Parking assistance method and parking assistance device

1 . A parking assistance method of performing autonomous travel of a vehicle based on a travel route generated using teaching travel by a driver, the parking assistance method comprising:

acquiring a position of the vehicle and an azimuth in a travel direction of the vehicle;

outputting, based on the position and the azimuth in the travel direction, when the vehicle is located and oriented with a prescribed azimuth in a prescribed position, a notification to a user to prompt an operation to start parking assistance;

receiving the operation by the user to start the parking assistance; and

autonomously moving the vehicle to a parking position through the autonomous travel of the vehicle in response to the receiving of the operation by the user to start the parking assistance,

wherein the prescribed position is located within a range of a prescribed distance from a start position of the travel route.

2 . The parking assistance method according to claim 1 , further comprising:

acquiring an image obtained by imaging a periphery of the vehicle; and

performing a self-localization estimation based on the image and data generated from the image or a peripheral image captured during the teaching travel, wherein

the vehicle is autonomously moved to the parking position through the autonomous travel based on the travel route and a position of the vehicle estimated by the self-localization estimation.

3 . The parking assistance method according to claim 2 , further comprising:

determining that the vehicle is located and oriented with the prescribed azimuth in the prescribed position when a first difference between the position of the vehicle and the prescribed position is within a first prescribed range and a second difference between the azimuth in the travel direction of the vehicle and the prescribed azimuth is within a second prescribed range.

4 . The parking assistance method according to claim 2 , further comprising:

specifying the prescribed position and the prescribed azimuth based on a plurality of past travel histories of the vehicle and registering the prescribed position and the prescribed azimuth in association with the travel route.

5 . The parking assistance method according to claim 1 , further comprising:

acquiring an image obtained by imaging a periphery of the vehicle; and

performing a self-localization estimation based on the image and data generated from the image, wherein

the vehicle is autonomously moved to the parking position through the autonomous travel based on the travel route and a position of the vehicle estimated by the self-localization estimation.

6 . The parking assistance method according to claim 1 , further comprising:

determining that the vehicle is located and oriented with the prescribed azimuth in the prescribed position when a first difference between the position of the vehicle and the prescribed position is within a first prescribed range and a second difference between the azimuth in the travel direction of the vehicle and the prescribed azimuth is within a second prescribed range.

7 . The parking assistance method according to claim 6 , further comprising:

specifying the prescribed position and the prescribed azimuth based on a plurality of past travel histories of the vehicle and registering the prescribed position and the prescribed azimuth in association with the travel route.

8 . The parking assistance method according to claim 1 , wherein

the parking assistance method determines that the vehicle is located and oriented with the prescribed azimuth in the prescribed position when a first difference between the position of the vehicle and the prescribed position is within a first prescribed range and a second difference between the azimuth in the travel direction of the vehicle and the prescribed azimuth is within a second prescribed range.

9 . The parking assistance method according to claim 1 , further comprising:

specifying the prescribed position and the prescribed azimuth based on a plurality of past travel histories of the vehicle and registering the prescribed position and the prescribed azimuth in association with the travel route.

10 . The parking assistance method according to claim 9 , further comprising:

receiving a user operation to correct the prescribed position and the prescribed azimuth; and

changing the prescribed position and the prescribed azimuth registered in association with the travel route based on the user operation to correct the prescribed position and the prescribed azimuth.

11 . The parking assistance method according to claim 1 , further comprising:

specifying the prescribed position and the prescribed azimuth based on a plurality of past travel histories of the vehicle and registering the prescribed position and the prescribed azimuth in a memory.

12 . The parking assistance method according to claim 1 , further comprising:

receiving an input by the user of the prescribed position and the prescribed azimuth; and

registering the prescribed position and the prescribed azimuth inputted by the user in association with the travel route generated using the teaching travel.

13 . The parking assistance method according to claim 12 , wherein

the receiving the input by the user includes receiving the prescribed position and the prescribed azimuth inputted by the user, from an input device provided near a driving seat of the vehicle.

14 . The parking assistance method according to claim 12 , further comprising:

acquiring the position of the vehicle and the azimuth in the travel direction of the vehicle when an instruction by the user to register the prescribed position and the prescribed azimuth is received in the receiving the input by the user, wherein

the registering the prescribed position and the prescribed azimuth inputted by the user includes registering, in association with the travel route, the position of the vehicle and the azimuth in the travel direction of the vehicle, as acquired, as the prescribed position and the prescribed azimuth.

15 . The parking assistance method according to claim 12 , wherein

the receiving the input by the user includes receiving the prescribed position and the prescribed azimuth, which are inputted by the user, from a mobile terminal that is capable of directly or indirectly communicating with a parking assistance device of the vehicle.

16 . The parking assistance method according to claim 1 , further comprising:

acquiring an image obtained by imaging a periphery of the vehicle when the vehicle is located and oriented with the prescribed azimuth in the prescribed position; and

starting a self-localization estimation based on the image and data generated from the image or a peripheral image captured during the teaching travel.

17 . The parking assistance method according to claim 1 , further comprising:

causing a display to display an image indicating the start position of the travel route when the vehicle is located and oriented with the prescribed azimuth in the prescribed position.

18 . The parking assistance method according to claim 1 , further comprising:

receiving a user operation to designate a home as a destination of a car navigation system; and

causing a display to display an image indicating the start position of the travel route when the user operation to designate the home as the destination of the car navigation system is received.

19 . The parking assistance method according to claim 1 , wherein

the position of the vehicle is acquired via a GPS device,

the azimuth of the vehicle is acquired via an azimuth sensor,

the notification is a message displayed on a screen or a sound, and

the vehicle is autonomously moved to the parking position via a processor.

20 . A parking assistance device that executes parking assistance for performing autonomous travel of a vehicle based on a travel route generated using teaching travel by a driver, the parking assistance device comprising:

a memory; and

a processor coupled to the memory and configured to:

acquire a position of the vehicle and an azimuth in a travel direction of the vehicle;

output, based on the position and the azimuth in the travel direction, when the vehicle is located and oriented with a prescribed azimuth in a prescribed position, a notification to a user to prompt an operation to start parking assistance;

receive the operation by the user to start the parking assistance; and

autonomously move the vehicle to a parking position through the autonomous travel of the vehicle in response to the receiving of the operation by the user to start the parking assistance,

wherein the prescribed position is located within a range of a prescribed distance from a start position of the travel route.