| CPC B60W 30/06 (2013.01) [B60W 2554/80 (2020.02)] | 9 Claims |
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1. A parking control method, comprising:
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;
detecting an object around the vehicle;
determining that the vehicle cannot travel along the first route without being obstructed by the object;
determining that execution of the first control instruction is suspended or canceled when the travel along the first route is determined to be not possible for the vehicle, wherein the first control instruction is suspended or canceled along the first route in a suspended position that is partially within the target parking space;
when a distance between the vehicle and the object detected around the vehicle is less than a predetermined value when the execution of the first control instruction is suspended or canceled, setting an evacuation space to which the vehicle is movable, the evacuation space being a predetermined distance or more from the object detected around the vehicle and partially within the target parking space;
calculating a second route to the evacuation space;
executing with the control device a second control instruction to move the vehicle along the second route in a direction that is opposite of the first route and is a continuous movement to the evacuation space; and
after moving to the evacuation space, executing the first control instruction again to move the vehicle into the target parking space,
wherein the target space, the suspended position, and the evacuation space each partially overlap.
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