Parking assist device, control method, and non-transitory storage medium

1 . A parking assist device comprising:

at least one first processor configured to:

execute automated parking control, the automated parking control being control for assisting an operation of a target vehicle to park the target vehicle in a predetermined target parking spot while a driver of the target vehicle sits on a driver's seat of the target vehicle, and

display predetermined information related to the predetermined target parking spot; and

a surrounding information sensor configured to acquire information on objects and indications around the target vehicle, wherein

the at least one processor is configured to:

calculate a frontage of the target parking spot in advance before a start of execution of the automated parking control based on the information acquired by the surrounding information sensor, and

display information related to a size of a drop-off space for the driver before the start of execution of the automated parking control based on the calculated frontage, and

based on the calculated frontage satisfying a first condition, the at least one processor is configured to:

display suggestion information for suggesting a parking method other than a parking method for parking the target vehicle in the target parking spot by executing the automated parking control, the first condition being a condition that holds when the drop-off space for the driver is narrow in the case where the target vehicle is intended to be parked in the target parking spot by the automated parking control, the suggestion information including remote parking suggestion information for suggesting a parking method for parking the target vehicle in the target parking spot by remote parking control, and the remote parking control being control for assisting an operation of the target vehicle to park the target vehicle in the target parking spot while the driver is outside the target vehicle, and

execute the remote parking control to park the target vehicle in the target parking spot based on an instruction from the driver associated with the remote parking suggestion information.

2 . The parking assist device according to claim 1 , wherein the at least one processor is further configured to, based on the calculated frontage satisfying the first condition, display information indicating that the drop-off space is narrow.

3 . The parking assist device according to claim 1 , wherein the at least one processor is configured to, when the target parking spot is defined by two parallel parking mark lines, calculate a distance between the two parking mark lines as the frontage.

4 . The parking assist device according to claim 3 , wherein the at least one processor is configured to, when an adjacent parking spot is available and the calculated frontage satisfies the first condition, not display the suggestion information, the adjacent parking spot being a parking spot adjoining a driver's seat side of the target vehicle in the case where the target vehicle is intended to be parked in the target parking spot by the automated parking control.

5 . The parking assist device according to claim 4 , wherein the adjacent parking spot is an empty parking spot.

6 . The parking assist device according to claim 1 , wherein the at least one processor is configured display the remote parking suggestion information based on satisfaction of a condition that the calculated frontage or a ratio of the calculated frontage to a width of the target vehicle is smaller than a predetermined threshold.

7 . The parking assist device according to claim 1 , wherein the at least one processor is configured to park the target vehicle at a central position of the target parking spot in a width direction.

8 . The parking assist device according to claim 1 , wherein, based on the calculated frontage satisfying a second condition, the at least one processor is configured to:

display information indicating that the drop-off space is wide and information relating to execution of the automated parking control, and

execute the automated parking control based on an instruction from the driver associated with the information relating to the execution of the automated parking control; and

wherein the second condition is a condition that holds when the drop-off space for the driver is wide in the case where the target vehicle is intended to be parked in the target parking spot by the automated parking control.

9 . The parking assist device according to claim 8 , wherein the second condition is satisfied when the calculated frontage is equal to or greater than a predetermined threshold.

10 . The parking assist device according to claim 1 , wherein the at least one processor is further configured to execute the remote parking control according to a parking mode selected by the driver, the parking mode including perpendicular or parallel parking.

11 . The parking assist device according to claim 1 , wherein the first condition is satisfied when a ratio of the calculated frontage to a width of the target vehicle is smaller than a predetermined ratio threshold.

12 . A control method to be executed by a computer of a parking assist device mounted on a target vehicle having an autonomous driving function, the control method comprising:

acquire information on objects and indications around the target vehicle;

calculating a frontage of a predetermined target parking spot in advance before a start of execution of automated parking control based on the acquired information, the automated parking control being control for assisting an operation of the target vehicle to park the target vehicle in a predetermined target parking spot while a driver of the target vehicle sits on a driver's seat of the target vehicle;

based on the calculated frontage, displaying information related to a size of a drop-off space for the driver before the start of execution of the automated parking control; and

based on the calculated frontage satisfying a first condition,

displaying suggestion information for suggesting a parking method other than a parking method for parking the target vehicle in the target parking spot by executing the automated parking control, the first condition being a condition that holds when the drop-off space for the driver is narrow in the case where the target vehicle is intended to be parked in the target parking spot by the automated parking control, the suggestion information including remote parking suggestion information for suggesting a parking method for parking the target vehicle in the target parking spot by remote parking control, and the remote parking control being control for assisting an operation of the target vehicle to park the target vehicle in the target parking spot while the driver is outside the target vehicle; and

executing the remote parking control to park the target vehicle in the target parking spot based on an instruction associated with the remote parking suggestion information.

13 . A non-transitory storage medium storing instructions that are executable by one or more processors included in a computer of a parking assist device mounted on a target vehicle having an autonomous driving function and that cause the one or more processors to perform functions comprising:

calculating a frontage of a predetermined target parking spot in advance before a start of execution of automated parking control, the automated parking control being control for assisting an operation of the target vehicle to park the target vehicle in the target parking spot while a driver of the target vehicle sits on a driver's seat of the target vehicle;

based on the calculated frontage, displaying information related to a size of a drop-off space for the driver before the start of execution of the automated parking control; and

based on the calculated frontage satisfying a first condition,

displaying suggestion information for suggesting a parking method other than a parking method for parking the target vehicle in the target parking spot by executing the automated parking control, the first condition being a condition that holds when the drop-off space for the driver is narrow in the case where the target vehicle is intended to be parked in the target parking spot by the automated parking control, the suggestion information including remote parking suggestion information for suggesting a parking method for parking the target vehicle in the target parking spot by remote parking control, and the remote parking control being control for assisting an operation of the target vehicle to park the target vehicle in the target parking spot while the driver is outside the target vehicle, and

executing the remote parking control to park the target vehicle in the target parking spot based on an instruction associated with the remote parking suggestion information.