Parking support device, parking support system, and parking support method
When having determined that an own-vehicle has become unable to proceed in a traveling direction corresponding to a travel path of the own-vehicle and has stopped halfway through a travel path, a parking support device transmits information to an operation terminal, the information indicating a travel path and a place at which the vehicle has stopped on the travel path. When having received, from the operation terminal, specification information specifying a place to which the own-vehicle is to be moved, the parking support device sets, as a travel path of the own-vehicle, a path through which the own-vehicle is to be moved to the specified place, and outputs, to a vehicle control unit, control information for causing the own-vehicle to move to the specified place.
1. A parking support device supporting automated parking of a vehicle and connected to be capable of communicating with an operation terminal used by a user through a wireless communication, the parking support device comprising:
a processor,
wherein the processor
acquires a target parking position selected by the user from the operation terminal by operating the operation terminal;
generates a path through which the vehicle is to be moved from a current position and parked at the target parking position;
sets, as a first travel path of the vehicle, the path generated by the path generation unit and generate first control information for causing the vehicle to travel in accordance with the set first travel path, based on the generated first control information, controls travel of the vehicle;
detects an obstacle at an obstacle detection position on the first travel path based on an image captured by a camera which captures surroundings of the vehicle;
executes evasive travel for evading contact with the detected obstacle and travels the vehicle on a path deviating from the obstacle detection position on the first travel path;
when having determined that evasive travel is not possible, emergently stops the vehicle at an emergency stop position on the path deviating from the obstacle detection position on the first travel path and outputs information notifying travel disabled to the operation terminal;
acquires a middle position on the first travel path from the operation terminal in which the user newly selects by operating the operation terminal; and
generates a second travel path to the middle position moving the vehicle from the emergency stop position where the vehicle is emergently stopped, and sets the generated second travel path, and generates second control information to travel the vehicle according to the set second travel path, and controls travel of the vehicle based on the generated second control information,
wherein the emergency stop position is different from the obstacle detection position on the first travel path, and based on the second control information, the vehicle travels along the second travel path from the emergency stop position to the middle position.
2. A parking support system comprising:
the parking support device according to claim 1 ; and
the operation terminal connected to be capable of communicating with the parking support device through the wireless communication and remotely controlling the vehicle.
3. A vehicle parking support method of supporting automated parking of a vehicle by a parking support device including a processor connected to be capable of communicating with an operation terminal used by a user through a wireless communication, the parking support method comprising the steps of:
acquiring a target parking position selected by the user from the operation terminal used by the user through the wireless communication by operating the operation terminal;
generating a path through which the vehicle is to be moved from a current position and parked at a target parking position;
setting, as a first travel path of the vehicle, the path generated by the generation step, generating first control information for causing the vehicle to travel in accordance with the set first travel path, and based on the generated first control information controlling travel of the vehicle;
detecting an obstacle at an obstacle detection position on the first travel path based on an image captured by a camera which captures surroundings of the vehicle;
executing evasive travel for evading contact with the detected obstacle and traveling the vehicle on a path deviating from the obstacle detection position on the first travel path;
when having determined that evasive travel is not possible, emergently stopping the vehicle at an emergency stop position on the path deviating from the obstacle detection position on the first travel path and outputting information notifying travel disabled to the operation terminal;
acquiring a middle position on the first travel path from the operation terminal in which the user newly selects by operating the operation terminal; and
generating a second travel path to the middle position moving the vehicle from the emergency stop position where the vehicle is emergently stopped, and setting the generated second travel path, and generating second control information to travel the vehicle according to the set second travel path, and controlling travel of the vehicle based on the generated second control information,
wherein the emergency stop position is different from the obstacle detection position on the first travel path, and based on the second control information, the vehicle travels along the second travel path from the emergency stop position to the middle position.