Parking control method and parking control apparatus

1. A parking control method comprising:

detecting a target parking position that is open;

receiving an operation command from an operator located outside of the vehicle to start moving the vehicle;

calculating a target parking route on a basis of the operation command;

performing a parking control of the vehicle to move the vehicle to the target parking position along the target parking route on a basis of the operation command;

detecting whether an obstacle is present in the target parking position as the vehicle enters the target parking position;

when an obstacle is detected, suspending movement of the vehicle to the target parking position at a suspended position to set a rescue position;

generating a next parking route to the next target parking position;

setting the rescue position of the vehicle that is based on parking the vehicle in a next target parking position along the next parking route;

setting a rescue route that is forward or backward from the suspended position to the rescue position; and

performing a rescue control of the vehicle to move the vehicle in a forward or backward direction away from the detected obstacle in the target parking position along the rescue route to the rescue position.

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

calculating a target position to which the vehicle moves, on a basis of the next target parking position; and

moving the vehicle to the target position.

3. The parking control method according to claim 2 , comprising calculating as the target position the rescue position at which the vehicle starts the parking control to the next target parking position.

4. The parking control method according to claim 1 , comprising:

specifying the next parking route for the vehicle to park at the next target parking position; and

specifying a parking direction from a direction along the next parking route.

5. The parking control method according to claim 4 , comprising specifying the parking direction from a direction toward the next target parking position from the target parking position.

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

specifying the next parking route for the vehicle to park at the next target parking position; and

when the parking route includes a position of turn for parking at which the vehicle turns for parking, specifying the parking direction from a direction toward the next target parking position from the position of turn for parking.

7. The parking control method according to claim 1 , comprising

specifying the parking direction on a basis of the next target parking position and a direction of the vehicle at a position at which the parking control to the target parking position is suspended.

8. The parking control method according to claim 1 , comprising, when the next target parking position is not specified, calculating as the moving direction a direction in which the vehicle can move, the direction being a direction toward a direction in which the vehicle has not traveled before start of the parking control to the target parking position.

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

specifying a position of the operator; and

selecting from among one or more candidates for the next target parking position a candidate observable from the operator as the next target parking position.

10. A parking control apparatus comprising a control device configured to perform parking control of moving a vehicle to a target parking position on a basis of an operation command acquired from an operator located outside the vehicle, the control device operating to:

detect the target parking position that is open;

receive the operation command;

calculate a target parking route on a basis of the operation command;

perform a parking control of the vehicle to move the vehicle to the target parking position along the target parking route on a basis of the operation command;

detect whether an obstacle is present in the target parking position as the vehicle enters the target parking position;

when an obstacle is detected, suspend movement of the vehicle to the target parking position at a suspended position to set a rescue position;

generate a next parking route to the next target parking position;

set the rescue position of the vehicle that is based on parking the vehicle in a next target parking position along the next parking route;

set a rescue route that is forward or backward from the suspended position to the rescue position; and

perform a rescue control of the vehicle to move the vehicle in a forward or backward direction away from the detected obstacle in the target parking position along the rescue route to the rescue position.