Abstract: In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Abstract: A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, calculating a moving direction of the vehicle on the basis of a traffic direction in a passage for vehicles adjacent to the target parking position; and moving the vehicle in the calculated moving direction.

Abstract: A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; and when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, moving the vehicle so that at least part of the vehicle is present within a predetermined range from the operator.

Abstract: A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

Abstract: A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

Abstract: A parking control method includes: performing parking control of moving a vehicle to a target parking position on the basis of an operation command acquired from an operator located outside the vehicle; when the parking control to the target parking position is suspended and the vehicle leaves the target parking position, calculating a moving direction of the vehicle on the basis of a parking direction when the vehicle is parked at a next target parking position; and moving the vehicle in the moving direction.

Abstract: A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

Abstract: In a parking assistance method of a parking control device which executes parking control with respect to a free parking space surroundings a host vehicle, a first frame line of free parking space in a direction orthogonal to a vehicle width direction and a second frame line which forms a pair with the first frame line are detected, and a parking target is set on a straight line connecting between a point on the first frame line and a point on the second frame line, for example, the parking target is set on the straight line connecting between an end on the first frame line and an end on the second frame line, and parking control is executed so that a position of wheels of the host vehicle is matched with the parking target.

Abstract: A parking assistance method of a parking assistance device for generating a peripheral image indicating a periphery of a vehicle as viewed from above to detect an unoccupied parking space, and displaying, on the peripheral image, an assistance image indicating that the detected unoccupied parking space is an available parking space, determines whether the vehicle intrudes on the unoccupied parking space. The parking assistance method inhibits the assistance image from being displayed on the unoccupied parking space on which the vehicle is determined to intrude in the peripheral image.

Abstract: A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

Abstract: First information including operation information is exchanged via a first communication path. Second information including presentation information regarding parking control is exchanged via a second communication path. The presentation information is presented on an operation terminal. When a first evaluation value of the first communication path is less than a first threshold, at least part of the first information is exchanged via one or more other communication paths. When a second evaluation value of the second communication path is less than a second threshold, at least part of the second information is exchanged via one or more other communication paths, and an information amount of the first information and/or the second information is reduced. A vehicle is parked in accordance with a control instruction for moving along a parking route. The control instruction is based on the operation information which is input to the external operation terminal.

Abstract: A parking assistance method of the present invention includes detecting an empty parking space around a moving object, displaying a first assistance image indicating a position of the empty parking space on a surrounding image viewed from above the moving object, and setting a parking target using the displayed first assistance image. The parking assistance method includes: determining whether the detected empty parking space meets a display condition for displaying the first assistance image; and displaying the first assistance image in the empty parking space not meeting the display condition when a currently set mode is an adjustable mode that allows an occupant of the moving object to manually adjust the parking target.

Abstract: First information including operation information is exchanged via a first communication path. Second information including presentation information regarding parking control is exchanged via a second communication path. The presentation information is presented on an operation terminal. When a first evaluation value of the first communication path is less than a first threshold, at least part of the first information is exchanged via one or more other communication paths. When a second evaluation value of the second communication path is less than a second threshold, at least part of the second information is exchanged via one or more other communication paths, and an information amount of the first information and/or the second information is reduced. A vehicle is parked in accordance with a control instruction for moving along a parking route. The control instruction is based on the operation information which is input to the external operation terminal.

Abstract: A parking assistance device includes: a sensor-information processing circuit that detects an empty parking space around a host vehicle; a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of the host vehicle from above; an image display circuit that displays a first assistance image at a position of the empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a stop determination circuit that determines whether the host vehicle has stopped. In a case where it is determined by the stop determination circuit that the host vehicle has stopped, the image display circuit displays the first assistance image.