Parking assistance method and parking assistance device
A parking assistance method according to the present disclosure is a method for performing automated traveling of a vehicle based on teacher traveling by a user. The method includes: causing a memory to store information on a travel path in teacher traveling; controlling the vehicle based on the stored travel path; detecting an obstacle during controlling the vehicle; determining whether an avoiding path for avoiding the obstacle is able to be generated; and notifying, when the avoiding path is not able to be generated, a communication terminal of the user not to be able to generate the avoiding path. Furthermore, the controlling is executed based on an instruction for automated traveling from the communication terminal.
1 . A parking assistance method for performing automated traveling of a vehicle based on teacher traveling by a user, the parking assistance method comprising:
causing a memory to store information on a teacher path to a parking space in the teacher traveling;
estimating a current position of the vehicle;
communicating with a communication terminal of the user;
receiving an instruction for automated traveling from the communication terminal after the teacher traveling and after the user exits the vehicle;
controlling the vehicle based on the current position of the vehicle and the teacher path when the instruction for the automated traveling is received from the communication terminal;
controlling the vehicle to return to the teacher path when the current position of the vehicle deviates from the teacher path;
detecting an obstacle during the automated traveling;
generating an avoiding path during the automated traveling, the avoiding path bypassing the obstacle in the teacher path and joining the teacher path again;
notifying the user that the obstacle is present when the obstacle is on the teacher path and there is no space where the vehicle can travel outside the teacher path;
generating the avoiding path when the obstacle is on the teacher path and there is the space where the vehicle can travel outside the teacher path, the avoiding path allowing a distance between the vehicle and the obstacle to be a predetermined distance or more; and
notifying the user that the obstacle is present when the obstacle is in the parking space in the teacher traveling.
2 . The parking assistance method according to claim 1 , wherein
the predetermined distance is 30 cm.
3 . The parking assistance method according to claim 1 , further comprising:
resuming the automated traveling when the obstacle is removed.
4 . The parking assistance method according to claim 3 , wherein
the communication terminal includes a smartphone or a tablet terminal.
5 . The parking assistance method according to claim 1 , further comprising:
displaying, on a display, a message prompting the user to remove the obstacle, the display being in a home of the user and connected to a management system that comprehensively controls home electric appliances.
6 . The parking assistance method according to claim 1 , further comprising:
notifying the user that the vehicle has stopped during execution of the automated parking.
7 . The parking assistance method according to claim 1 , further comprising:
generating a composite image by combining a left side image of the vehicle, a right side image of the vehicle, a rear image of the vehicle, and a front image of the vehicle.
8 . A parking assistance device that performs automated traveling of a vehicle based on teacher traveling by a user, the parking assistance device comprising:
a memory configured to store information on a teacher path to a parking space in the teacher traveling; and
a processor connected to the memory and configured to
cause the memory to store the information on the teacher path to the parking space in the teacher traveling,
estimate a current position of the vehicle,
communicate with a communication terminal of the user,
receive an instruction for automated traveling from the communication terminal after the teacher traveling and after the user exits the vehicle,
control the vehicle based on the current position of the vehicle and the teacher path when the instruction for the automated traveling is received from the communication terminal,
control the vehicle to return to the teacher path when the current position of the vehicle deviates from the teacher path,
detect an obstacle during the automated traveling,
generate an avoiding path during the automated traveling, the avoiding path bypassing the obstacle in the teacher path and joining the teacher path again,
notify the user that the obstacle is present when the obstacle is on the teacher path and there is no space where the vehicle can travel outside the teacher path,
generate the avoiding path when the obstacle is on the teacher path and there is the space where the vehicle can travel outside the teacher path, the avoiding path allowing a distance between the vehicle and the obstacle to be a predetermined distance or more, and
notify the user that the obstacle is present when the obstacle is in the parking space in the teacher traveling.
9 . The parking assistance device according to claim 8 , wherein the predetermined distance is 30 cm.
10 . The parking assistance device according to claim 8 , wherein
the processor is further configured to resume the automated traveling when the obstacle is removed.
11 . The parking assistance device according to claim 8 , wherein
the communication terminal includes a smartphone or a tablet terminal.
12 . The parking assistance device according to claim 8 , wherein
the processor is further configured to display, on a display, a message prompting the user to remove the obstacle, the display being in a home of the user and connected to a management system that comprehensively controls home electric appliances.
13 . The parking assistance device according to claim 8 , wherein
the processor is further configured to notify the user that the vehicle has stopped during execution of the automated parking.
14 . The parking assistance device according to claim 8 , wherein
the processor is further configured to generate a composite image by combining a left side image of the vehicle, a right side image of the vehicle, a rear image of the vehicle, and a front image of the vehicle.