Parking Control Method and Parking Control Device

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.

1 . A parking control method for causing 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 a basis of an operation command acquired from an operator, the parking control method comprising:
 in a case in which a distance between the vehicle and an object detected around the vehicle is less than a predetermined value 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 the object detected around the vehicle and causing the control device to execute a second control instruction for moving the vehicle along the second route.   
     
     
         2 . The parking control method according to  claim 1 , further comprising:
 when the execution of the first control instruction for the vehicle is suspended or canceled at a position at which at least part of the vehicle belongs to the target parking space, causing the control device to execute the second control instruction for moving the vehicle along the second route.   
     
     
         3 . The parking control method according to  claim 1 , wherein the second route is a route to an evacuation space that is set at a position left with a predetermined distance or more from the object. 
     
     
         4 . The parking control method according to  claim 3 , further comprising:
 detecting the object including a structure of the target parking space,   wherein the position at which the evacuation space is set is a position at which a clearance having a predetermined width or more is formed between the structure and an opening part of the vehicle moved to the evacuation space.   
     
     
         5 . The parking control method according to  claim 4 , comprising:
 detecting a position of the operator; and   forming the clearance having a predetermined distance or more between the structure and the opening part closest to the position of the operator among a plurality of the opening parts.   
     
     
         6 . The parking control method according to  claim 4 , wherein the opening part is a side opening part of the vehicle. 
     
     
         7 . The parking control method according to  claim 4 , wherein the opening part is a rear opening part of the vehicle. 
     
     
         8 . The parking control method according to  claim 4 , wherein the clearance is formed between an entrance of the target parking space and the opening part. 
     
     
         9 . A parking control apparatus comprising a control device configured to execute a first control instruction for moving a vehicle along a first route to a target parking space, on a basis of an operation command acquired from an operator, the control device operating to:
 in a case in which a distance between the vehicle and an object detected around the vehicle is less than a predetermined value when execution of the first control instruction is suspended or canceled on a basis of a detection result of a sensor of the vehicle, calculate a second route for the vehicle to leave with a predetermined distance or more from the object detected around the vehicle and execute a second control instruction for moving the vehicle along the second route.