Abstract: A parking control method causes a control device of a vehicle to execute a first control instruction for moving the vehicle along a first route to a target parking space, on the basis of an operation command acquired from an operator located outside the vehicle. This method includes, when execution of the first control instruction is suspended or canceled, calculating a second route for the vehicle to leave with a predetermined distance or more from an object detected around the vehicle and causing the control device to execute a second control instruction for moving the vehicle along the second route.

Abstract: A parking control method includes acquiring an operation command from an operator outside a vehicle, detecting the position of an operation terminal, detecting the position of an obstacle, calculating a first area observable from the operator and a second area other than the first area and unobservable from the operator on the basis of the positional relationship between the position of the obstacle and the position of the operator, calculating a parking route and a control instruction for moving along the parking route such that a first proximity level of the vehicle to the obstacle in the first area is higher than a second proximity level of the vehicle to the obstacle in the second area, and parking the vehicle in accordance with the control instruction.

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 control method for parking a vehicle on a basis of an operation command includes acquiring an operation command from an operator; detecting an obstacle existing around a vehicle; when detecting the obstacle, notifying the operator of existence of the obstacle and requesting an input of an affirmative determination or a negative determination as to the existence of the obstacle; and when obtaining the affirmative input, parking the vehicle in accordance with a control instruction for moving along a route calculated under a condition that the obstacle exists.

Abstract: A parking control method calculates a first control instruction and causing a control device of a vehicle to execute the first control instruction on the basis of an operation command acquired from an operator. The first control instruction is for moving the vehicle along a first route to a target parking space. The parking control method includes: when detecting an object after start of execution of the first control instruction, presenting the operator with selection information for selecting a first mode in which the execution of the first control instruction is continued or a second mode in which the control device of the vehicle is caused to execute an alternative control instruction for moving the vehicle along an alternative route different from the first route; and causing the control device to execute the first control instruction or the alternative control instruction in accordance with selection input information from the operator.

Abstract: A method of determining obstacles determines if a detected object detected outside a subject vehicle is an obstacle for the subject vehicle on the basis of a predetermined determination criterion. In this method, a determination is made whether or not the detected object detected outside the subject vehicle is a driver or passenger of the subject vehicle. When the detected object is not the driver or passenger, a determination is made whether or not the detected object is an obstacle for the subject vehicle on the basis of a first determination criterion. When the detected object is the driver or passenger, a determination is made whether or not the detected object is an obstacle for the subject vehicle on the basis of a second determination criterion with which the detected object is less likely to be determined as an obstacle for the subject vehicle than with the first determination criterion.

Abstract: A parking control method is provided for executing a control instruction to move a vehicle along a parking route on the basis of an operation command acquired from an operator located outside the vehicle. This method includes detecting movement of the operator; calculating an anxiety level of the operator from the movement of the operator; and when the anxiety level is less than a predetermined threshold, parking the vehicle in accordance with a first control instruction that is preliminarily set in the control instruction, while when the anxiety level is not less than the predetermined threshold, calculating a second control instruction obtained by limiting a control range of the first control instruction, and parking the vehicle in accordance with the second control instruction.

Abstract: A parking control method causes a control device of a vehicle to execute a first control instruction on the basis of an operation command acquired from an operator. The first control instruction is for moving the vehicle along a first route to a target parking space. When there is a change in a parking environmental factor of the vehicle detected after the start of execution of the first control instruction with respect to the parking environmental factor of the vehicle detected prior to the start of execution of the first control instruction, an inquiry is made to the operator as to whether or not it is necessary to execute a second control instruction for the vehicle to leave from the target parking space.

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 including: setting a target parking position of a vehicle on the basis of a circumferential situation of the vehicle detected by a circumferential situation detection sensor; determining a communication situation between an operation device configured to receive an operation by an operator outside the vehicle and transmit an instruction signal corresponding to the operation and a communication device mounted on the vehicle and configured to receive the instruction signal; limiting the operation for manually adjusting the target parking position in the operation device depending on the communication situation; transmitting, when the target parking position is adjusted, the instruction signal for moving the target parking position to the communication device; and parking the vehicle by the automatic driving in the target parking position moved depending on the instruction signal received at the communication device.

Abstract: A parking control method for parking a vehicle on a basis of an operation command includes acquiring an operation command from an operator; detecting an obstacle existing around a vehicle; when detecting the obstacle, notifying the operator of existence of the obstacle and requesting an input of an affirmative determination or a negative determination as to the existence of the obstacle; and when obtaining the affirmative input, parking the vehicle in accordance with a control instruction for moving along a route calculated under a condition that the obstacle exists.

Abstract: In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.

Abstract: A parking control method includes acquiring an operation command from an operator outside a vehicle, detecting the position of an operation terminal, detecting the position of an obstacle, calculating a first area observable from the operator and a second area other than the first area and unobservable from the operator on the basis of the positional relationship between the position of the obstacle and the position of the operator, calculating a parking route and a control instruction for moving along the parking route such that a first proximity level of the vehicle to the obstacle in the first area is higher than a second proximity level of the vehicle to the obstacle in the second area, and parking the vehicle in accordance with the control instruction.

Abstract: A method of displaying parking assist information is used in a parking assist apparatus comprising a display and a control device. The control device detects a first parking space that satisfies a predefined parking condition. When information of selecting a second parking space other than the first parking space is input, the control device re-detects a parking space that satisfies the predefined parking condition as the first parking space.

Abstract: A parking control apparatus includes an input device configured to acquire an operation command acquired from inside or outside of a vehicle and a control device configured to control the vehicle in accordance with the operation command. The control device is configured to make a determination whether or not an occupant is present inside a vehicle interior of the vehicle and control the vehicle to park in accordance with a result of the determination.

Abstract: Provided is a parking assistance method capable of storing surrounding situation of a parking target position appropriate to be referred to during autonomous parking. The parking assistance method of storing the surrounding situation of the parking target position when parking at the parking target position and executing the autonomous parking using the stored surrounding situation, includes a step of detecting the surrounding situation; a step of indicating the detected surrounding situation; a step of receiving a determination of whether the indicated surrounding situation are appropriate input by an occupant; and a step of storing the surrounding situation when the determination of appropriateness is input by the occupant.

Abstract: A self position estimation method is provided which is capable of accurately estimating, when executing automatic parking to a parking target position using a stored surrounding situation, a position of a host vehicle or a target in the surrounding situation stored in a storage device. The method includes a step that presents the stored surrounding situation, a step that receives an operation of setting a positional relationship between the stored surrounding situation, and at least one of the host vehicle and the targets existing around the host vehicle, and a step that sets a position of at least one of the host vehicle and the target in the stored surrounding situation based on the operation.

Abstract: A three-dimensional object detection device 1 includes a camera 10 and a calculator 20. The calculator 20 performs viewpoint conversion processing on an image captured by the camera 10 to create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.

Abstract: In a parking assist method executed using a parking assist ECU configured to control a subject vehicle to move along a targeted parking route to a target parking position, the control amount of a yaw angle of the subject vehicle with respect to the targeted parking route is increased in accordance with the decrease in a remaining distance to the target parking position of the subject vehicle.

Abstract: A parking control apparatus includes an input device configured to acquire an operation command acquired from inside or outside of a vehicle and a control device configured to control the vehicle in accordance with the operation command. The control device is configured to determine a communication environment around the vehicle and control the vehicle to park in accordance with a result of the determination.