Parking assistance device and parking assistance method

Abstract

To provide a parking support device and a parking support method which can improve convenience in supporting parking.SOLUTION: A parking support device, which performs parking support on the basis of a route of a vehicle in teacher-running, comprises a resumption control part that first resumes the teaching running on a predetermined position on a first route by the teacher running, and a determining part that determines, as a teacher route, a route before the predetermined position on the first route and a second route by the resumed teacher running.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] One known technique for assisting a vehicle in parking is to store a driving route based on a teacher driving performed by a driver, and to provide parking assistance for automatic parking based on the stored driving route (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6022447 Summary of the Invention [Problem to be solved by the invention]

[0004] With this technology, automatic parking is performed by following the driving route memorized during supervised driving. Therefore, if you want to correct part of the driving route created by supervised driving, with conventional technology, you have to restart the supervised driving from the starting position of the driving route, which is inconvenient.

[0005] An object of the present disclosure is to provide a parking assistance device and a parking assistance method that can improve the convenience of parking assistance. [Means for solving the problem]

[0006] The parking assistance device according to the present disclosure comprises: A parking assistance device that provides parking assistance based on a vehicle route during teacher driving, a restart control unit that restarts the teacher traveling from a predetermined position on the first route of the teacher traveling; a determination unit that determines, as a teacher route, a route that includes a route before the predetermined position on the first route and a second route by teacher travel after the restart; Equipped with.

[0007] The parking assistance method according to the present disclosure includes: A parking assistance method for providing parking assistance based on a route of a vehicle during teacher driving, comprising: restarting the supervised traveling from a predetermined position on the first route of the supervised traveling; determining, as a teacher route, a route including a route before the predetermined position on the first route and a second route by teacher travel after resumption; It has. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to improve the convenience of parking assistance. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram illustrating an example configuration of a vehicle to which a parking assistance device according to an embodiment of the present disclosure is applied. [Figure 2] FIG. 10 is a diagram illustrating an example of a teacher route. [Figure 3] FIG. 10 is a diagram illustrating an example in which the vehicle automatically returns to a predetermined position on the teacher route. [Figure 4] FIG. 10 is a diagram illustrating an example in which teacher travel is resumed from a predetermined position. [Figure 5] FIG. 10 is a diagram showing an example of displaying candidate positions for a resumption position on a teacher route. [Figure 6] 10 is a flowchart showing an example of a control operation during instructor driving in the parking assistance device. [Figure 7] FIG. 10 is a diagram showing an example of a teacher route when teacher travel is interrupted. [Figure 8] FIG. 10 is a diagram showing an example of a route taken by the instructor after resumption of driving; [Figure 9] FIG. 10 is a diagram showing an example of a route taken by the resumed supervised driving; [Figure 10] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. [Figure 11] FIG. 10 is a diagram showing an example of a teacher route according to a modified example. [Figure 12] FIG. 12 is a diagram for explaining an example in which teacher travel is resumed from a predetermined position on the teacher route in FIG. 11. [Figure 13] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. [Figure 14] FIG. 10 is a diagram showing a display example of an assist route. [Figure 15] 10A and 10B are diagrams illustrating examples of changes in the display mode of a vehicle. [Figure 16] FIG. 10 is a block diagram showing an example of the configuration of a vehicle to which a parking assistance device according to a modified example is applied. DETAILED DESCRIPTION OF THE INVENTION

[0010] (Embodiment) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Fig. 1 is a block diagram showing an example of the configuration of a vehicle 1 to which a parking assistance device 100 according to an embodiment of the present disclosure is applied.

[0011] As shown in FIG. 1, the vehicle 1 has an automatic parking assistance function that automatically parks the vehicle in a specified parking space, and includes an operation unit 10, a display unit 20, an operation input unit 30, and a parking assistance device 100.

[0012] The operation unit 10 includes a steering wheel, an accelerator pedal, a brake pedal, etc., which are used by a driver (user) to drive the vehicle 1. The driving operations of the vehicle 1 are operations related to driving the vehicle 1, such as steering operation of the vehicle 1, accelerator operation of the vehicle 1, braking operation, etc.

[0013] The display unit 20 is a display medium of, for example, a car navigation device, etc. For example, when the user performs supervised driving for automatic parking, the display unit 20 displays the predicted course line of the vehicle 1, information regarding commands from the parking assistance device 100, etc.

[0014] The operation input unit 30 is used by the user to input operations in response to commands from the parking assistance device 100. The operation input unit 30 may be any device, such as an operation button on a car navigation device or the like, or a jog dial provided on the vehicle 1. Alternatively, a touch panel combining the display unit 20 and the operation input unit 30 may be used.

[0015] The parking assistance device 100 includes a central processing unit (CPU), read-only memory (ROM), random access memory (RAM), and input / output circuits (not shown), and performs automatic parking control to automatically park the vehicle in a predetermined parking space. Specifically, the parking assistance device 100 stores the route taken when the vehicle is parked in the predetermined parking space by the user's driving operation and the user's operation of the operation unit 10 as teacher driving data. Then, the next time the vehicle 1 parks in a predetermined parking space, the device performs automatic parking control (automatic parking control) based on the teacher driving data.

[0016] In this embodiment, the parking assistance device 100 executes not only automatic parking control but also control for partially correcting the teacher route (first route) by teacher driving. The parking assistance device 100 has a restart control unit 110, a determination unit 120, and a command output unit 130.

[0017] The restart control unit 110 restarts the supervised running from a predetermined position on the first route. Specifically, the restart control unit 110 controls the running of the vehicle 1 so that the vehicle 1 on the first route automatically returns to the predetermined position.

[0018] The first route is, for example, a travel route stored as a teacher route during teacher travel, or a travel route from the start position to the position where teacher travel stopped or was interrupted during teacher travel.

[0019] FIG. 2 is a diagram showing an example of a teacher route. Note that in the explanation of FIG. 2 and the like, a Cartesian coordinate system (X, Y) is used. The same Cartesian coordinate system (X, Y) is also used in the figures described below. For example, the X direction indicates the left-right direction relative to the parking space, and the Y direction indicates the front-rear direction relative to the parking space. In addition, the following explanation will exemplify the parking method using the above pattern, but the present disclosure is not limited to this, and the parking method may be a different pattern. In addition, in the following explanation, the parking space shown in FIG. 2 will be exemplify, but the present disclosure is not limited to this, and a parking space other than the parking space shown in FIG. 2 may also be used.

[0020] For example, as shown in FIG. 2, suppose there is a parking space S located at the end of road R1 extending in the Y direction on the negative side in the Y direction. Road R1 extending in the Y direction intersects with road R2 extending in the X direction. For example, suppose that the starting position of the supervising run is on the negative side in the X direction of road R2 relative to road R1 extending in the Y direction. In this case, for example, vehicle 1 moves from the starting position toward the positive side in the X direction, turns toward the negative side in the Y direction, and enters road R1, then continues moving toward the negative side in the Y direction to enter parking space S.

[0021] The predetermined position is an arbitrary position on the first route. For example, if the instructor travels along the travel route (first route) indicated by arrow T that follows the shape of the road, the predetermined position is an arbitrary position on the arrow T.

[0022] For example, assume that the predetermined position is position P1 on road R2 where the vehicle starts to turn toward the negative side in the Y direction. In this case, the resumption control unit 110 automatically returns the vehicle 1 to position P1 on the first route in the traveling direction (arrow A) opposite to the arrow T from the position where the teacher driving was completed, as shown in FIG.

[0023] Regarding the travel control of the vehicle 1, a known control can be applied, such as, for example, making the vehicle 1 travel in the reverse direction along the first route by teacher travel and returning the vehicle 1 to a predetermined position.

[0024] This allows the user to resume teacher travel from the predetermined position P1.

[0025] Then, the restart control unit 110 restarts the control of storing the teacher run restarted from the predetermined position in a storage unit or the like.

[0026] The determination unit 120 determines, as the teacher route, a route that includes the route before the predetermined position on the first route and the second route by the teacher travel after the restart.

[0027] The determined teacher route may be, for example, a route that connects the route before the predetermined position on the first route with the second route that is the teacher route after the restart.

[0028] For example, as shown in Figure 4, suppose that supervised driving is resumed from position P1 on the first route indicated by arrow T, and then the resumed supervised driving is carried out along a route indicated by arrow C, which is shifted to the + side of the X direction from arrow T.

[0029] In this case, the route connecting the route before the position P1 of the arrow T (the portion indicated by the symbol B) and the route of the arrow C is determined as the teacher route.

[0030] This makes it possible to perform automatic parking control using a teacher route that reflects the second route created by teacher driving after resumption.

[0031] When the teacher run is stopped or interrupted, the command output unit 130 outputs a command to inquire of the user whether or not to restart the teacher run. This command is output, for example, to the display unit 20. For example, a message such as "Do you want to restart the teacher run?" is output to the display unit 20.

[0032] Here, when the user inputs "YES" or another input to accept the inquiry on the operation input unit 30, the command output unit 130 outputs a command to have the user select a predetermined position. For example, the command output unit 130 causes the display unit 20 to display a first route for supervised driving, and to display multiple candidate positions for the resumption position of supervised driving supervised on the first route. Note that the number of candidate positions for the resumption of supervised driving that are displayed is not limited to multiple, and only one candidate position may be displayed.

[0033] For example, as shown in FIG. 5, the display unit 20 displays white circles indicating a plurality of candidate positions superimposed on the arrow T which is the first route.

[0034] When the user selects one of the plurality of candidate positions via the operation input unit 30, the restart control unit 110 returns the vehicle 1 to the predetermined position.

[0035] Furthermore, the selection operation by the user may be, for example, an operation in which the user touches a candidate position corresponding to a predetermined position when the display unit 20 and the operation input unit 30 form a touch panel. Furthermore, the selection operation by the user may be, for example, an operation in which the user turns the jog dial to select a candidate position corresponding to a predetermined position when the operation input unit 30 is a jog dial. Furthermore, the selection operation by the user may be, for example, an operation in which the user operates a key to select a candidate position corresponding to a predetermined position when the operation input unit 30 has an operation key.

[0036] This allows the user to resume supervised travel from a position desired by the user, making it easier to generate the supervised route that the user desires.

[0037] Next, we will explain an example of the operation of the parking assistance device 100. Figure 6 is a flowchart showing an example of the control operation during supervised driving in the parking assistance device 100. The processing in Figure 6 is executed, for example, when supervised driving is stopped or interrupted.

[0038] The parking assistance device 100 determines whether or not to redo the teacher driving (step S101). For example, in response to an inquiry about whether or not to redo the teacher driving, if the user inputs an instruction to redo the teacher driving, it is determined in step S101 that the teacher driving will be redo. On the other hand, if the user inputs an instruction to reject the redo of the teacher driving, it is determined in step S101 that the teacher driving will not be redo.

[0039] As a result of the determination, if it is determined that the teacher running is not to be repeated (step S101, NO), the processing proceeds to step S104.

[0040] On the other hand, if it is determined that the teacher driving is to be repeated (step S101, YES), the parking assistance device 100 determines whether or not a predetermined position has been selected (step S102).

[0041] If the result of the determination is that the predetermined position has not been selected (step S102, NO), the process of step S102 is repeated.

[0042] On the other hand, if a predetermined position is selected (step S102, YES), the parking assistance device 100 executes restart control to automatically return the vehicle 1 to the predetermined position (step S103). After the vehicle 1 moves to the predetermined position, the parking assistance device 100 restarts the supervised driving (step S104). For example, in step S104, the operation of storing the supervised driving by the user is restarted.

[0043] In this case, the command output unit 130 may output an inquiry as to whether or not to resume supervised travel. If the user accepts this inquiry, the process of step S104 to resume supervised travel may be executed. If the user rejects this inquiry, this control may be terminated.

[0044] Next, the parking assistance device 100 determines whether or not the supervising driving after restart has ended (step S105). If the determination result shows that the supervising driving has not ended (step S105, NO), the process repeats the process of step S105.

[0045] On the other hand, if the supervised driving after the restart has ended (step S105, YES), the parking assistance device 100 determines the route that connects the route before the predetermined position on the first route and the second route by the supervised driving after the restart as the supervised route (step S106).

[0046] In this case, the command output unit 130 may output an inquiry as to whether or not to store as a teacher route a route connecting a route before the predetermined position on the first route and a second route by teacher travel after resumption. If the user instructs to store the route in response to this inquiry, the processing of step S106 for determining the teacher route may be executed. If the user rejects this inquiry, the parking assistance device 100 may terminate this control.

[0047] After step S106, this control ends.

[0048] According to the present embodiment configured as described above, it is possible to return to a predetermined position on the route on which the teacher-guided travel has been performed and resume the teacher-guided travel.

[0049] For example, suppose that a supervised driving attempt fails as shown in Figure 7. Figure 7 shows an example in which, when vehicle 1 turns from road R2 extending in the X direction onto road R1 extending in the Y direction during supervised driving, it reaches the vicinity of the edge of road R1 on the positive side in the X direction, causing the supervised driving to be interrupted.

[0050] In such a case, the parking assistance device 100 can return the vehicle 1 to position P2 on the arrow T1, which is the route for teacher driving, and resume teacher driving from that position P2. As a result, as shown in Figure 8, the route for teacher driving after resumption (see arrow C1) can be used as the teacher route.

[0051] In other words, in this embodiment, even if there is a part of the teacher driving that does not go well, there is no need to restart the teacher driving from the starting position, and it can be resumed from the middle of the original route, thereby improving the convenience of parking assistance.

[0052] Furthermore, since the driving of the vehicle 1 is controlled so that the vehicle 1 automatically returns to the predetermined position, it is possible to eliminate the need for the user to go through the process of returning the vehicle 1 to the predetermined position. Furthermore, since the vehicle 1 automatically returns, the operating state of the vehicle 1 at the predetermined position can be accurately reproduced, so that the teacher driving can be accurately resumed from the continuation of the original teacher route (first route).

[0053] Furthermore, since the user is allowed to select the predetermined position, it is possible to easily create a teacher route that is in line with the user's intentions.

[0054] In the above embodiment, there is no mention of restarting the supervised running after the restart, but the present disclosure is not limited to this. For example, if the supervised running is stopped or interrupted after the restart control unit 110 has restarted the supervised running, the restart control unit 110 may restart the supervised running from the second predetermined position.

[0055] The second predetermined position may be any position after P1 on the second path (path of arrow C) in Figure 4, or it may be the position of P1 on the first path in Figure 4, or it may be a position after P1 on the first path.

[0056] Then, the determination unit 120 may determine, as the teacher route, a route that includes the route up to the second predetermined position and the third route of the resumed teacher travel.

[0057] For example, suppose that teacher driving is stopped on the teacher route (route indicated by arrow C) after resumption in Figure 4. In this case, suppose the user wishes to position vehicle 1 slightly to the negative side of the X direction from the position of vehicle 1 shown in Figure 4. In this case, for example, as shown in Figure 9, teacher driving is resumed again at position P11 on the route indicated by arrow C, and vehicle 1 is parked in the parking space at the position desired by the user on the route indicated by arrow C2 (third route), and this route indicated by arrow C2 can be determined as the teacher route.

[0058] In this control flow, for example, in the flowchart shown in FIG. 6, after the determination of "YES" in the processing of step S105, the processing of step S101 is performed, and if the result of step S101 is "YES", the processing of step S102 and subsequent steps is performed, and if the result of step S101 is "NO", the processing of step S106 may be performed.

[0059] According to this configuration, even if the user wants to redo the teacher driving after restarting it, the teacher driving can be restarted again, so that the user can park the vehicle 1 in a position where he or she desires.

[0060] In the above embodiment, the entire route from the predetermined position on the teacher route is the second route of the teacher route after resumption, but the present disclosure is not limited to this. For example, a part of the route from the predetermined position on the teacher route may be the second route of the teacher route after resumption.

[0061] In other words, if the second route taken by the supervised driving after resumption can merge with the first route taken by the supervised driving before resumption, the determination unit 120 determines the route from a predetermined position on the first route to the merging position with the second route as the supervised route.

[0062] In such a configuration, as shown in FIG. 10, the parking assistance device 100 further includes a determination unit 140 that determines whether the second route can merge with the first route.

[0063] The determination unit 140 determines that the second route can merge with the first route, for example, if the distance between the position of vehicle 1 during supervised driving after resumption and the route of supervised driving before resumption is less than a first threshold, the difference in direction is less than a second threshold, and the driving direction of vehicle 1 is the same as the driving direction of supervised driving before resumption (e.g., forward or backward).

[0064] The first threshold value is a value that can be set arbitrarily, and is appropriately set, for example, to a relatively small value (distance) that allows the vehicle 1 during teacher driving after resumption to reliably merge with the route of teacher driving before resumption, based on the operating state, etc.

[0065] The second threshold value is a value that can be set arbitrarily, and is set appropriately to, for example, a relatively small value such that the orientation of vehicle 1 during teacher driving after resumption is the same as the orientation of vehicle 1 at the merging point of the route when it merges with the route created by teacher driving before resumption.

[0066] In addition, the judgment unit 140 may determine that the second route can merge with the first route if the distance between the position of vehicle 1 during supervised driving after resumption and the route by supervised driving before resumption is less than a first threshold, or may determine that the second route can merge with the first route if the distance between the position of vehicle 1 during supervised driving after resumption and the route by supervised driving before resumption is less than the first threshold and the difference in direction is less than a second threshold.

[0067] If the determining unit 140 determines that merging is possible, the determining unit 120 replaces the route from the predetermined position on the first route to the merging position with the second route with the second route, and determines the resulting route as the teacher route.

[0068] For example, suppose that the first time the vehicle performs a training run, it enters a parking space along a route that avoids obstacles, and that route is determined as the training route.

[0069] Figure 11 shows an example in which, during the first supervised run, a parking space is located and obstacle D is at the end portion on the negative side in the X direction of road R1 extending in the Y direction. During the supervised run, in order to avoid obstacle D when turning from road R2 extending in the X direction to road R1, vehicle 1 enters the parking space on a path that bulges out on the positive side in the X direction (see arrow T2), and this path is designated as the supervised path.

[0070] For example, as shown in FIG. 12, when obstacle D is removed, the part of the teacher route that bulges out toward the +X side is not a smooth driving route without obstacle D, so the user may want to correct this bulging part.

[0071] For example, suppose that vehicle 1 resumes supervised driving from position P3 where it starts to turn toward road R1 extending in the Y direction, and travels along a driving route that does not bulge toward the positive side of the X direction (see arrow T3), and then enters road R1. Then, vehicle 1 moves toward the negative side of the Y direction toward a parking space, and at position P4 just before the parking space, vehicle 1 resumes supervised driving, merging with the previous supervised route.

[0072] In this case, for example, the determination unit 140 determines that the vehicle 1 can merge at the merging position before reaching the merging position with the teacher route before the vehicle 1 is restarted.

[0073] In this case, only the part of the teacher path before the restart that bulges toward the positive X-direction is replaced with the second path, and the path is determined as the teacher path.

[0074] This allows, for example, the updating operation of the storage unit that stores the teacher route to be simplified because it is only necessary to update the replaced route in the storage unit.

[0075] Furthermore, in the above embodiment, no particular mention is made of the display of the route to be traveled during supervised driving on the display unit 20, but the present disclosure is not limited to this. For example, as shown in Fig. 13, the present disclosure may further include a display control unit 150 that displays the route to be traveled by the vehicle 1 during supervised driving on a display medium.

[0076] Furthermore, when the display control unit 150 is configured to have the above-mentioned determination unit 140, the display mode of the display medium (display unit 20) may be changed before and after the vehicle 1 reaches a portion of the first route where it can merge during the teacher driving after resumption.

[0077] For example, as shown in FIG. 14, the display control unit 150 may cause the display unit 20 to display the original route from the junction point onwards (the instructor route before resumption) as an assist route (see arrow T4) during instructor driving after resumption.

[0078] This makes it easier for the user to understand what the original route (teacher route before resuming) is, making it easier to return to the original route.

[0079] Furthermore, when the assist route is displayed on the display unit 20, the display control unit 150 may change the display color of the vehicle 1 on the display unit 20 from before the assist route is displayed. Fig. 15 shows an example in which the vehicle 1 is highlighted.

[0080] This makes it easier for the user to recognize that the display mode of the display unit 20 has changed, making it easier for the user to notice that an assist route is being displayed.

[0081] In the above embodiment, the restart control unit 110 controls when the user stops or interrupts the supervised driving, but the present disclosure is not limited to this. For example, as shown in Fig. 16, the parking assistance device 100 may further include a suggestion unit 160 that suggests to the user that the user restart the supervised driving at a predetermined position while the user is performing the supervised driving.

[0082] The suggestion unit 160 suggests to the user that they resume teacher driving at a predetermined position when a predetermined condition is met, for example, when the amount of operation of the operation unit 10 by the user (e.g., the number of times the steering wheel is turned) is greater than a predetermined amount, when the radius of curvature of the trajectory when turning toward the parking space position is smaller than a predetermined value, when the distance to surrounding obstacles on the road to the parking space is smaller than a predetermined distance, or when the number of turns is greater than a predetermined number.

[0083] The method of suggesting this to the user may include a method of notifying the user of information urging the user to resume supervised running at a predetermined position by displaying on the display unit 20, outputting audio, or the like.

[0084] This gives the user an opportunity to redo the teacher driving, which contributes to the generation of a better teacher route.

[0085] Furthermore, in the above embodiment, the vehicle 1 is automatically returned to the predetermined position, but the present disclosure is not limited to this, and the user may manually return the vehicle 1 to the predetermined position. After the user manually returns the vehicle 1 to the predetermined position, the resumption control unit 110 resumes storing the teacher driving data after the resumption in the memory unit or the like.

[0086] Furthermore, in the above embodiment, the user selects the predetermined position, but the present disclosure is not limited to this. For example, the parking assistance device 100 may select the predetermined position, or a device other than the parking assistance device 100 may select the predetermined position.

[0087] Furthermore, the above-described embodiments are merely examples of specific embodiments for carrying out the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by these embodiments. In other words, the present disclosure can be carried out in various forms without departing from its gist or main features. [Industrial Applicability]

[0088] The parking assistance device of the present disclosure is useful as a parking assistance device and a parking assistance method that can improve the convenience of parking assistance. [Explanation of symbols]

[0089] 1 vehicle 10 Control section 20 Display section 30 Operation input section 100 Parking assistance device 110 Restart control section 120 Decision Section 130 Command output section 140 Judgment section 150 Display control unit 160 Proposal Department

Claims

1. A parking assistance device that provides parking assistance based on a vehicle route during teacher driving, a restart control unit that restarts the teacher-driven traveling from a predetermined position on the first route of the teacher-driven traveling; a determination unit that determines, as a teacher route, a route that includes a route before the predetermined position on the first route and a second route resulting from teacher traveling after the restart; A parking assistance device comprising:

2. the restart control unit controls the traveling of the vehicle so that the vehicle on the first route automatically returns to the predetermined position. The parking assistance device according to claim 1.

3. the restart control unit restarts the teacher travel again from a second predetermined position on either the first route or the second route after restarting the teacher travel, the determination unit determines, as a teacher route, a route including a route up to the second predetermined position and a third route resulting from the resumed teacher traveling. The parking assistance device according to claim 1.

4. When the second route can merge with the first route, the determination unit replaces a route on the first route from the predetermined position to a merging position with the second route with the second route, and determines the resulting route as the teacher route. The parking assistance device according to claim 1.

5. a determination unit that determines whether the second route can merge with the first route; 5. The parking assistance device according to claim 4.

6. a display control unit that displays a route that the vehicle is scheduled to travel on a display medium that can display the route; the display control unit changes the display mode of the display medium before and after the vehicle reaches a portion of the first route where the vehicle can merge during the restarted instructor driving.

5. The parking assistance device according to claim 4.

7. further comprising a command output unit that outputs a command to prompt a user to select the predetermined position; The parking assistance device according to claim 1.

8. a command output unit that displays the first route and outputs a candidate position for resuming the supervised driving while superimposing it on the first route; The parking assistance device according to claim 1.

9. a suggestion unit that suggests to the user to resume the teacher running at the predetermined position during the teacher running; The parking assistance device according to claim 1.

10. A parking assistance method for providing parking assistance based on a route of a vehicle during teacher driving, comprising: restarting the supervised traveling from a predetermined position on the first route of the supervised traveling; determining, as a teacher route, a route including a route before the predetermined position on the first route and a second route by teacher travel after resumption; having Parking assistance methods.

11. the step of resuming the teacher traveling includes a step of controlling the traveling of the vehicle so that the vehicle on the first route automatically returns to the predetermined position. The parking assistance method according to claim 10.

12. The method further includes a step of restarting the teacher travel from a second predetermined position on either the first route or the second route after the step of restarting the teacher travel, the determining step includes a step of determining, as a teacher route, a route including a route preceding the second predetermined position and a third route resulting from teacher travel after the restart. The parking assistance method according to claim 10.

13. the determining step includes a step of, when the second route can merge with the first route, replacing a route on the first route from the predetermined position to a merging position with the second route with the second route, and determining the resulting route as the teacher route. The parking assistance method according to claim 10.

14. The method further includes determining whether the second route can merge with the first route. The parking assistance method according to claim 13.

15. The method further includes a step of displaying a route that the vehicle is scheduled to travel on a display medium capable of displaying the route, In the displaying step, a display mode of the display medium is changed before and after the vehicle reaches a portion of the first route where the vehicle can merge during the teacher driving after the restart. The parking assistance method according to claim 13.

16. further comprising a step of outputting an instruction to prompt a user to select the predetermined position. The parking assistance method according to claim 10.

17. The method further includes a step of displaying the first route and outputting the candidate position for restarting the supervised driving in a manner superimposed on the first route. The parking assistance method according to claim 10.

18. further comprising a step of suggesting to a user during the teacher running that the teacher running be resumed at the predetermined position. The parking assistance method according to claim 10.

Images