In-vehicle processing device

1. An in-vehicle processing device comprising:

a processor; and

a non-transitory computer-readable medium having stored thereon executable instructions that, when executed by the processor, cause the in-vehicle processing device to function as:

a storage part configured to store route information on routes on which a host vehicle has previously traveled;

a candidate point generation part configured to generate a plurality of candidate points in a predetermined zone relative to a stored route of the route information stored in the storage part based on current peripheral information around the host vehicle and current information on the host vehicle;

a candidate route generation part configured to generate a plurality of candidate routes to a parking space by connecting the plurality of candidate points generated by the candidate point generation part; and

a route selection part configured to select one of the plurality of candidate routes to the parking space generated by the candidate route generation part,

wherein:

the candidate point generation part is configured to generate the plurality of candidate points on a side opposite to a side where an obstacle exists relative to the stored route when the current peripheral information comprises information on the obstacle;

the in-vehicle processing device is configured to output processed information calculated by the route selection part to a vehicle control device for providing control instructions to at least one of a steering device, a drive device, a shift device, or a brake device based on the processed information calculated by the route selection part;

the candidate point generation part is configured to calculate a transverse deviation amount of the host vehicle relative to the stored route based on the stored route and a position of the host vehicle; and

the transverse deviation amount is a distance in a vehicle width direction from the host vehicle to the stored route.

2. The in-vehicle processing device according to claim 1 , wherein the candidate point generation part is configured to generate the plurality of candidate points based on an attitude of the host vehicle relative to the stored route.

3. The in-vehicle processing device according to claim 1 , wherein the candidate point generation part is configured to generate the plurality of candidate points based on the position of the host vehicle relative to the stored route.

4. The in-vehicle processing device according to claim 1 , wherein the candidate route generation part is configured to generate the plurality of candidate routes based on a speed of the host vehicle.

5. The in-vehicle processing device according to claim 1 , wherein the route selection part is configured to select one of the candidate routes by considering overall distances of the candidate routes.

6. The in-vehicle processing device according to claim 1 , wherein the route selection part is configured to select one of the candidate routes by considering a sum of curvatures of the candidate routes.

7. The in-vehicle processing device according to claim 1 , wherein the route selection part is configured to select one of the candidate routes by considering the position of the host vehicle relative to the stored route.

8. The in-vehicle processing device according to claim 1 , wherein the candidate point generation part is configured to increase intervals between the candidate points when the transverse deviation amount is larger than a predetermined threshold.