further includes updating the exclusive area based on the updated parking operation area. Parking assistance methods.

4. A program for causing a computer to execute, in a parking lot, assistance in parking of a vehicle capable of automatic driving at least in the parking lot, setting an exclusive area in which other vehicles are prohibited from traveling in order to secure an area in which the vehicle entering the parking lot can travel, the exclusive area being determined uniformly according to the position of the parking space; At least when the vehicle starts a parking operation to park in the parking frame, a parking operation area required for the parking operation is acquired, the parking operation area being generated by the vehicle; changing the exclusive area based on the parking operation area so as to secure at least the parking operation area; causing the computer to execute the step of setting the exclusive area is a step of setting an exclusive area including an area that is uniformly determined to be larger than the parking operation area, The step of changing the exclusive area is a step of reducing the exclusive area to match the parking operation area. program.

5. A parking assistance device that assists in parking of a vehicle capable of automatic driving at least in a parking lot, An exclusive area is set in which other vehicles are prohibited from traveling in order to secure an area in which the vehicle entering the parking lot can travel, and the exclusive area is determined uniformly according to the position of the parking space; At least when the vehicle starts a parking operation to park in the parking frame, a parking operation area required for the parking operation is acquired, the parking operation area being generated by the vehicle; Based on the parking operation area, the exclusive area is changed so as to secure at least the parking operation area; setting the exclusive area includes setting an exclusive area that includes an area that is uniformly determined to be larger than the parking operation area, Changing the exclusive area is to reduce the exclusive area to match the parking operation area. Parking assistance device.

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