Parking assistance device

Abstract

To improve a user convenience in an automatic parking.SOLUTION: A parking support apparatus (100), being a parking support apparatus capable of executing a parking processing operation to park a vehicle (1) at a target parking position, includes: retention means (14) for retaining a target parking position relating to a parking processing operation; automatic parking means (15) for performing, as part of the parking processing operation, automatic parking control to automatically control the vehicle so as to park the vehicle at the target parking position; and shift means (13) for shifting the automatic parking control to a standby state while the retention means is caused to retain the target parking position under a condition that a door of the vehicle is open, before the vehicle reaches the target parking position. Under a condition that a request is made to execute the automatic parking control when the automatic parking control is in a standby state, the shift means causes the automatic parking means to restart the automatic parking control.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of parking assistance devices that park a vehicle at a target parking position. [Background technology]

[0002] As an example of this type of device, a device has been proposed that performs automatic parking control to move a vehicle to a predetermined parking position, and that terminates the automatic parking control and stops the vehicle when a door opening operation is detected during execution of the automatic parking control (see Patent Document 1). For example, a technology has been proposed that transitions the assistant system and / or the vehicle to a safe state, such as a defined initial state, when a factor that prevents the driving maneuver from being safely executed, such as an open vehicle door, exists during execution of a driving maneuver by an assistant system for executing autonomous and partially autonomous driving maneuvers (see Patent Document 2). Other related technologies include those described in Patent Documents 3 to 5. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-120403 [Patent Document 2] Patent No. 6138130 [Patent Document 3] Patent Publication No. 2017-182463 [Patent Document 4] Japanese Patent Application Laid-Open No. 2015-034484 [Patent Document 5] Japanese Patent Application Laid-Open No. 2007-331479 Summary of the Invention [Problem to be solved by the invention]

[0004] When parking a vehicle at a target position, depending on the size of the parking space, passengers may get off or unload luggage while the vehicle is moving to the target position. On the other hand, if a door is opened while automatic parking control is being executed, the automatic parking control is terminated from a safety perspective, as described in Patent Documents 1 and 2, for example. However, if the door is opened due to passengers getting off or unloading luggage before the vehicle reaches the target position, if the automatic parking control is terminated, the user must re-input, for example, the target position, to resume the automatic parking control, which reduces user convenience.

[0005] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a parking assistance device that can improve user convenience. [Means for solving the problem]

[0006] A vehicle according to one aspect of the present invention includes a determination means for determining whether a drop-off space in a parking space where the vehicle is to be parked satisfies a predetermined condition, and a suggestion means for suggesting to the driver of the vehicle that the vehicle should get off when it is determined that the drop-off space does not satisfy the predetermined condition, and the suggestion means stops the vehicle while the vehicle is being moved to the parking space with the driver in the vehicle by an automatic parking control that automatically controls the vehicle, and suggests to the driver that the vehicle should get off. Automatic parking control based on an execution request from outside the vehicle The proposal is to: [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing the configuration of a parking assistance device according to a first embodiment. [Figure 2] FIG. 10 is a diagram illustrating an example of a parking operation. [Figure 3] 4 is a flowchart showing a parking processing operation according to the first embodiment. [Figure 4] 10 is a flowchart showing a parking processing operation according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment of a parking assistance device will be described with reference to the drawings.

[0009] First Embodiment A first embodiment of a parking assistance device will be described with reference to FIGS. 1 to 3. FIG.

[0010] (composition) The configuration of the parking assistance device according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the parking assistance device according to the first embodiment.

[0011] 1, the parking assistance device 100 is mounted on a vehicle 1. The vehicle 1 is configured to include vehicle state sensors 21 including, for example, a vehicle speed sensor, a yaw rate sensor, an accelerator sensor, a brake sensor, a steering sensor, a door sensor, a shift sensor, etc., surroundings monitoring sensors 22 including, for example, a camera, a millimeter wave radar, etc., and various ECUs (Electronic Control Units) 23 that respectively control various actuators 24 such as a throttle actuator, a brake actuator, a steering actuator, etc.

[0012] The parking assistance device 100 is configured to be capable of executing a parking processing operation for parking the vehicle 1 at a target parking position. In order to execute the parking processing operation, the parking assistance device 100 is configured to include a reception unit 11, a determination unit 12, a state transition unit 13, a memory 14, and an automatic parking control unit 15, which are logically realized processing blocks or physically realized processing circuits therein. The parking assistance device 100 is configured to be capable of executing so-called remote parking, which parks the vehicle 1 by remote control, as one mode of the parking processing operation.

[0013] The reception unit 11 is configured to be able to receive a signal transmitted from an operation terminal 31 operated by the user of the vehicle 1 during remote parking. The reception unit 11 is further configured to be able to receive signals output from a parking assist button 32 and a remote parking button 33 provided in the passenger compartment of the vehicle 1. Here, the parking assist button 32 is a button used by the user of the vehicle 1 to indicate that he or she wishes to park the vehicle 1 using the parking assist device 100 (i.e., a parking processing operation). The remote parking button 33 is a button used by the user of the vehicle 1 to indicate that he or she wishes to perform remote parking as one aspect of the parking processing operation.

[0014] Various existing methods can be applied to the method of executing remote parking. For example, after the user presses the remote parking button 33, the user operates the operation terminal 31 from outside the vehicle 1, thereby executing remote parking.

[0015] Information required to execute the parking processing operation is stored in the memory 14. The information is not limited to specific information related to the vehicle 1, such as the size (i.e., length, width, height) of the vehicle 1, but may also include temporary information indicating, for example, a target parking position, intermediate positions such as a turning point, etc.

[0016] The automatic parking control unit 15 is a core component of the parking assistance device 100. As part of the parking processing operation, the automatic parking control unit 15 controls various actuators 24 via various ECUs 23 based on signals output from vehicle state sensors 21 and signals output from periphery monitoring sensors 22, etc., in order to park the vehicle 1. The control of the various actuators 24 by the automatic parking control unit 15 to park the vehicle 1 is referred to as "automatic parking control" as appropriate.

[0017] The automatic parking control unit 15 executes automatic parking control on the condition that a signal indicating a request to execute automatic parking control, which is transmitted from the operation terminal 31 or output from the parking assist button 32, is received by the reception unit 11. The automatic parking control executed when the signal indicating a request to execute automatic parking control transmitted from the operation terminal 31 is received by the reception unit 11 corresponds to "remote parking." The determination unit 12 and the state transition unit 13 will be described later.

[0018] (Parking processing operation) An example of the parking operation of the vehicle 1 equipped with the parking assistance device 100 configured as described above will be described with reference to Fig. 2. In the example shown in Fig. 2, the vehicle 1 moves forward to point B, and then moves backward from point B to the target parking position.

[0019] When vehicle 1 is parked by parking assistance device 100, the following four patterns can be listed: (i) a user (i.e., a driver) drives vehicle 1 to point A in Fig. 2, and then parking assistance device 100 moves vehicle 1 from point A to the target parking position with the user in vehicle 1; (ii) a user drives vehicle 1 to point A in Fig. 2, and after the user gets out of vehicle 1 at point A, parking assistance device 100 moves vehicle 1 to the target parking position (i.e., remote parking is performed); (iii) a user drives vehicle 1 to point C in Fig. 2, and then parking assistance device 100 moves vehicle 1 from point C to point A with the user in vehicle 1; after the user gets out of vehicle 1 at point A, parking assistance device 100 moves vehicle 1 to the target parking position. (iv) The user drives vehicle 1 to point C in Figure 2, and then parking assistance device 100 moves vehicle 1 from point C to point A with the user still in vehicle 1, and the door is opened at point A (for example, if there are multiple people in vehicle 1 and someone other than the user gets off, or the user unloads luggage), and then parking assistance device 100 moves vehicle 1 to the target parking position with the user still in vehicle 1.

[0020] In the above cases (iii) and (iv), after the parking assistance device 100 starts moving the vehicle 1 (i.e., the parking processing operation), the door of the vehicle 1 is opened before the vehicle 1 reaches the target parking position. In this case, if the parking processing operation is reset due to the door being opened, the user must perform the parking processing operation again from the beginning in order to move the vehicle 1 from point A to the target parking position using the parking assistance device 100. Note that such a problem does not occur in the above cases (i) and (ii).

[0021] Therefore, in this embodiment, if the door of the vehicle 1 is opened after the parking assistance device 100 starts moving the vehicle 1 but before the vehicle 1 reaches the target parking position, the state transition unit 13 transitions the automatic parking control by the automatic parking control unit 15 to a standby state while maintaining the temporary information indicating the target parking position, etc. stored in the memory 14 (i.e., without deleting the temporary information indicating the target parking position, etc. from the memory 14). If there is a request to execute the automatic parking control while the automatic parking control is in the standby state, the state transition unit 13 causes the automatic parking control unit 15 to resume the automatic parking control.

[0022] Therefore, in this embodiment, even if the door of the vehicle 1 is opened after the parking assistance device 100 starts moving the vehicle 1 but before the vehicle 1 reaches the target parking position, the parking processing operation is not reset, so the user does not need to redo the operation related to the parking processing operation. Furthermore, since the automatic parking control unit 15 also does not need to reset the target parking position, the time required to resume automatic parking control after the door of the vehicle 1 is opened is shorter than when it is necessary to reset the target parking position.

[0023] The parking processing operation according to this embodiment will be specifically described with reference to the flowchart of FIG.

[0024] 3, when the automatic parking control unit 15 is executing automatic parking control (step S101), the determination unit 12 determines whether or not a door of the vehicle 1 has been opened (step S102) based on a signal output from the vehicle state sensor 21. If it is determined in the processing of step S102 that the door has been opened (step S102: Yes), the determination unit 12 determines whether or not parking has been completed (i.e., whether or not the vehicle 1 has reached the target parking position) (step S103).

[0025] If it is determined in the process of step S103 that parking is completed (step S103: Yes), the parking process operation is ended. On the other hand, if it is determined in the process of step S103 that parking is not completed (step S103: No), the determination unit 12 determines whether or not the parking is remote parking (step S104).

[0026] In the process of step S104, if it is determined that the vehicle is being parked remotely (step S104: Yes), the parking process operation is terminated. In this case, it is presumed that the door of the vehicle 1 has been opened from outside the vehicle 1. Therefore, in this case, the parking process operation is terminated from the viewpoint of safety.

[0027] On the other hand, if it is determined in the processing of step S104 that the parking is not remote parking (step S104: No), the state transition unit 13 transitions the automatic parking control by the automatic parking control unit 15 to a standby state while maintaining the temporary information indicating the target parking position, etc. stored in the memory 14 (step S105).

[0028] In this embodiment, the automatic parking control transitions to a standby state only when the automatic parking control is executed as a result of the reception unit 11 receiving a signal indicating a request to execute the automatic parking control output from the parking assist button 32 (because the parking processing operation is terminated when the door is opened in the case of remote parking). When the automatic parking control is executed as a result of the signal indicating a request to execute the automatic parking control output from the parking assist button 32, the reception unit 11 may permit reception of a signal transmitted from the operation terminal 31 on the condition that the automatic parking control has entered a standby state (in this case, the reception unit 11 may prohibit reception of a signal transmitted from the operation terminal 31 until the automatic parking control enters a standby state, or may receive a signal transmitted from the operation terminal 31 and then process it as invalid). With this configuration, remote parking can be executed in the middle of the parking processing operation.

[0029] Thereafter, the determination unit 12 determines whether or not there is a request to execute automatic parking control (step S106). When the reception unit 11 receives a signal indicating an execution request output from the parking assist button 32, or when the reception unit 11 receives a signal indicating an execution request transmitted from the operation terminal 31, the determination unit 12 determines that there is a request to execute automatic parking control.

[0030] If it is determined in the process of step S106 that there is no request to execute automatic parking control (step S106: No), the standby state of automatic parking control is maintained. On the other hand, if it is determined in the process of step S106 that there is a request to execute automatic parking control (step S106: Yes), automatic parking control is resumed (step S101).

[0031] If it is determined in the process of step S102 that the door is not open (step S102: No), the determination unit 12 determines whether parking is complete (step S107). If it is determined in the process of step S107 that parking is not complete (step S107: No), the automatic parking control continues (step S101). On the other hand, if it is determined in the process of step S107 that parking is complete (step S107: Yes), the parking process operation ends.

[0032] (Technical Effects) In the parking assistance device 100, if the door of the vehicle 1 is opened while the automatic parking control is being executed (i.e., before the vehicle 1 reaches the target parking position), the automatic parking control by the automatic parking control unit 15 transitions to a standby state (except in the case of remote parking) while maintaining the temporary information indicating the target parking position and the like stored in the memory 14. Then, if a request to execute the automatic parking control is made while the automatic parking control is in the standby state, the automatic parking control is resumed.

[0033] In the parking assistance device 100, even if the door of the vehicle 1 is opened while the automatic parking control is being executed, the parking processing operation is not reset, so the user does not need to redo the operation related to the parking processing operation. Therefore, the parking assistance device 100 can improve user convenience. Furthermore, since the automatic parking control unit 15 also does not need to reset the target parking position, the time required to resume the automatic parking control after the door of the vehicle 1 is opened is shorter than when it is necessary to reset the target parking position. Therefore, the user does not feel inconvenienced due to the relatively long time it takes to resume the automatic parking control, and the marketability of the parking assistance device 100 is improved.

[0034] Second Embodiment A second embodiment of the parking assistance device will be described with reference to Fig. 4. The second embodiment is similar to the first embodiment described above, except for some differences in the parking processing operation. Therefore, a description of the second embodiment that overlaps with the first embodiment will be omitted, and common parts in the drawings will be denoted by the same reference numerals, and only the fundamental differences will be described with reference to Fig. 4.

[0035] (Parking processing operation) The parking processing operation according to this embodiment will be specifically described with reference to the flowchart of FIG.

[0036] In the process of step S107 in FIG. 4, if it is determined that parking is not completed (step S107: No), the determination unit 12 determines whether the user of the vehicle 1 intends to perform remote parking (step S201).

[0037] The determination unit 12 determines that the user intends to perform remote parking in the following cases, for example: (i) When the remote parking button 33 is pressed and the user (i.e., the driver) shifts the shift lever into P range while the vehicle 1 is stopped, or when the EPB (Electronic Parking Brake) or the brake pedal is operated; or (ii) When the remote parking button 33 is pressed and the vehicle 1 reaches a predetermined drop-off position that is different from the target parking position and stops, the user agrees to a notification from the parking assistance device 100 that the vehicle will transition to remote parking; or (iii) When the operation terminal 31 is configured to transmit a signal indicating activation information of the operation terminal 31, and after the reception unit 11 receives a signal indicating the activation information (instead of pressing the remote parking button 33), the reception unit 11 receives a signal resulting from the user's operation of the operation terminal 31.

[0038] If it is determined in the process of step S201 that the user does not intend to perform remote parking (step S201: No), the automatic parking control continues (step S101). On the other hand, if it is determined in the process of step S201 that the user intends to perform remote parking (step S201: Yes), the state transition unit 13 transitions the automatic parking control by the automatic parking control unit 15 to a standby state while maintaining temporary information indicating the target parking position, etc., stored in the memory 14 (step S202). At this time, even if the door of the vehicle 1 is opened, the parking processing operation is not reset.

[0039] Next, the determination unit 12 determines whether or not a remote parking instruction has been issued (step S203). The determination unit 12 determines that a remote parking instruction has been issued when the reception unit 11 receives a signal indicating a request to execute automatic parking control transmitted from the operation terminal 31. If it is determined in the processing of step S203 that a remote parking instruction has not been issued (step S203: No), the standby state of the automatic parking control is maintained.

[0040] On the other hand, if it is determined in the processing of step S203 that a remote parking instruction has been issued (step S203: Yes), remote parking (i.e., automatic parking control that is executed when a signal indicating a request to execute automatic parking control transmitted from the operation terminal 31 is received by the reception unit 11) is executed (step S204).

[0041] At this time, the parking assistance device 100 may confirm that no one is in the vehicle 1, for example, from an image of a camera capturing an image of the interior of the vehicle 1, or from the output of a seating sensor. If there is a person in the vehicle 1 and / or the door of the vehicle 1 is open, remote parking is not executed even if it is determined in the processing of step S203 that a remote parking instruction has been issued.

[0042] Next, the determination unit 12 determines whether or not the door of the vehicle 1 has been opened based on the signal output from the vehicle state sensor 21 (step S205). If it is determined in the processing of step S205 that the door has been opened (step S205: Yes), it is presumed that the door of the vehicle 1 has been opened from outside the vehicle 1. Therefore, in this case, the parking processing operation is terminated from the viewpoint of safety.

[0043] On the other hand, if it is determined that the door is not open (step S205: No), the determination unit 12 determines whether parking is completed (i.e., whether the vehicle 1 has reached the target parking position) (step S206).

[0044] If it is determined in step S206 that parking is complete (step S206: Yes), the parking process ends. On the other hand, if it is determined in step S206 that parking is not complete (step S206: No), remote parking continues (step S204).

[0045] (Technical Effects) According to the parking assistance device 100 of this embodiment, it is possible to improve user convenience, similarly to the parking assistance device 100 of the first embodiment described above.

[0046] <Modification> The parking assistance device 100 may determine, for example, from a signal output from the perimeter monitoring sensor 22 (for example, a signal showing an image from a camera capturing the area around the vehicle 1), whether there is sufficient space for disembarking when the vehicle 1 is moved into a parking space.

[0047] (i) If it is determined that there is not enough space to disembark the vehicle 1 when the parking assistance device 100 moves the vehicle 1 into a parking space, the parking assistance device 100 may stop the vehicle 1 and suggest remote parking to the user while the automatic parking control is being executed, regardless of the intention of the user of the vehicle 1. If the user accepts remote parking, the automatic parking control by the automatic parking control unit 15 may transition to a standby state (i.e., a process equivalent to the process of step S202 in FIG. 4 may be performed) while the temporary information indicating the target parking position and the like stored in the memory 14 is maintained.

[0048] Alternatively, (ii) if parking assistance device 100 determines that there is not enough space for disembarking when vehicle 1 is moved into a parking space, parking assistance device 100 may stop vehicle 1 and suggest to the user that they disembark while automatic parking control is being executed, regardless of the user's intention. If the user agrees to disembark, automatic parking control by automatic parking control unit 15 may transition to a standby state while temporary information indicating the target parking position, etc. stored in memory 14 is maintained. In this case, parking assistance device 100 may automatically move vehicle 1 to the target parking position (i.e., by a method different from remote parking) after the user disembarks.

[0049] Various aspects of the invention derived from the above-described embodiment and modifications will be described below.

[0050] A parking assistance device according to one aspect of the invention is a parking assistance device capable of executing a parking processing operation to park a vehicle at a target parking position, and comprises: a holding means for holding the target parking position related to the parking processing operation; an automatic parking means for performing automatic parking control as part of the parking processing operation, which automatically controls the vehicle so that it parks at the target parking position; and a transition means for transitioning the automatic parking control to a standby state while keeping the target parking position held by the holding means, on the condition that a door of the vehicle is opened before the vehicle reaches the target parking position, and the transition means causes the automatic parking means to resume the automatic parking control when the automatic parking control is in the standby state, on the condition that a request to execute the automatic parking control has been made.

[0051] In the above-described embodiment, the "memory 14" corresponds to an example of a "storage means", the "automatic parking control unit 15" corresponds to an example of an "automatic parking means", and the "state transition unit 13" corresponds to an example of a "transition means".

[0052] "Automatically controlling the vehicle so that it is parked at the target parking position" means that the vehicle is controlled so that it is parked at the target position without the driver of the vehicle operating, for example, the steering wheel, accelerator pedal, brake pedal, etc. (excluding the case where the driver of the vehicle operates an operation terminal for remote parking (corresponding to "operation terminal 31" in the above-mentioned embodiment)).

[0053] In this parking assistance device, even if the vehicle door is opened before the vehicle reaches the target parking position while automatic parking control is being executed, the holding means keeps the target parking position, and the automatic parking control transitions to a standby state. Therefore, when restarting automatic parking control, the user does not need to perform operations related to the parking processing from the beginning. In other words, with this parking assistance device, even if the vehicle door is opened before the vehicle reaches the target parking position while automatic parking control is being executed, automatic parking control can be restarted without, for example, resetting the target parking position. Therefore, this parking assistance device can improve user convenience.

[0054] In one aspect of the parking assistance device, a receiving unit is provided that can receive a request to execute the automatic parking control from outside the vehicle. According to this aspect, the parking assistance device can execute remote parking (i.e., automatic parking control resulting from an execution request from outside the vehicle).

[0055] In this aspect, the reception means may further receive a request to execute the automatic parking control from within the vehicle cabin, and when the automatic parking control is started by the automatic parking means in response to the request to execute the automatic parking control from within the vehicle cabin and the automatic parking control then transitions to the standby state, the reception means may permit the reception of a request to execute the automatic parking control from the outside. With this configuration, it is possible to switch to remote parking during the automatic parking control.

[0056] Furthermore, during the period from when automatic parking control is started by the automatic parking means due to a request to execute automatic parking control from inside the vehicle cabin until the automatic parking control enters a standby state, the reception means typically does not accept a request to execute automatic parking control from outside the vehicle, but when the reception means receives a request to execute automatic parking control from outside the vehicle, it may process the execution request as invalid.

[0057] In another aspect of the parking assistance device, when the automatic parking control is being executed and the vehicle door is closed, a determination means is provided for determining whether or not the user of the vehicle intends to execute the automatic parking control by operating from outside the vehicle, and the transition means transitions the automatic parking control to the standby state while the holding means holds the target parking position, on the condition that it is determined that the user intends to execute the automatic parking control by operating from outside the vehicle.

[0058] According to this aspect, the automatic parking control is shifted to a standby state in response to the user's intention to execute remote parking (i.e., the intention to execute automatic parking control by operation from outside the vehicle), so that switching to remote parking can be easily performed during automatic parking control. In the above-described embodiment, the "determination unit 12" corresponds to an example of the "determination means."

[0059] The present invention is not limited to the above-described embodiments, but can be modified as appropriate within the scope of the claims and the gist or concept of the invention as can be read from the entire specification, and parking assistance devices with such modifications are also included in the technical scope of the present invention. [Explanation of symbols]

[0060] 1...vehicle, 11...reception unit, 12...determination unit, 13...state transition unit, 14...memory, 15...automatic parking control unit, 21...vehicle state sensor, 22...periphery monitoring sensor, 23...various ECUs, 24...various actuators, 31...operation terminal, 32...parking assistance button, 33...remote parking button, 100...parking assistance device

Claims

1. a determination means for determining whether or not the drop-off space of the parking space where the vehicle is to be parked satisfies a predetermined condition; a suggestion means for suggesting to the driver of the vehicle that the vehicle should get off when it is determined that the get-off space does not satisfy the predetermined condition; Equipped with The suggestion means stops the vehicle while the vehicle is being moved to the parking space with the driver in the vehicle by automatic parking control that automatically controls the vehicle, and suggests to the driver automatic parking control that is based on an execution request from outside the vehicle. A vehicle characterized by:

2. The vehicle described in claim 1, characterized in that the determination by the determination means as to whether the disembarking space satisfies the specified condition is made by determining whether sufficient disembarking space exists when the vehicle is moved to the parking space.

3. 2. The vehicle according to claim 1, wherein the determination by the determination means as to whether the drop-off space satisfies the predetermined condition is made based on a camera mounted on the vehicle.

4. 2. The vehicle according to claim 1, wherein the determining means determines whether the drop-off space satisfies the predetermined condition when the automatic parking control is being performed.

5. The vehicle according to claim 4, further comprising a transition means for changing the automatic parking control to a standby state when the driver accepts the automatic parking control resulting from an execution request from outside the vehicle after the automatic parking control resulting from an execution request from outside the vehicle is proposed.

6. 6. The vehicle according to claim 5, wherein when the automatic parking control is in the standby state, the transition means resumes the automatic parking control after the driver gets out of the vehicle.

7. a determination step of determining whether or not the drop-off space of the parking space where the vehicle is to be parked satisfies a predetermined condition; a suggestion step of suggesting to the driver of the vehicle that the vehicle should get off when it is determined that the get-off space does not satisfy the predetermined condition; Including, In the proposing step, an automatic parking control that automatically controls the vehicle stops the vehicle while the vehicle is being moved to the parking space with the driver in the vehicle, and proposes to the driver automatic parking control that is based on an execution request from outside the vehicle. A parking assistance method comprising:

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