JP2023058929A - Parking support device - Google Patents

Abstract

The present invention proposes the use of an automatic parking function without giving discomfort to a driver, based on the past driving history of a vehicle including the own vehicle at a planned parking point. A parking assistance device includes an acquisition unit that acquires a past driving history of a vehicle including at least the own vehicle at a scheduled parking point for a vehicle equipped with an automatic parking function, and the parking schedule based on the acquired driving history. A judging unit for judging whether parking at a spot is difficult or not, and proposal information proposing use of an automatic parking function when the judging unit judges that the difficulty is high, are provided in the vehicle. and a proposal unit for causing an output device to output. [Selection drawing] Fig. 5

Description

The present invention relates to a parking assistance system that proposes an automatic parking function to a driver driving a vehicle.

2. Description of the Related Art Conventionally, there has been disclosed an agent device for a vehicle that provides information related to the operation of various vehicle-mounted units (see, for example, Patent Document 1). Further, an automatic parking system that automatically parks a vehicle without steering by the driver of the vehicle is disclosed (see, for example, Patent Document 2).

Japanese Patent Application Laid-Open No. 2021-89360 Japanese Unexamined Patent Application Publication No. 2021-8243

Vehicles are parked in familiar places, such as parking lots at home, and in unfamiliar places, such as public parking lots. For example, unfamiliar parking lots or narrow parking lots often require an automatic parking function, while familiar parking lots or large parking lots often do not require an automatic parking function. Whether or not the automatic parking function should be used also depends on driving skill.

For example, if the suggested functions of the agent device include an automatic parking function, the agent device will suggest the use of the automatic parking function under certain conditions regardless of whether or not the driver requires the automatic parking function. If the use of the automatic parking function is proposed in a situation where the automatic parking function is unnecessary, it may make the driver feel uncomfortable.

Therefore, in view of the above problems, it is an object to provide a technology that proposes the use of an automatic parking function without giving discomfort to the driver based on the past driving history of the vehicle including the own vehicle at the planned parking point. and

In order to achieve the above object, in one embodiment of the present disclosure, an acquisition unit that acquires a past driving history of a vehicle including at least the own vehicle at a scheduled parking point of a vehicle equipped with an automatic parking function, and the acquired driving history a judgment unit for judging whether or not the difficulty level of parking at the planned parking spot is high based on, and proposal information proposing the use of an automatic parking function when the judgment unit judges that the difficulty level is high , and a proposal unit that causes an output device provided in the vehicle to output the parking assistance device.

According to the above-described embodiment, it is possible to provide a technique for suggesting the use of the automatic parking function without causing discomfort to the driver, based on the past driving history of the vehicle, including the own vehicle, at the planned parking point. can.

1 is a diagram showing an example of a schematic configuration of an agent system including agent devices according to the first embodiment; FIG. 2 is a block diagram showing an example of the hardware configuration of the vehicle of FIG. 1; FIG. 2 is a block diagram showing the hardware configuration of an agent server in FIG. 1; FIG. 4 is a block diagram showing the functional configuration of an agent server in FIG. 3; FIG. 2 is a sequence diagram showing a flow of processing for proposing use of an automatic parking function executed in the agent system of FIG. 1; FIG. FIG. 6 is a flowchart showing an example of selection processing in step S34 of FIG. 5;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[Configuration of the first embodiment]
FIG. 1 is a diagram showing an example of a schematic configuration of an agent system including agent devices according to the first embodiment. The agent system 10 shown in FIG. 1 has a vehicle 12, an agent server 30, and an information providing server 40, which are wirelessly connected to each other via a network N. In FIG. The agent server 30 is an example of a parking assistance device. For example, the vehicle 12 has a vehicle-mounted device 20 and a plurality of ECUs (Electronic Control Units) 22 that are control devices that control each part of the vehicle 12 . The vehicle 12 is equipped with an automatic parking function that functions based on instructions from the driver of the vehicle 12 .

The agent server 30 obtains information on the vehicle 12 from the vehicle-mounted device 20 to grasp the control state and position information of the vehicle 12 , and transmits to the vehicle-mounted device 20 information on proposals of recommended functions to the occupants of the vehicle 12 . Recommended functions include an automatic parking function.

For example, the agent server 30 acquires the planned parking point of the vehicle 12 from the vehicle-mounted device 20 . The agent server 30 acquires, from the information providing server 40, past driving histories of vehicles including at least the own vehicle 12 at the acquired planned parking points. The agent server 30 determines whether or not the difficulty level of parking at the planned parking spot is high based on the acquired driving history. Then, when the agent server 30 determines that parking is difficult, the agent server 30 outputs proposal information proposing the use of the automatic parking function to the vehicle-mounted device 20, and outputs it to an output device such as a speaker or a monitor provided in the vehicle 12. Output proposal information. For example, the difficulty level of parking is determined based on at least one of the number of turns of vehicles including the own vehicle 12 at the planned parking point and the frequency of vehicles parking in reverse.

The information providing server 40 holds driving history information indicating past driving histories of vehicles including the own vehicle 12 at planned parking points such as various parking lots or parking spaces so as to be able to provide them to the agent server 30 or the like. . The driving history information provided by the information providing server 40 includes at least one of turning-back information indicating the number of times the vehicle has turned back at each point and backing-up frequency information indicating the percentage of vehicles parked in backing up. Here, the turning of the vehicle means, for example, changing the direction of the vehicle by moving forward and backward, and one turn is made by moving forward and backward or by moving backward and forward.

Since the information providing server 40 accumulates the number of times of steering back for each vehicle, in response to an inquiry to the agent server 30, the number of times of steering back of the own vehicle 12 and the number of times of steering back of vehicles other than the own vehicle 12 are sent to the agent server 30. can respond to Instead of the number of times of turning back, the information providing server 40 may respond to the agent server 30 with turning back information indicating whether the number of times of turning back at the planned parking spot is large or small.

It should be noted that the number of turns accumulated by the information providing server 40 serves as an index of the degree of parking difficulty when the driver is steering. Therefore, it is preferable that the number of times of turning back accumulated by the information providing server 40 does not include the number of times of turning back of the vehicle when using the automatic parking function.

The vehicle-mounted device 20 has a function of acquiring communication information based on the CAN (Controller Area Network) protocol transmitted from each ECU 22 and transmitting it to the agent server 30 .
For example, the ECU 22 mounted on the vehicle 12 includes a vehicle control ECU, an engine ECU, a brake ECU, a body ECU, a camera ECU, a multimedia ECU, and the like. The vehicle-mounted device 20 and each ECU 22 are interconnected via an external bus 29 .

FIG. 2 is a block diagram showing an example of the hardware configuration of the vehicle 12 of FIG. 1. As shown in FIG. The vehicle 12 has a microphone 24 , a speaker 26 , a monitor 27 and a GPS (Global Positioning System) device 28 in addition to the vehicle-mounted device 20 and a plurality of ECUs 22 shown in FIG. 1 .

The vehicle-mounted device 20 includes a CPU (Central Processing Unit) 20A, a ROM (Read Only Memory) 20B, a RAM (Random Access Memory) 20C, an in-vehicle communication I/F (interface) 20D, a wireless communication I/F 20E, and an input/output I/F 20F. have The CPU 20A, ROM 20B, RAM 20C, in-vehicle communication I/F 20D, wireless communication I/F 20E, and input/output I/F 20F are communicably connected to each other via an internal bus 20G.

For example, the CPU 20A controls each part of the vehicle 12 by executing various programs stored in the ROM 20B. The CPU 20A may allocate a work area for storing data used for executing various programs to the RAM 20C.

Various programs and data such as initial setting values are stored in advance in the ROM 20B. Various programs stored in the ROM 20B include control programs for controlling the vehicle-mounted device 20 . The RAM 20C is used as a work area for the CPU 20A and temporarily stores work data, programs, and the like.

In-vehicle communication I/F 20</b>D is connected to multiple ECUs 22 via external bus 29 . For example, the in-vehicle communication I/F 20</b>D transmits and receives communication frames based on the CAN protocol between the vehicle-mounted device 20 and each ECU 22 . Note that the in-vehicle communication I/F 20D may communicate using Ethernet (registered trademark).

The wireless communication I/F 20E is a wireless communication module wirelessly connected to the network N shown in FIG. 1 and communicating with the agent server 30 and the information providing server 40. FIG. The wireless communication I/F 20E uses, for example, communication standards such as 5G (fifth generation mobile communication system), LTE (Long Term Evolution), or Wi-Fi (registered trademark).

The input/output I/F 20F is connected to a microphone 24, a speaker 26, a monitor 27, a GPS device 28, etc. mounted on the vehicle 12, and transmits/receives various data signals, various voltage signals, and the like. At least one of the microphone 24, the speaker 26, the monitor 27 and the GPS device 28 may be directly connected to the internal bus 20G without going through the input/output I/F 20F. The speaker 26 and monitor 27 are examples of output devices.

The microphone 24 is provided on an instrument panel, a center console, a front pillar, a dashboard, or the like inside the vehicle 12 . The microphone 24 collects sounds uttered by the occupants of the vehicle 12, and outputs sound data generated by the collected sounds to the input/output interface 20F.

The speaker 26 is provided on an instrument panel, center console, front pillar, dashboard, or the like. The speaker 26 outputs sound or the like based on sound data or the like received from the CPU 20A via the input/output interface 20F. The speaker 26 can output a sound proposing a recommended function based on control by the CPU 20A.

The monitor 27 is, for example, a liquid crystal monitor, and is provided on an instrument panel, dashboard, or the like of the vehicle 12 . The monitor 27 displays an image based on image data (including text information) received from the input/output interface 20F. The monitor 27 can display an image showing a suggested function under the control of the CPU 20A. The image showing the proposal of the recommended function may include a text showing the sound output from the speaker 26 and an explanation of the recommended function written in a manual or the like. That is, recommended functions may be suggested using the speaker 26 and the monitor 27 simultaneously.

The GPS device 28 is a device that measures the current position of the vehicle 12 . GPS device 28 includes an antenna (not shown) that receives signals from GPS satellites. The GPS device 28 may be connected to the vehicle-mounted device 20 via a car navigation system (not shown) mounted on the vehicle 12 .

The CPU 20A can recognize the scheduled parking point of the vehicle 12 based on the positional information of the vehicle 12 received from the GPS device 28 via the input/output I/F 20F. For example, the CPU 20A may recognize the planned parking spot based on the destination set in the car navigation system connected to the GPS device 28 and the map information.

FIG. 3 is a block diagram showing the hardware configuration of the agent server 30 of FIG. 1. As shown in FIG. The agent server 30 has a CPU 30A, a ROM 30B, a RAM 30C, a storage 30D and a communication I/F 30E that are communicably connected to each other via an internal bus 30G. The functions of the CPU 30A, ROM 30B, RAM 30C, and communication I/F 30E are the same as the functions of the CPU 20A, ROM 20B, RAM 20C, and wireless communication I/F 20E of the vehicle-mounted device 20 shown in FIG. Note that the communication I/F 30E may perform wired communication.

The storage 30D is, for example, an HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores various programs and various data. For example, the storage 30D stores a processing program 100 executed by the CPU 30A, a function DB (database) 110, an owner's manual 120, and function usage information 130. FIG. Note that the processing program 100, the function DB (database) 110, the owner's manual 120, and the function usage information 130 may be stored in the ROM 30B.

A processing program 100 is a program for controlling the agent server 30 . The function DB 110 is a database that stores information on functions of the vehicle 12 . The functions of the vehicle 12 include a driving function group related to the driving function of the vehicle 12, an automatic parking function group related to the automatic parking function of the vehicle 12, and a comfort function group related to the interior comfort function. . The recommended functions proposed to the occupants of the vehicle 12 are stored in the function DB 110 .

The owner's manual 120 is a database that stores manuals related to each function of the vehicle 12 . The function usage information 130 stores a history of operating functions of the vehicle 12 .

FIG. 4 is a block diagram showing the functional configuration of the agent server 30 of FIG. 3. As shown in FIG. For example, the agent server 30 has an acquisition unit 200, a detection unit 210, a selection unit 220, and a proposal unit 230 that function when the CPU 30A executes the processing program 100. FIG.

The acquisition unit 200 has a function of acquiring from the vehicle-mounted device 20 the location information of the location where the vehicle 12 travels and the planned parking location. The acquisition unit 200 also has a function of acquiring from the information providing server 40 the driving history information (turnover information, back frequency information, etc.) of the vehicle including at least the own vehicle 12 at the scheduled parking point acquired from the vehicle-mounted device 20 . Note that the acquisition unit 200 may have a function of acquiring weather information about the weather at a location where the vehicle 12 travels from the information providing server 40 or the like.

The detection unit 210 has a function of detecting devices operating in the vehicle 12 . For example, the detection unit 210 detects whether or not the recommended function selected by the selection unit 220 is operating based on the communication information of the vehicle 12 acquired from the vehicle-mounted device 20 .

The selection unit 220 selects a recommended function for recommending an operation to the occupant from the functions of the vehicle 12 . Features of vehicle 12 include an automatic parking feature. The selection unit 220 refers to the function DB 110 of FIG. 3 and selects a recommended function (for example, an automatic parking function, a snow mode during snowfall, etc.) for the driving mode of the vehicle 12 .

For example, when the selection unit 220 determines that parking at the planned parking spot is difficult based on the driving history information acquired by the acquisition unit 200, the selection unit 220 selects the automatic parking function of the vehicle 12 as the recommended function. For example, the parking difficulty level is higher as the number of times the vehicle is turned back during parking is higher, and is higher as the ratio of vehicles that park in reverse is higher. The selection unit 220 is an example of a determination unit that determines whether or not parking at the planned parking spot is difficult based on the acquired driving history.

The proposal unit 230 has a function of transmitting to the vehicle-mounted device 20 proposal information that proposes utilization of the selected recommended function to the occupant. The proposal unit 230 transmits proposal information to the vehicle-mounted device 20 when the recommended function selected by the selection unit 220 is not operating in the vehicle 12 and it is preferable to operate the recommended function. For example, when the selection unit 220 determines that the difficulty level of parking at the planned parking spot is high and the automatic parking function is selected as a recommended function, the proposal unit 230 sends proposal information proposing the use of the automatic parking function to the vehicle-mounted device. 20.

FIG. 5 is a sequence diagram showing the flow of processing for proposing use of the automatic parking function in the agent system 10 of FIG. The processing in the vehicle-mounted device 20 is implemented by the CPU 20A executing a program. The processing in the agent server 30 is realized by the CPU 30A functioning as the acquiring unit 200, the detecting unit 210, the selecting unit 220, and the proposing unit 230 by executing programs. FIG. 5 shows an example of proposing the use of the automatic parking function among multiple recommended functions by the agent server 30 .

First, the CPU 20A of the vehicle-mounted device 20 transmits the location information of the planned parking spot and the vehicle ID (Identification) to the agent server 30 in step S21. And the onboard equipment 20 implements the process of step S22 and S23 following step S21. For example, the vehicle-mounted device 20 transmits the position information and the vehicle ID to the agent server 30 when the destination is set in the car navigation system or when the destination is approached.

CPU30A of the agent server 30 receives the positional information and vehicle ID which are transmitted from the onboard equipment 20 in step S31. CPU30A performs the process after step S32, when a positional information and vehicle ID are received from the onboard equipment 20 by step S31. CPU30A transmits the positional information and vehicle ID which were received from the onboard equipment 20 to the information provision server 40 in step S32.

The information providing server 40 receives the location information and vehicle ID transmitted from the agent server 30 in step S41. When the information providing server 40 receives the position information and the vehicle ID from the agent server 30 in step S41, the information providing server 40 performs the process of step S42.

In step S42, the information providing server 40 acquires from a database (not shown) the past turnaround information of the vehicle at the scheduled parking point indicated by the received position information and the past backing frequency information of the vehicle. Note that the database stores, for example, the steering information in association with the vehicle ID. The information providing server 40 transmits the acquired switchback information and back frequency information to the agent server 30 and waits for reception of the next information from the agent server 30 .

Here, at the scheduled parking point, the information providing server 40 repeats, for example, the average value of the past number of times of steering of the vehicle 12 indicated by the vehicle ID and the average value of the number of times of past steering of the vehicles other than the vehicle 12. It is transmitted to the agent server 30 as information. In addition, the information providing server 40 transmits to the agent server 30 backing frequency information indicating the ratio of vehicles that have backed up in the past at the planned parking spot.

Here, at each planned parking point, the tendency of whether or not a vehicle (or the same driver) with the same vehicle ID parks in reverse is almost the same for each vehicle. In addition, the number of times the vehicle has been parked in the past differs from vehicle to vehicle at each planned parking spot. Therefore, if a particular vehicle is parked significantly more times than other vehicles, the percentage of vehicles backing up calculated based on the total past parking times will depend on the number of times the particular vehicle has been parked. end up Therefore, in order to obtain an appropriate back parking frequency, it is preferable that the ratio of vehicles backing up at each planned parking spot be calculated based on information for each vehicle indicating whether or not the vehicle was backed up. .

After step S32, the CPU 30A receives the switching information and the back frequency information transmitted from the information providing server 40 in step S33. Next, in step S34, the CPU 30A selects a recommended function to be presented to the driver of the vehicle 12 or the like, based on the received steering wheel information and back frequency information. In the example shown in FIG. 5, the CPU 30A determines in step S34 whether to select the automatic parking function. An example of the selection process by step S34 is explained in FIG.

Next, in step S35, the CPU 30A determines whether or not to propose the use of the automatic parking function based on the selection result of step S34. CPU30A performs the process of step S36, when suggesting use of an automatic parking function. If the CPU 30A does not propose the use of the automatic parking function, the CPU 30A ends the processing of the agent server 30 shown in FIG.

CPU30A transmits the proposal information which proposes use of an automatic parking function to the onboard equipment 20 in step S36. After step S<b>36 , the CPU 30</b>A waits for reception of the next information from the vehicle-mounted device 20 .

The CPU 20A of the vehicle-mounted device 20 receives the proposal information transmitted from the agent server 30 in step S22. Next, when the vehicle 12 reaches the planned parking point or approaches the planned parking point, the CPU 20A outputs information suggesting (recommending) the use of the automatic parking function to the speaker 26, the monitor 27, or the like in step S23. is used to present it to the occupants of the vehicle 12 or the like.

In this embodiment, the agent server 30 proposes the use of the automatic parking function based on the past driving history of the vehicle, including the own vehicle 12, at the planned parking point, only when the degree of parking difficulty is high. can be done. That is, the use of the automatic parking function is not suggested each time the vehicle 12 reaches the planned parking point. As a result, it is possible to suppress the use of the automatic parking function from being proposed at the planned parking point where it is estimated that the vehicle 12 can be parked without using the automatic driving function. As a result, it is possible to suggest the use of the automatic parking function without causing discomfort to the driver.

For example, the CPU 20A causes the speaker 26 to output a voice suggesting the automatic parking function, or causes the monitor 27 to display text or an image suggesting the automatic parking function. Alternatively, the CPU 20A may simultaneously control the output of the voice suggesting the automatic parking function from the speaker 26 and the display on the monitor 27 of the text or image indicating the proposal of the automatic parking function.

In addition, CPU30A of the agent server 30 may transmit the non-proposal information which shows not proposing an automatic parking function to the onboard equipment 20, when an automatic parking function is not proposed by step S35. In this case, the CPU 20A that has received the non-proposal information from the agent server 30 terminates the process of the vehicle-mounted device 20 shown in FIG. 5 without performing the process of step S23.

FIG. 6 is a flowchart showing an example of selection processing in step S34 of FIG. The CPU 30A of the agent server 30 performs the processing shown in FIG. 6 based on the switching information and the back frequency information received from the information providing server 40. FIG.

First, in step S341, the CPU 30A determines whether or not the number of times of turning back for each parking of the own vehicle 12 in the past is equal to or greater than a predetermined number based on the turning back information. For example, when the number of times of turning back is equal to or greater than a predetermined number of times, the CPU 30A determines that the vehicle 12 has made many turns in parking in the past, and executes the process of step S344. When the number of times of turning back is less than the predetermined number of times, the CPU 30A determines that the number of times of turning back in the past parking of the own vehicle 12 is small, and executes the process of step S342.

In step S342, the CPU 30A determines whether or not there are many vehicles in which the number of times of turning back for each parking in the past is equal to or greater than a predetermined number of times based on the turning back information. For example, when the average value of the number of times of turning back for each past parking of vehicles other than the vehicle 12 is equal to or greater than a predetermined number of times, the CPU 30A determines that there were many turning backs in the past parking, and executes the process of step S344. When the average value of the number of times of turning back for each past parking of vehicles other than the vehicle 12 is less than the predetermined number of times, the CPU 30A determines that the number of turning back in the past parking is small, and executes the process of step S343.

In step S343, CPU 30A determines whether or not there are many vehicles parked in reverse based on the reverse frequency information. For example, when the rate of parking in reverse indicated by the reverse frequency information is equal to or greater than a predetermined rate, the CPU 30A determines that many vehicles park in reverse, and executes step S344. When the frequency of parking in reverse indicated by the reverse frequency information is lower than a predetermined ratio, CPU 30A determines that the number of vehicles parked in reverse is small, and executes step S345.

In step S344, CPU 30A selects the automatic parking function as the recommended function, and ends the processing of step S34. In step S345, the agent server 30 does not select the automatic parking function as a recommended function, and ends the processing of step S34 shown in FIG.

In addition, the information providing server 40 may accumulate the frequency at which the vehicle is parked using the automatic parking function for each planned parking spot. In this case, a new determination process may be added between steps S343 and S345 to proceed to step S344 if the frequency at which the vehicle is parked using the automatic parking function is equal to or greater than a predetermined frequency.

Note that FIG. 6 shows an example in which the automatic parking function is selected as a recommended function according to the number of times the host vehicle 12 turns, the number of times other vehicles turn, and the frequency of parking in reverse. However, the automatic parking function may be selected as a recommended function according to one or two of the number of times the host vehicle 12 turns, the number of times other vehicles turn, and the frequency of parking in reverse.

As described above, in this embodiment, the agent server 30 proposes the use of the automatic parking function based on the past driving history of the vehicle, including the own vehicle 12, at the planned parking point only when the difficulty of parking is high. It can be carried out. In other words, the agent server 30 considers the tendency of the driver's parking behavior, the driving skill of the driver, and the tendency of other vehicles' parking behavior to determine whether or not to propose the use of the automatic parking function. can be done. As a result, it is possible to suppress the use of the automatic parking function from being proposed at the planned parking point where it is estimated that the vehicle 12 can be parked without using the automatic driving function. As a result, it is possible to suggest the use of the automatic parking function without causing discomfort to the driver.

Some or all of the functions of the agent server 30 may be realized by the vehicle-mounted device 20 . In this case, the functions of the acquiring unit 200, the detecting unit 210, the selecting unit 220, and the proposing unit 230 shown in FIG. The processing is performed by the CPU 20A. That is, the vehicle-mounted device 20 also operates as a parking assistance device.

At least one of the vehicle-mounted device 20 and the agent server 30 may have another processor instead of the CPU, and may have an FPGA (Field-Programmable Gate Array) or ASIC (Application Specific Integrated Circuit). good too. That is, the function of at least one of the vehicle-mounted device 20 and the agent server 30 may be realized by hardware. The FPGA or ASIC may also include the functions of a communication interface or the functions of an input/output interface.

In the above-described embodiment, the programs executed by the CPUs 20A and 30A may be stored in a computer-readable recording medium such as the CPU. In this case, the program is downloaded from the recording medium to a memory such as storage or RAM. Recording media include CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), USB (Universal Serial Bus) memory, and the like. Also, the program may be downloaded to at least one of the vehicle-mounted device 20 and the agent server 30 via a network.

Although the embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and improvements are possible without departing from the scope of the present invention. is.

10 agent system 12 vehicle 20 vehicle-mounted device 20A CPU
20B ROM
20C RAM
20D in-vehicle communication I/F
20E Wireless communication I/F
20F Input/output I/F
20G internal bus 22 ECU
24 microphone 26 speaker 27 monitor 28 GPS device 29 external bus 30 agent server 30A CPU
30B ROM
30C RAM
30D Storage 30E Communication I/F
30G internal bus 40 information providing server 100 processing program 110 function DB
120 owner's manual 130 function usage information 200 acquisition unit 210 detection unit 220 selection unit 230 proposal unit

Claims (1)

an acquisition unit that acquires a past driving history of a vehicle including at least the own vehicle at a planned parking point for a vehicle equipped with an automatic parking function;
a determination unit that determines whether the difficulty level of parking at the planned parking spot is high based on the acquired driving history;
a proposing unit that causes an output device provided in the vehicle to output proposal information proposing use of the automatic parking function when the determining unit determines that the difficulty level is high;
A parking assistance device comprising:

Images