Parking support system, parking support method, parking support program, and remote operation program

Abstract

To provide a parking support system which is capable of modifying parking location of an own vehicle simply.SOLUTION: A parking support system 1 is composed of a remote operation device 60 which operates from the outside of a vehicle remotely according to operation by a user, a peripheral sensor 20 which acquires peripheral information of an own vehicle and a processor 10 which is installed on the own vehicle and includes function which specifies a parking spot where the own vehicle is parked on the basis of the peripheral information, function which sets target location inside the parking spot, function which sets route to the target location and function which waits by letting the own vehicle reach the target location along the route according to a first signal transmitted from the remote control device. Furthermore, the own vehicle is moved according to a second signal if receiving the second signal which modifies the location of the own vehicle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a parking support system, a parking support method, a parking support program, and a remote operation program for storing a host vehicle in a predetermined parking spot and parking it.

Background Art

[0002] There has been proposed a parking support system that can execute an automatic parking process (automatic parking control) for detecting a parking spot where a host vehicle can be parked using a sensor mounted on the host vehicle and moving the host vehicle to the parking spot for parking (see, for example, Patent Document 1).

[0003] A processor (an arithmetic device mounted on the host vehicle) of the parking support system described in Patent Document 1 (hereinafter referred to as the "conventional system") determines a target parking position based on information acquired from the sensor. The target parking position is the position of the host vehicle in a parked state (for example, the position of the center of gravity of the host vehicle). The processor sets a path from the current position (a point outside the parking spot) to the target parking position. Next, the driver (user) gets out of the host vehicle and operates a remote control device outside the host vehicle. The processor moves the host vehicle along the path based on a signal transmitted from the remote control device. The processor stops the host vehicle at the target parking position. Then, after shifting the shift position of the host vehicle to the parking position and operating the parking brake, the processor shifts the ignition switch to the off state.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] When the host vehicle reaches the target parking position, the above-described conventional system completes the automatic parking process. In a state where the automatic parking process is completed, for example, the host vehicle may slightly protrude from the frame line of the parking spot. Also, for example, the wheels of the host vehicle may slightly ride up on the wheel chocks. When the user wishes to correct the position of the host vehicle in such a situation, the user first connects the remote operation device and the processor via a wireless communication line (executes an authentication operation). Next, the user operates the remote operation device to restart the host vehicle (shift the ignition switch to the on state). Then, the user operates the remote operation device to move the host vehicle. As described above, when the conventional system is adopted, the operation of correcting the parking position of the host vehicle is complicated.

[0006] One object of the present invention is to provide a parking support system that can easily correct the parking position of the host vehicle.

[0007] To achieve the above object, a parking support system (1) of the present invention includes a remote operation device (60) that transmits a signal for remotely operating the host vehicle (V) from outside the vehicle in response to an operation by the user, surrounding sensors (21, 22) that acquire surrounding information which is information about objects existing around the host vehicle, a processor (10) mounted on the host vehicle, In a scene where the vehicle enters and parks in the parking spot from outside the parking spot, a function of specifying a parking spot (PS) where the host vehicle is parked based on the surrounding information, a function of setting a target position (TP) inside the parking spot, a function of setting a path (R) to the target position, and in response to a first signal (S1) transmitted from the remote control device, moving the host vehicle along the path to reach the target position while maintaining the state where the drive device of the vehicle is activated, and having a function of waiting. The parking support system is provided with the above components. The remote operation device display a predetermined first image used for an operation of transmitting the first signal in the entry scene, when the host vehicle reaches the target position from that point, instead of the first image, display a second image used for an operation of correcting the position of the vehicle transmits a second signal (S2) for correcting the position of the host vehicle in response to an operation by the user. When the processor receives the second signal, it moves the host vehicle according to the second signal.

[0008] In the parking assistance system according to the present invention, the processor waits with the control system (such as a driving device, a braking device, a steering device, etc.) of the host vehicle activated since the host vehicle reaches the target position. And from this state, the user can start a remote operation to correct the position of the host vehicle without restarting the control system of the host vehicle. According to the parking assistance system according to the present invention, the user can easily correct the parking position of the host vehicle.

[0009] In a parking assistance system according to an aspect of the present invention, the user can board the host vehicle at the target position and operate the host vehicle to correct the parking position of the host vehicle.

[0010] Accordingly, the processor waits in a state where the host vehicle has reached the target position. Therefore, the user can board the host vehicle and start a driving operation to correct the position of the host vehicle immediately without restarting the host vehicle.

[0011] Further, the parking assistance method and the parking assistance program according to the present invention include steps executed by each device constituting the above parking assistance system.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0013] (Schematic) As shown in FIG. 1, a parking support system 1 according to an embodiment of the present invention is mounted on a vehicle V (hereinafter referred to as "own vehicle") having an automatic driving function. The parking support system 1 has a function of automatically parking the own vehicle in a parking spot PS (automatic parking function).

[0014] (Specific Configuration) As shown in FIG. 1, the parking support system 1 includes a parking support ECU 10, an in-vehicle sensor 20, a driving device 30, a braking device 40, a steering device 50, and a smartphone 60.

[0015] The parking support ECU 10 is a processor mounted on the own vehicle, and includes a microcomputer having a CPU 10a, a ROM 10b, a RAM 10c, etc. Further, the parking support ECU 10 is provided with a communication device 10d for wireless communication with a smartphone 60 described later.

[0016] The parking support ECU 10 is connected to other ECUs (for example, ECUs such as the driving device 30, the braking device 40, and the steering device 50 described later) via a CAN (Controller Area Network).

[0017] The in-vehicle sensor 20 includes a surrounding sensor that acquires information about an object existing around the own vehicle. For example, the in-vehicle sensor 20 includes an ultrasonic sensor 21 and a camera 22 as surrounding sensors.

[0018] The ultrasonic sensor 21 intermittently radiates ultrasonic waves to the surrounding area of the host vehicle and receives the ultrasonic waves (reflected waves) reflected by a three-dimensional object. The ultrasonic sensor 21 recognizes the distance between the host vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the host vehicle, etc. based on the time from transmitting the ultrasonic waves to receiving the reflected waves, and transmits the recognition result to the parking support ECU 10.

[0019] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera incorporating an imaging element such as a CCD (charge coupled device) or a CIS (CMOS image sensor). The imaging devices are installed at the front, rear, left side surface, and right side surface of the host vehicle. The imaging devices respectively photograph the surrounding area of the host vehicle at a predetermined frame rate and respectively acquire image data. The imaging devices transmit each piece of image data to the image analysis device. The image analysis device analyzes the acquired image data and acquires information about the targets existing around the host vehicle from the image. For example, the image analysis device recognizes the shape and color of the wall, fence, etc. of the parking spot PS, the pattern of the road surface, etc., and transmits the recognition result to the parking support ECU 10.

[0020] Furthermore, the in-vehicle sensor 20 includes a switch 23. The switch 23 is an operating device for a driver to request the start of the automatic parking control described later. The switch 23 includes, for example, a push-button type normally open switch device. The parking support ECU 10 monitors the on / off state of the switch 23.

[0021] The drive device 30 applies a driving force to the driving wheels among the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive device 30 includes an engine ECU, an internal combustion engine, a transmission, a driving force transmission mechanism for transmitting the driving force to the wheels, and the like. The internal combustion engine includes an actuator for driving a throttle valve. The engine ECU acquires information (control signal) representing a target driving force from another ECU (parking assistance ECU 10), and drives the actuator of the internal combustion engine based on the information. In this way, the driving force applied to the driving wheels is controlled. The driving force generated by the internal combustion engine is transmitted to the driving wheels via the transmission and the driving force transmission mechanism. Further, the engine ECU acquires information (control signal) regarding the shift position of the transmission from another ECU, and drives the actuator of the transmission based on the information. In this way, the shift position of the transmission is controlled.

[0022] In addition, when the vehicle to which the parking assistance system 1 is applied is a hybrid vehicle (HEV), the engine ECU can control the driving force of the vehicle generated by either one or both of the "internal combustion engine and the electric motor" as the vehicle driving source. Further, when the vehicle to which the parking assistance system 1 is applied is a battery electric vehicle (BEV), an electric motor ECU that controls the driving force of the vehicle generated by the "electric motor" as the vehicle driving source may be used instead of the engine ECU.

[0023] The braking device 40 applies a braking force to the wheels (brake disks). The braking device 40 includes a brake ECU, a brake caliper, and the like. The brake caliper includes an actuator for pressing a brake pad against the brake disk. The brake ECU acquires information (control signal) representing a target braking force from another ECU, and drives the actuator of the brake caliper based on the information. In this way, the braking force applied to the wheels (brake disks) is controlled.

[0024] The steering device 50 controls the steering angles of the steering wheels (left front wheel and right front wheel). The steering device 50 includes a steering ECU, a steering mechanism, etc. The steering mechanism is a link mechanism including a knuckle arm, a tie rod, etc. The steering device 50 further includes an actuator that drives the steering mechanism to change the steering angle. The steering ECU acquires information (control signal) representing the target steering angle from other ECUs and drives the actuator based on the information. In this way, the steering angles of the steering wheels are controlled.

[0025] The smartphone 60 functions as a remote operation device for remotely operating the host vehicle by executing a predetermined program. That is, the smartphone 60 transmits signals (for example, the first signal S1, the second signal S2, etc. described later) for remotely operating the host vehicle in response to an operation by the user. These signals are transmitted to the parking support ECU 10 via a predetermined wireless communication line.

[0026] (Parking support function) The driver temporarily stops the host vehicle near the parking spot PS where the host vehicle is to be parked and presses the switch 23. Thereby, the parking support ECU 10 of the parking support system 1 starts executing a program P1 (parking support program) described in detail later. That is, the parking support ECU 10 starts automatic parking control to automatically park the host vehicle at the parking spot PS. Specifically, when the parking support ECU 10 detects that the switch 23 has been pressed, it acquires data representing the recognition results of the targets existing around the host vehicle from the ultrasonic sensor 21 and the camera 22. Then, the parking support ECU 10 identifies the parking spot where the host vehicle is to be parked based on the data acquired from the ultrasonic sensor 21 and the camera 22, and generates a map M1 including the parking spot shown in FIG. 2. The map M1 is a plan view representing the position and orientation of the host vehicle with respect to the parking spot PS.

[0027] Next, the parking support ECU 10 sets a target position TP at which the host vehicle is to be parked in the parking spot PS based on the map M1. The target position TP is the position of the center of gravity of the host vehicle when it is assumed that the host vehicle is parked in the parking spot PS with a space of a predetermined width or more provided around the host vehicle. Next, the parking support ECU 10 sets (calculates) a path R (the target locus of the center of gravity of the host vehicle) along which the host vehicle can be moved to the target position TP while avoiding obstacles. Next, the parking support ECU 10 sets a control signal pattern (time-series data of control signals respectively supplied to the drive device 30, the brake device 40, and the steering device 50) for moving the host vehicle along the path R.

[0028] The parking support ECU 10 reflects the target position TP and the path R on the map M1. The parking support ECU 10 causes the map M1 to be displayed on an in-vehicle display (not shown). The user confirms that there are no problems with the displayed path R, target position TP, etc.

[0029] Next, the user activates a program P2 (remote operation program) pre-installed in the smartphone 60. The program P2 is a program that executes a remote operation step of transmitting a signal for remotely operating the host vehicle according to an operation by the user in order to cause the parking support ECU 10 to execute the program P1. When the execution of the program P2 is started, the smartphone 60 displays an initial image (not shown). In this state, the user connects the smartphone 60 and the parking support ECU 10 via a wireless communication line. That is, the user performs a predetermined authentication operation (input of a login ID and a password). When the authentication operation is completed, the smartphone 60 displays an image G1 shown in FIG. 3. The image G1 includes a dial D which is an image for moving the host vehicle along the path R, and an end button TB which is an image for ending the automatic parking control.

[0030] The user gets out of the vehicle and operates the smartphone 60. When the user rotates the dial D outside the vehicle, the smartphone 60 transmits a first signal S1 indicating that the vehicle is to proceed along the route R. The first signal S1 is transmitted while the user is performing the rotation operation of the dial D. When the user stops the rotation operation of the dial D, the first signal S1 stops being transmitted. When receiving the first signal S1, the parking assistance ECU 10 controls the vehicle according to the above control signal pattern. As a result, the vehicle gradually proceeds along the route R. When not receiving the first signal S1, the parking assistance ECU 10 temporarily stops the vehicle. The user can temporarily stop the vehicle, for example, by keeping the dial D stationary when a pedestrian, a bicycle, etc. approaches the vehicle. The parking assistance ECU 10 sequentially obtains recognition results of targets existing around the vehicle from the ultrasonic sensor 21 and the camera 22 while making the vehicle proceed along the route R. Then, when detecting an obstacle that hinders the progress of the vehicle based on the above recognition results, the parking assistance ECU 10 temporarily stops the vehicle. In this case, the parking assistance ECU 10 causes the smartphone 60 to display an image indicating the presence of an obstacle. In this situation, the parking assistance ECU 10 becomes unable to receive the first signal S1. Therefore, even if the user operates the dial D, the vehicle does not move. When the obstacle moves away from the vehicle and the vehicle becomes able to proceed, the parking assistance ECU 10 becomes able to receive the first signal S1. When the duration of the state where the obstacle does not move and the vehicle cannot be made to proceed along the route R exceeds the threshold value, the parking assistance ECU 10 determines "whether it is possible to set a new route R that allows the vehicle to reach the target position TP while avoiding the obstacle". When it is possible to set a new route R, the parking assistance ECU 10 temporarily displays the new route R on the smartphone 60. Then, the parking assistance ECU 10 becomes able to receive the first signal S1. The user can make the vehicle proceed along the new route R by operating the dial D. Note that the rotation direction (clockwise or counterclockwise) of the dial D does not matter.That is, when the user rotates the dial D clockwise or counterclockwise, the parking support ECU 10 proceeds with the control of the drive device and the like according to the control signal pattern.

[0031] When the host vehicle reaches the target position TP, the parking support ECU 10 temporarily stops the host vehicle. Further, the parking support ECU 10 shifts the shift position SP to the parking position. In this state, the ignition switch of the host vehicle remains on. That is, when the host vehicle reaches the target position TP, the parking support ECU 10 waits for the host vehicle (puts the automatic parking control in a standby state) without ending the automatic parking control. Also, in this standby state, the parking support ECU 10 and the smartphone 60 can continue to communicate. The parking support ECU 10 transmits a signal RS indicating that the host vehicle has reached the target position TP (the host vehicle has been stored in the parking spot PS). When the smartphone 60 receives the signal RS, it displays the image G2 shown in FIG. 3. The image G2 includes a correction start button SB which is an image for starting an operation to correct the position of the host vehicle, and an end button TB which is an image for ending the automatic parking control.

[0032] When the user taps the correction start button SB, the smartphone 60 displays the image G3 shown in FIG. 3. The image G3 includes a forward button FW and a backward button BW which are images for selecting the moving direction (forward or backward) of the host vehicle. Further, the image G3 includes a dial D similar to the image G1. In addition, the image G3 includes the end button TB. First, the user taps the forward button FW or the backward button BW to select the direction in which the host vehicle is to proceed. The smartphone 60 transmits a signal DS representing the selected direction. The parking support ECU 10 changes the shift position SP according to the signal DS. That is, when the forward button FW is tapped, the parking support ECU 10 shifts the shift position SP to the forward position. On the other hand, when the backward button BW is tapped, the parking support ECU 10 shifts the shift position SP to the backward position.

[0033] When the user rotates the dial D, the smartphone 60 transmits a second signal S2 for moving in the selected direction. When the parking support ECU 10 receives the second signal S2, it controls the drive device 30 to move the host vehicle forward. Note that the parking support ECU 10 holds the steering angle θ at "0°". That is, the parking support ECU 10 moves straight ahead in the selected direction (forward or backward) (see FIG. 4).

[0034] When the host vehicle reaches the desired position, the user taps the end button TB. The smartphone 60 transmits a signal TS for ending the automatic parking control and ends the execution of the program P2. When the parking support ECU 10 receives the signal TS, it shifts the shift position SP to the parking position, activates the parking brake, and then shifts the ignition switch to the off state. In this way, the position of the host vehicle is corrected by remote operation.

[0035] Note that while the smartphone 60 is displaying the image G2, after the user taps the correction start button SB, the user may get into the host vehicle and operate the operation devices (such as the accelerator pedal, brake pedal, shift lever, and steering wheel) of the host vehicle to correct the position of the host vehicle.

[0036] In addition, when a predetermined end condition is satisfied during the automatic parking control, the parking support system 1 ends the execution of the automatic parking control. Specifically, as described above, when the user taps the end button TB, the end condition is satisfied. Also, the end condition is satisfied when the user gets into the host vehicle and starts operating the operation devices of the host vehicle. Further, the end condition is satisfied when the duration of the state in which the communication between the parking support ECU 10 and the smartphone 60 is interrupted (the state in which the user does not operate the smartphone 60) exceeds the threshold value.

[0037] Next, with reference to FIG. 5, the process (program P1) executed by the CPU 10a (hereinafter referred to as "CPUa") of the parking support ECU 10 will be specifically described.

[0038] When CPUa detects that switch 23 has been pressed, it starts executing program P1 from step 100 and proceeds to step 101.

[0039] When CPUa proceeds to step 101, it determines whether the authentication process of smartphone 60 has been completed. If the authentication process has been completed (101: Yes), CPUa proceeds to step 102. On the other hand, if the authentication process is not completed (101: No), CPUa returns to step 101.

[0040] When CPUa proceeds to step 102, based on the information acquired from in-vehicle sensor 20, CPUa sets the target position TP and the route R (or modifies it to avoid newly detected obstacles). Then, CPUa proceeds to step 103.

[0041] When CPUa proceeds to step 103, it determines whether it has received the first signal S1 from smartphone 60. If CPUa has received the first signal S1 (103: Yes), CPUa proceeds to step 105. On the other hand, if CPUa has not received the first signal S1 (103: No), it proceeds to step 104.

[0042] When CPUa proceeds to step 104, it determines whether the end condition has been satisfied. If the end condition has been satisfied (104: Yes), CPUa proceeds to step 113 and ends the execution of program P1. If the end condition is not satisfied (104: No), CPUa returns to step 102.

[0043] When CPUa proceeds to step 105, it controls the drive device etc. according to the control signal pattern to make the host vehicle travel along route R. Then, CPUa proceeds to step 106.

[0044] When CPUa proceeds to step 106, it determines whether the host vehicle has reached the target position TP. If the host vehicle has reached the target position TP (106: Yes), CPUa proceeds to step 107. On the other hand, if the host vehicle has not yet reached the target position TP (106: No), CPUa returns to step 102.

[0045] When CPUa proceeds to step 107, it transmits the signal RS and temporarily stops and waits for the host vehicle at the target position TP. Note that the ignition switch is kept in the ON state. Then, CPUa proceeds to step 108.

[0046] When CPUa proceeds to step 108, it determines whether it has received the signal DS from the smartphone 60. If CPUa has received the signal DS (108: Yes), it proceeds to step 109. If CPUa has not received the signal DS (108: No), it proceeds to step 112 described later.

[0047] When CPUa proceeds to step 109, it changes the shift position SP according to the signal DS. Then, CPUa proceeds to step 110.

[0048] When CPUa proceeds to step 110, it determines whether it has received the second signal S2 from the smartphone 60. If CPUa has received the second signal S2 (110: Yes), CPUa proceeds to step 111. On the other hand, if CPUa has not received the second signal S2 (111: No), it proceeds to step 112.

[0049] When CPUa proceeds to step 111, it controls the drive device etc. to move the host vehicle (forward or backward). Then, CPUa proceeds to step 112.

[0050] When CPUa proceeds to step 112, it determines whether the termination condition is satisfied. If the termination condition is satisfied (112: Yes), CPUa proceeds to step 113 and terminates the execution of program P1. If the termination condition is not satisfied (112: No), CPUa returns to step 108.

[0051] Next, with reference to FIG. 6, the processing (program P2) executed by the arithmetic unit (hereinafter referred to as "CPUb") of the smartphone 60 will be specifically described.

[0052] Program P2 is downloaded from a predetermined server computer to the smartphone 60 and installed. When the user taps the icon of program P2 displayed on the display device of the smartphone 60, CPUb starts the execution of program P2 from step 200 and proceeds to step 201.

[0053] When CPUb proceeds to step 201, it determines whether the authentication process of the parking support ECU 10 is completed. If the authentication process is completed (201; Yes), CPUb proceeds to step 202. On the other hand, if the authentication process is not completed (201: No), CPUb returns to step 201.

[0054] When CPUb proceeds to step 202, it displays the image G1. Then, CPUb proceeds to step 203.

[0055] When CPUb proceeds to step 203, it determines whether the dial D is being operated. If the dial D is being operated (203: Yes), CPUb proceeds to step 205. On the other hand, if the dial D is not being operated (203: No), CPUb proceeds to step 204.

[0056] When CPUb proceeds to step 204, it determines whether the termination condition is satisfied. If the termination condition is satisfied (204: Yes), CPUb proceeds to step 216 described later. If the termination condition is not satisfied (204: No), CPUb returns to step 203.

[0057] When CPUb proceeds to step 205, it transmits the first signal S1. Then, CPUb proceeds to step 206.

[0058] When CPUb proceeds to step 206, it determines whether the signal RS has been received. If CPUb has received the signal RS (206: Yes), it proceeds to step 207. If CPUb has not received the signal RS (206: No), it returns to step 203.

[0059] When CPUb proceeds to step 207, it displays the image G2. Then, CPUb proceeds to step 208.

[0060] When CPUb proceeds to step 208, it determines whether the correction start button SB has been tapped. If the correction start button SB has been tapped (208: Yes), CPUb proceeds to step 210. On the other hand, if the correction start button SB has not been tapped (208: No), CPUb proceeds to step 209.

[0061] When CPUb proceeds to step 209, it determines whether the end condition is satisfied. If the end condition is satisfied (209: Yes), CPUb proceeds to step 216 described later. If the end condition is not satisfied (209: No), CPUb returns to step 208.

[0062] When CPUb proceeds to step 210, it displays the image G3. Then, CPUb proceeds to step 211.

[0063] When CPUb proceeds to step 211, it determines whether the direction selection button (forward button FW or backward button BW) has been tapped. If the direction selection button has been tapped (211: Yes), CPUb proceeds to step 212. On the other hand, if the direction selection button has not been tapped (211: No), CPUb proceeds to step 215.

[0064] When CPUb proceeds to step 212, it transmits a signal DS corresponding to the direction selection button. Then, CPUb proceeds to step 213.

[0065] When CPUb proceeds to step 213, it determines whether the dial D is being operated. If the dial D is being operated (213: Yes), CPUb proceeds to step 214. On the other hand, if the dial D is not being operated (213: No), CPUb proceeds to step 215.

[0066] When CPUb proceeds to step 214, it transmits the second signal S2. Then, CPUb proceeds to step 215.

[0067] When CPUb proceeds to step 215, it determines whether the end condition is satisfied. If the end condition is satisfied (215: Yes), CPUb proceeds to step 216 and ends the execution of program P2. On the other hand, if the end condition is not satisfied (215: No), CPUb returns to step 211.

[0068] (Effect) According to the parking support system 1, after the parking support ECU 10 has reached the target position TP of the host vehicle, it waits without ending the automatic parking control while keeping the ignition switch in the on state. Then, from this standby state, the user can start a remote operation and correct the position of the host vehicle without restarting the host vehicle. Therefore, according to the parking support system 1, the user can easily correct the parking position of the host vehicle.

[0069] Note that the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0070] (Modification 1) The above-described parking support system 1 is configured to be able to move the host vehicle forward or backward from the target position TP by remote operation. In addition to this, the parking support system 1 may be configured to be able to move the host vehicle leftward or rightward from the target position by remote operation.

Description of Symbols

[0071] 1…Parking assistance system, 10…Parking assistance ECU, 20…Vehicle-mounted sensor, 30…Drive device, 40…Brake device, 50…Steering device, 60…Smartphone

Claims

1. A parking assistance system, comprising: a remote control device that transmits a signal for remotely controlling the host vehicle in response to an operation by a user; a surrounding sensor that acquires surrounding information which is information about objects existing around the host vehicle; a processor mounted on the host vehicle, which, in a scene where the host vehicle enters the parking spot from outside the parking spot and parks, has a function of specifying the parking spot where the host vehicle is to be parked based on the surrounding information, a function of setting a target position inside the parking spot, a function of setting a route to the target position, and a function of moving the host vehicle along the route in response to a first signal transmitted from the remote control device to reach the target position and waiting while maintaining the state where the driving device of the host vehicle is activated; and the remote control device displays a predetermined first image used for the operation of transmitting the first signal in the warehousing scene, and from the time when the host vehicle reaches the target position, instead of the first image, displays a second image used for the operation of correcting the position of the host vehicle, and transmits a second signal for correcting the position of the host vehicle in response to an operation by the user; the processor moves the host vehicle in response to the second signal when the second signal is received. A parking assistance system configured as described above.

2. A parking assistance method, comprising: a first remote control step of displaying a first image used for the operation of entering the host vehicle from outside the parking spot and parking in the parking spot on a remote control device, and transmitting a first signal for moving the host vehicle along a predetermined route in response to an operation by a user from the remote control device; a surrounding information acquisition step of acquiring surrounding information which is information about objects existing around the host vehicle from a surrounding sensor; a warehousing step executed by a processor mounted on the host vehicle, which includes a process of specifying the parking spot based on the surrounding information, a process of setting a target position inside the parking spot based on the surrounding information, a process of setting the route to reach the target position, a process of moving the host vehicle along the route in response to the first signal to reach the target position, and a process of waiting while maintaining the state where the driving device of the host vehicle is activated. A second remote operation step of displaying, on the remote operation device, a second image used for an operation of correcting the position of the host vehicle instead of the first image from the time when the host vehicle reaches the target position, and transmitting, from the remote operation device, a second signal for correcting the position of the host vehicle according to an operation by the user; A position correction step of executing, by the processor, a process of moving the host vehicle according to the second signal; Including A parking support method configured as described above. **Claim 3**: A parking support program including a vehicle program and a remote operation device program applicable to a computer provided in a host vehicle and a remote operation device constituting a parking support system, The vehicle program causes a computer provided in the host vehicle to An ambient information acquisition step of acquiring, from an ambient sensor, ambient information which is information on objects existing around the host vehicle; A process of specifying a parking spot for parking the host vehicle based on the ambient information, a process of setting a target position inside the parking spot based on the ambient information, a process of setting the route to the target position, and a warehousing step including a process of moving the host vehicle along the route according to the first signal to reach the target position and waiting while maintaining a state in which the driving device of the host vehicle is activated; After the host vehicle reaches the target position, a position correction step of receiving, from the remote operation device, a second signal for correcting the position of the host vehicle and moving the host vehicle according to the second signal; Including a program for executing The remote operation device program causes a computer provided in the remote operation device to A first remote operation step of displaying a first image used for an operation of causing the host vehicle to enter and park in the parking spot from outside the parking spot, and transmitting the first signal according to an operation by the user; A second remote operation step of displaying, instead of the first image from the time when the host vehicle reaches the target position, a second image used for an operation of correcting the position of the host vehicle, and transmitting the second signal from the remote operation device according to an operation by the user; Including a program for executing A parking support program configured as described above.

Images