Parking assistance device

1. A parking assistance device comprising:

a traveling route setting unit configured to set a traveling route from a position of a vehicle having an automated driving function to a parking spot in a parking lot;

a traveling route supply unit configured to supply information indicating the traveling route set by the traveling route setting unit to the vehicle;

an information acquiring unit configured to acquire position information of the vehicle transmitted from the vehicle and situation information containing a situation of the parking lot transmitted from infrastructure installed in the parking lot while the vehicle is traveling to the parking spot with the automated driving function according to the traveling route received from the traveling route supply unit;

a priority control unit configured to determine whether a priority determination is required; and

a determination unit configured to determine whether the traveling route needs to be reset based on the position information and the situation information after the vehicle starts automated driving to the parking spot according to the traveling route, wherein

when the determination unit determines that the traveling route needs to be reset, the traveling route setting unit resets the traveling route based on the position information and the situation information, and the traveling route supply unit supplies information indicating the reset traveling route to the vehicle,

the determination unit is configured to determine that the traveling route needs to be reset when

a state of a section closer to the position of the vehicle than the parking spot changes from an occupied state where the section is occupied by another vehicle to an empty state where the section is empty after the vehicle starts the automated driving, and

the priority control unit is further configured to

transmit an instruction to the vehicle to drive when it is determined in the priority determination that the vehicle is a priority vehicle, and

transmit an instruction to the vehicle to stop when it is determined in the priority determination that the vehicle is a non-priority vehicle.

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

a storage unit configured to store map information of the parking lot, the map information containing information indicating position of an obstacle in the parking lot and information indicating a state of a section in the parking lot; and

a map information update unit configured to update the map information of the parking lot based on the position information of the vehicle and the situation information received from the information acquiring unit, wherein

the determination unit is configured to determine whether the traveling route needs to be reset based on the updated map information.

3. The parking assistance device according to claim 2 , wherein

the map information update unit is configured to at least

add a position of an obstacle to the map information based on the situation information, or

update the position of the obstacle in the map information based on the situation information.

4. The parking assistance device according to claim 1 , further comprising:

a completion determination unit configured to determine whether the parking assistance device receives form the vehicle a parking completion notification, which indicates that the vehicle has parked at the parking spot with the automated driving function, wherein

the traveling route setting unit is configured to set an optimum traveling route based on a predetermined criteria, and

the information acquiring unit acquires the position information of the vehicle and the situation information of the parking lot, and the determination unit determines whether the traveling route needs to be reset before the completion determination unit determines that the parking assistance device has received the parking completion notification from the vehicle.

5. The parking assistance device according to claim 1 , wherein

the information acquiring unit is configured to acquire at least a part of the situation information from the vehicle.

6. The parking assistance device according to claim 1 , wherein

the information acquiring unit is configured to acquire at least a part of the situation information from an infrastructure provided in the parking lot.

7. The parking assistance device according to claim 1 , wherein

the priority control unit is further configured to determine which of the vehicle or another vehicle has priority in the traveling route.

8. The parking assistance device according to claim 1 , wherein the priority determination determines an order for the vehicle and an additional vehicle to pass through at least one of a curve and a narrow passage and the priority control unit is further configured to perform the priority determination based on a predetermined criteria.

9. The parking assistance device according to claim 1 , wherein

the priority control unit transmits a drive instruction to a processor mounted in the vehicle when it is determined in the priority determination that the vehicle is a priority vehicle, and transmits a stop instruction to the processor of the vehicle when it is determined in the priority determination that the vehicle is a non-priority vehicle, and

the parking assistance device opens a gate of the parking lot when there is a section in an empty state in the parking lot.

10. A parking assistance device comprising at least one processor and at least one memory, the memory storing instructions configured to, when executed by the at least one processor, cause the at least one processor to:

set a traveling route from a position of a vehicle having an automated driving function to a parking spot in a parking lot;

supply information indicating the traveling route to the vehicle;

acquire position information of the vehicle transmitted from the vehicle and situation information containing a situation of the parking lot transmitted from infrastructure installed in the parking lot while the vehicle is traveling to the parking spot with the automated driving function according to the traveling route received from the traveling route supply unit;

determine whether the traveling route needs to be reset based on the position information and the situation information after the vehicle starts automated driving to the parking spot according to the traveling route;

when the traveling route needs to be reset, reset the traveling route based on the position information and the situation information and supply information indicating the reset traveling route to the vehicle;

determine that the traveling route needs to be reset when

a state of a section closer to the position of the vehicle than the parking spot changes from an occupied state where the section is occupied by another vehicle to an empty state where the section is empty after the vehicle starts the automated driving;

determine whether a priority determination is required;

transmit an instruction to the vehicle to drive when it is determined in the priority determination that the vehicle is a priority vehicle; and

transmit an instruction to the vehicle to stop when it is determined in the priority determination that the vehicle is a non-priority vehicle.

11. The parking assistance device recited by claim 10 wherein the priority determination determines an order for the vehicle and an additional vehicle to pass through at least one of a curve and a narrow passage and wherein the instructions are further configured to, when executed by the at least one processor, cause the at least one processor to perform the priority determination based on a predetermined criteria.

12. A parking assistance device comprising:

a traveling route setting unit configured to set a traveling route from a position of a vehicle having an automated driving function to a parking spot in a parking lot;

a traveling route supply unit configured to supply information indicating the traveling route set by the traveling route setting unit to the vehicle;

an information acquiring unit configured to acquire position information of the vehicle and situation information containing a situation of the parking lot while the vehicle is traveling to the parking spot with the automated driving function according to the traveling route received from the traveling route supply unit; and

a determination unit configured to determine whether the traveling route needs to be reset based on the position information and the situation information after the vehicle starts automated driving to the parking spot according to the traveling route, wherein

when the determination unit determines that the traveling route needs to be reset, the traveling route setting unit resets the traveling route based on the position information and the situation information, and the traveling route supply unit supplies information indicating the reset traveling route to the vehicle,

the determination unit is configured to determine that the traveling route needs to be reset when a state of a section closer to the position of the vehicle than the parking spot changes from an occupied state where the section is occupied by another vehicle to an empty state where the section is empty after the vehicle starts the automated driving.

13. The parking assistance device according to claim 12 , further comprising:

a storage unit configured to store map information of the parking lot, the map information containing information indicating position of an obstacle in the parking lot and information indicating a state of a section in the parking lot; and

a map information update unit configured to update the map information of the parking lot based on the position information of the vehicle and the situation information received from the information acquiring unit, wherein

the determination unit is configured to determine whether the traveling route needs to be reset based on the updated map information.

14. The parking assistance device according to claim 12 , wherein

the information acquiring unit acquires the position information transmitted from the vehicle, and

the information acquiring unit acquires as the situation information of the parking lot, information containing a situation of the parking lot transmitted from an infrastructure installed in the parking lot.

15. A parking assistance system configured to assist for a parking of a vehicle having an automated driving function comprising:

a parking assistance device according to claim 12 ; and

a vehicle configured to automatically drive to a parking spot in a parking lot, wherein

the vehicle includes a communication unit configured to communicate with the parking assistance device and receive information indicating the traveling route, which set by the traveling route setting unit,

the vehicle includes a controller configured to control the vehicle to automatically drive to the parking spot according to the traveling route, and

the vehicle includes a location information acquiring unit configured to acquire the position information of the vehicle, wherein

the controller is configured to transmit the position information to the parking assistance device through the communication unit after the vehicle starts to automatically drive to the parking spot according to the traveling route.