Parking assist apparatus

1. A parking assist apparatus configured to assist parking of an autonomous driving vehicle, the autonomous driving vehicle being configured to perform autonomous driving to a target position in a parking lot set by the parking assist apparatus, the parking assist apparatus comprising:

an entry guidance unit configured to, upon receiving a parking request for guiding the autonomous driving vehicle to a parking area in the parking lot, guide the autonomous driving vehicle from an entry initial position, which is a position of the autonomous driving vehicle immediately before starting an entry guidance, to the parking area, as a first target position; and

a cancellation guidance unit configured to, upon receiving a parking cancellation request for cancelling the parking request before the autonomous driving vehicle arrives at the first target position:

set a second target position that is a different position in the parking lot according to a positional relationship of a current position of the autonomous driving vehicle relative to the entry initial position; and

guide the autonomous driving vehicle to the second target position, wherein

the entry initial position is located in an initial zone where the autonomous driving vehicle is allowed to be parked,

the parking assist apparatus further comprises

a position determination unit configured to determine, upon receiving the parking cancellation request, whether a position of the autonomous driving vehicle is within the initial zone, and

the cancellation guidance unit is configured to set the second target position in a getting-on area in the parking lot when the position of the autonomous driving vehicle is determined to be outside of the initial zone.

2. The parking assist apparatus according to claim 1 , further comprising:

a stop transmission unit configured to transmit, upon receiving the parking cancellation request, a stop command to the autonomous driving vehicle before the cancellation guidance unit sets the second target position.

3. The parking assist apparatus according to claim 2 , wherein the stop transmission unit is configured to transmit the stop command without judging a traveling state of the autonomous driving vehicle.

4. The parking assist apparatus according to claim 1 , wherein

the cancellation guidance unit is configured to set the second target position in the initial zone when the position of the autonomous driving vehicle is determined to be within the initial zone.

5. The parking assist apparatus according to claim 1 , wherein

the cancellation guidance unit is a first cancellation guidance unit,

the parking assist apparatus further comprises:

an exit guidance unit configured to, upon receiving an exit request for guiding the autonomous driving vehicle to the getting-on area in the parking lot from a user, guide the autonomous driving vehicle from an exit initial position, which is a position of the autonomous driving vehicle immediately before starting an exit guidance, to the getting-on area, as a third target position; and

a second cancellation guidance unit configured to, upon receiving an exit cancellation request for cancelling the exit request from the user before the autonomous driving vehicle arrives at the third target position:

set a fourth target position in the parking area; and

guide the autonomous driving vehicle to the fourth target position.

6. The parking assist apparatus according to claim 5 , wherein

the parking area includes a plurality of parking zones and at least one autonomous driving vehicle is allowed to be parked in each of the plurality of parking zones, and

the second cancellation guidance unit is configured to set one of the plurality of parking zones that is closest to the third target position as the fourth target position.

7. The parking assist apparatus according to claim 5 , wherein

the parking area includes a plurality of parking zones and at least one autonomous driving vehicle is allowed to be parked in each of the plurality of parking zones, and

the second cancellation guidance unit is configured to:

select one of a plurality of getting-on zones in the getting-on area that is vacant and closest to a current position of the autonomous driving vehicle at a timing of receiving the exit cancellation request; and

set one of the plurality of parking zones in the parking area that is closest to the selected getting-on zone of the getting-on area as the fourth target position.

8. The parking assist apparatus according to claim 6 , further comprising:

a stop transmission unit configured to transmit, upon receiving the parking cancellation request, a stop command to the autonomous driving vehicle before the second cancellation guidance unit sets the fourth target position.

9. The parking assist apparatus according to claim 8 , wherein

the stop transmission unit is configured to transmit the stop command without judging a traveling state of the autonomous driving vehicle.

10. The parking assist apparatus according to claim 1 , wherein

the entry guidance unit is configured to transmit at least part of map data regarding the parking lot to the autonomous driving vehicle before the cancellation guidance unit sets the second target position.

11. The parking assist apparatus according to claim 1 , wherein

the parking cancellation request is input by a user of the autonomous driving vehicle.

12. The parking assist apparatus according to claim 11 , wherein

the cancellation guidance unit is configured to cause a terminal device of the user for inputting the parking cancellation request to selectively display, as the parking cancellation request, a first image indicative of a first cancellation request and a second image indicative of a second cancellation request,

the first image is selected when the autonomous driving vehicle exits the parking lot, and

the second image is selected when the autonomous driving vehicle is to be parked in the parking area within a predetermined time.

13. A parking assist method performed by a parking assist apparatus configured to assist parking of an autonomous driving vehicle, the autonomous driving vehicle being configured to perform autonomous driving to a target position in a parking lot set by the parking assist apparatus, the parking assist method comprising:

upon receiving a parking request for guiding the autonomous driving vehicle to a parking area in the parking lot, guiding the autonomous driving vehicle from an entry initial position, which is a position of the autonomous driving vehicle immediately before starting an entry guidance, to the parking area, as a first target position;

upon receiving a parking cancellation request for cancelling the parking request before the autonomous driving vehicle arrives at the first target position, setting a second target position that is a different position in the parking lot according to a positional relationship of a current position of the autonomous driving vehicle relative to the entry initial position; and

guiding the autonomous driving vehicle to the second target position, wherein

the entry initial position is located in an initial zone where the autonomous driving vehicle is allowed to be parked,

the parking assist method further comprises

determining, upon receiving the parking cancellation request, whether a position of the autonomous driving vehicle is within the initial zone, and

setting the second target position in a getting-on area in the parking lot when the position of the autonomous driving vehicle is determined to be outside of the initial zone.

14. A parking assist apparatus configured to assist parking of an autonomous driving vehicle, the autonomous driving vehicle being configured to perform autonomous driving to a target position in a parking lot set by the parking assist apparatus, the parking assist apparatus comprising at least one processor programmed to:

upon receiving a parking request for guiding the autonomous driving vehicle to a parking area in the parking lot, guide the autonomous driving vehicle from an entry initial position, which is a position of the autonomous driving vehicle immediately before starting an entry guidance, to the parking area, as a first target position;

upon receiving a parking cancellation request for cancelling the parking request before the autonomous driving vehicle arrives at the first target position, set a second target position that is a different position in the parking lot according to a positional relationship of a current position of the autonomous driving vehicle relative to the entry initial position; and

guide the autonomous driving vehicle to the second target position, wherein

the entry initial position is located in an initial zone where the autonomous driving vehicle is allowed to be parked,

the at least one processor further programmed to

determine, upon receiving the parking cancellation request, whether a position of the autonomous driving vehicle is within the initial zone, and

set the second target position in a getting-on area in the parking lot when the position of the autonomous driving vehicle is determined to be outside of the initial zone.