Patent Publication Number: US-2020282976-A1

Title: Vehicle control device, information providing device, information providing system, vehicle control method, information providing method, and storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2019-040967, filed Mar. 6, 2019, the content of which is incorporated herein by reference. 
     BACKGROUND 
     Field 
     The present invention relates to a vehicle control device, an information providing device, an information providing system, a vehicle control method, an information providing method, and a storage medium. 
     Description of Related Art 
     In recent years, research on automatic controlling of vehicles has been conducted. In automatic valet parking using this technology, a parking management device which, if an exit request signal that requests an exit from parking is received, creates an exit traveling route from a parking position of a vehicle which was requested to exit to a boarding area and transmits information of the exit traveling route to the vehicle has been disclosed (Japanese Unexamined Patent Application, First Publication No. 2018-97536) 
     However, the conventional technology described above does not disclose processing when a vehicle enters a parking lot. For this reason, an inappropriate vehicle may enter a facility of a parking lot or a user may attempt to cause an inappropriate vehicle to enter the facility of a parking lot. 
     SUMMARY 
     The present invention has been made in view of such circumstances, and an object thereof is to provide a vehicle control device, an information providing device, an information providing system, a vehicle control method, an information providing method, and a storage medium which can allow a user to recognize in advance that a predetermined parking lot is not available. 
     A vehicle control device, an information providing device, an information providing system, a vehicle control method, an information providing method, and a storage medium have adopted the following configuration. 
     (1): A vehicle control device according to one aspect is a vehicle control device which includes a vicinity situation recognizer configured to recognize a vicinity situation of a vehicle, a driving controller configured to control steering and acceleration or deceleration of the vehicle on the basis of the vicinity situation recognized by the vicinity situation recognizer, a first determiner configured to determine whether the vehicle may enter a specific parking facility in which vehicles autonomously park, a second determiner configured to determine whether the vehicle is a vehicle that can enter the specific parking facility, and an information provider configured to notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when the first determiner determines that the vehicle may enter the specific parking facility and the second determiner determines that the vehicle is a vehicle that cannot enter the specific parking facility. 
     (2) In the aspect of (1) described above, when a facility having the specific parking facility is a facility provided with a getting-off area at which the occupant of the vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, the information provider performs the notification before the vehicle passes through the entrance reference point. 
     (3): In the aspect of (1) or (2) described above, when a facility having the specific parking facility is a facility in which the vehicle can reach a getting-off area at which the occupant of the vehicle gets off the vehicle without passing through an entrance reference point that is a reference of entrance, the information provider performs the notification when the vehicle has reached or before reaching the getting-off area. 
     (4): In the aspect of any one of (1) to (3) described above, the first determiner is configured to determine whether a facility having the specific parking facility is a facility provided with a getting-off area at which the occupant of the vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, and whether the facility having the specific parking facility is the facility in which the vehicle can reach the getting-off area at which the occupant of the vehicle gets off the vehicle without passing through the entrance reference point that is a reference of entrance, and the information provider is configured to change a timing for performing the notification on the basis of a result of the determination performed by the first determiner. 
     (5): In the aspect of any one of (1) to (4) described above, the second determiner is configured to determine a vehicle that tows an object, a vehicle that does not have a function of controlling the steering and acceleration or deceleration thereof, a vehicle whose minimum ground clearance is equal to or less than a set minimum ground clearance, or a vehicle which has different outer diameters of left and right tires thereof as a vehicle which cannot enter the specific parking facility. 
     (6): An information providing device according to another aspect includes a first determiner configured to determine whether a vehicle controlling steering and acceleration or deceleration of the vehicle may enter a specific parking facility in which vehicles autonomously park on the basis of a vicinity situation recognized by a vicinity situation recognizer that is configured to recognize the vicinity situation of the vehicle, a second determiner configured to determine whether the vehicle is a vehicle that can enter the specific parking facility, and an information provider configured to notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when the first determiner determines that the vehicle may enter the specific parking facility and the second determiner determines that the vehicle is a vehicle that cannot enter the specific parking facility. 
     (7): In the aspect of (6) described above, when a facility having the specific parking facility is a facility provided with a getting-off area at which the occupant of a vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, the information provider performs the notification before the vehicle passes through the entrance reference point. 
     (8): In the aspect of (6) or (7) described above, when a facility having the specific parking facility is a facility in which a vehicle can reach a getting-off area at which the occupant of the vehicle gets off the vehicle without passing through an entrance reference point that is a reference of entrance, the information provider performs the notification when the vehicle has reached or before reaching the getting-off area. 
     (9): In the aspect of any one of (6) to (8) described above, the first determiner is configured to determine that a facility having the specific parking facility is a facility provided with a getting-off area at which the occupant of a vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, or that the facility having the specific parking facility is a facility in which a vehicle can reach a getting-off area at which the occupant of the vehicle gets off the vehicle without passing through the entrance reference point that is a reference of entrance, and the information provider is configured to change a timing for performing the notification on the basis of a result of the determination performed by the first determiner. 
     (10): An information providing system according to still another aspect includes a terminal device which includes a terminal-side determiner configured to determine whether a vehicle is a vehicle that cannot enter a specific parking facility in accordance with a request from a vehicle control device, and a terminal-side provider configured to provide a result of the determination performed by the terminal-side determiner to the vehicle control device when the terminal-side determiner determines that the vehicle is a vehicle that cannot enter the specific parking facility, a vehicle control device that includes; a vicinity situation recognizer configured to recognize a vicinity situation of a vehicle, a driving controller configured to control steering and acceleration or deceleration of the vehicle on the basis of the vicinity situation recognized by the vicinity situation recognizer, a vehicle-side determiner configured to determines whether the vehicle may enter the specific parking facility in which vehicles autonomously park, and, when it is determined that the vehicle may enter the specific parking facility, to request the terminal device to determine whether the vehicle is a vehicle that can enter the specific parking facility, and a vehicle-side provider configured to notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when it is determined that the vehicle is a vehicle that cannot enter the specific parking facility on the basis of a result of determination provided by the terminal-side provider in accordance with the request. 
     (11): In the aspect of (10) described above, when a facility having the specific parking facility is a facility provided with an getting-off area at which the occupant of a vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, the vehicle-side provider performs the notification before the vehicle passes through the entrance reference point. 
     (12): In the aspect of (10) or (11) described above, when a facility having the specific parking facility is a facility in which a vehicle can reach a getting-off area at which the occupant of the vehicle gets off the vehicle without passing through an entrance reference point that is a reference of entrance, the vehicle-side provider performs the notification when the vehicle has reached or before reaching the getting-off area. 
     (13): In the aspect of any one of (10) to (12) described above, the vehicle-side determiner is configured to determine that a facility having the specific parking facility is a facility provided with a getting-off area at which the occupant of a vehicle gets off the vehicle after the vehicle passes through an entrance reference point that is a reference of entrance, or that the facility having the specific parking facility is a facility in which a vehicle can reach a getting-off area at which the occupant of the vehicle gets off the vehicle without passing through the entrance reference point that is a reference of entrance, and the vehicle-side provider is configured to change a timing for performing the notification on the basis of a result of the determination performed by the vehicle-side determiner. 
     (14): A vehicle control method according to still another aspect includes, by one or more control devices, recognizing a vicinity situation of a vehicle, controlling steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation, determining whether the vehicle may enter a specific parking facility in which vehicles autonomously park, determining whether the vehicle is a vehicle that can enter the specific parking facility, and notifying an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when it is determined that the vehicle may enter the specific parking facility and that the vehicle is a vehicle that cannot enter the specific parking facility. 
     (15): A non-transitory computer-readable storage medium according to still another aspect is a storage medium that stores a computer program to be executed by a computer to perform at least: cause one or more control devices to recognize a vicinity situation of a vehicle, control steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation, determine whether the vehicle may enter a specific parking facility in which vehicles autonomously park, determine whether the vehicle is a vehicle that can enter the specific parking facility, and notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when it is determined that the vehicle may enter the specific parking facility and that the vehicle is a vehicle that cannot enter the specific parking facility. 
     (16): An information providing method according to still another aspect is an information providing method in which one or more information providing devices determine whether a vehicle that controls steering and acceleration or deceleration of the vehicle may enter a specific parking facility in which vehicles autonomously park on the basis of a vicinity situation recognized by a vicinity situation recognizer that is configured to recognize the vicinity situation of the vehicle, determine whether the vehicle is a vehicle that can enter the specific parking facility, and notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when it is determined that the vehicle may enter the specific parking facility and that the vehicle is a vehicle that cannot enter the specific parking facility. 
     (17): A non-transitory computer-readable storage medium according to still another aspect is a storage medium that stores a computer program to be executed by a computer to perform at least: cause one or more information providing devices to determine whether a vehicle that controls steering and acceleration or deceleration of the vehicle may enter a specific parking facility in which vehicles autonomously park on the basis of a vicinity situation recognized by a vicinity situation recognizer that is configured to recognize the vicinity situation of the vehicle, to determine whether the vehicle is a vehicle that can enter the specific parking facility, and to notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the vehicle enters the specific parking facility when it is determined that the vehicle may enter the specific parking facility and that the vehicle is a vehicle that cannot enter the specific parking facility. 
     According to (1) to (17), it is possible to allow the user to recognize that a predetermined parking lot cannot be used in advance. 
     According to (4), (9), and (13), notification is performed at an appropriate timing by adding an equipment provided in a facility. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment. 
         FIG. 2  is a functional configuration diagram of a first controller and a second controller. 
         FIG. 3  is a diagram which schematically shows a scene in which an autonomous parking event is executed. 
         FIG. 4  is a diagram which shows an example of a configuration of a parking lot management device. 
         FIG. 5  is a diagram which shows an example of content of vehicle information. 
         FIG. 6  is a diagram which shows an example of a scene in which notification processing is performed. 
         FIG. 7  is a diagram which shows an example of information notified to an occupant. 
         FIG. 8  is a flowchart which shows an example of a flow of processing executed by an automated driving control device. 
         FIG. 9  is a diagram which shows an example of a scene in which an information provider of a second embodiment performs notification. 
         FIG. 10  is a diagram which shows an example of information notified to an occupant. 
         FIG. 11  is a flowchart which shows an example of a flow of processing executed by an automated driving control device of the second embodiment. 
         FIG. 12  is a flowchart which shows an example of a flow of processing executed by an automated driving control device of a third embodiment. 
         FIG. 13  is a diagram which shows an example of a configuration of a parking lot management device of a fourth embodiment. 
         FIG. 14  is a diagram which shows an example of content of a parking space state table. 
         FIG. 15  is a flowchart which shows an example of a flow of processing executed by a host vehicle M and the parking lot management device. 
         FIG. 16  is a diagram which shows an example of a configuration of a parking lot management device of a fifth embodiment. 
         FIG. 17  is a flowchart which shows an example of a flow of processing executed by the host vehicle M and the parking lot management device. 
         FIG. 18  is a diagram which shows an example of a functional configuration of an information providing device. 
         FIG. 19  is a diagram which shows an example of content of parking lot information of a sixth embodiment. 
         FIG. 20  is a sequence diagram which shows an example of a flow of processing executed by a vehicle and an information providing device. 
         FIG. 21  is a diagram which schematically shows a scene in which an autonomous parking event of a seventh embodiment is executed. 
         FIG. 22  is a diagram which shows an example of a hardware configuration of an automated driving control device of the embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, embodiments of a vehicle control device, an information providing system, a vehicle control method, an information providing method, and a storage medium will be described with reference to the drawings. 
     First Embodiment 
     [Overall Configuration] 
       FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. A vehicle on which the vehicle system  1  is mounted is, for example, a two-wheel, three-wheel, or four-wheel vehicle, and a driving source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using electric power generated by a generator connected to the internal combustion engine, or discharge power of a secondary battery or a fuel cell. 
     The vehicle system  1  includes, for example, a camera  10 , a radar device  12 , a finder  14 , an object recognition device  16 , a communication device  20 , a human machine interface (HMI)  30 , a vehicle sensor  40 , a navigation device  50 , a map positioning unit (MPU)  60 , a driving operator  80 , an automated driving control device  100 , a traveling drive force output device  200 , a brake device  210 , and a steering device  220 . These devices and apparatuses are connected to each other by a multiplex communication line such as a controller area network (CAN) communication line, a serial communication line, a wireless communication network, or the like. The configuration shown in  FIG. 1  is merely an example, and some of the configuration may be omitted or another configuration may be further added. 
     The camera  10  is a digital camera using a solid-state imaging sensor such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera  10  is attached to an arbitrary place of a vehicle (hereinafter, a host vehicle M) on which the vehicle system  1  is mounted. When the front is imaged, the camera  10  is attached to an upper part of the front windshield, a rear surface of the windshield rearview mirror, or the like. The camera  10  captures an image of a vicinity of the host vehicle M periodically and repeatedly. The camera  10  may also be a stereo camera. 
     The radar device  12  emits radio waves such as millimeter waves to the vicinity of the host vehicle M and detects radio waves (reflected waves) reflected by an object to detect at least a position (distance and orientation) of the object. The radar device  12  is attached to an arbitrary place of the host vehicle M. The radar device  12  may detect a position and a speed of the object using a frequency modulated continuous wave (FM-CW) method. 
     The finder  14  is a light detection and ranging (LIDAR). The finder  14  emits light to the vicinity of the host vehicle M and measures scattered light. The finder  14  detects a distance to the object on the basis of time from light emission to light reception. The emitted light is, for example, a pulsed laser beam. The finder  14  is attached to an arbitrary place of the host vehicle M. 
     The object recognition device  16  performs sensor fusion processing on results of detection by some or all of the camera  10 , the radar device  12 , and the finder  14 , and recognizes the position, type, speed, and the like of the object. The object recognition device  16  outputs a result of the recognition to the automated driving control device  100 . The object recognition device  16  may output the results of detection by the camera  10 , the radar device  12 , and the finder  14  to the automated driving control device  100  as they are. The object recognition device  16  may also be omitted from the vehicle system  1 . 
     The communication device  20  uses, for example, a cellular network, a Wi-Fi network, a Bluetooth (registered trademark), a dedicated short range communication (DSRC), or the like, and communicates with another vehicle or a parking lot management device (to be described below) existing in the vicinity of the host vehicle M or various server devices. 
     The HMI  30  presents various types of information to an occupant of the host vehicle M and receives an input operation from the occupant. The HMI  30  includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like. 
     The vehicle sensor  40  includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects an acceleration, a yaw rate sensor that detects an angular speed around a vertical axis, an orientation sensor that detects a direction of the host vehicle M, and the like. 
     The navigation device  50  includes, for example, a global navigation satellite system (GNSS) receiver  51 , a navigation HMI  52 , and a route determiner  53 . The navigation device  50  holds first map information  54  in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver  51  identifies the position of the host vehicle M on the basis of a signal received from a GNSS satellite. The position of the host vehicle M may be identified or supplemented by an inertial navigation system (INS) using an output of the vehicle sensor  40 . The navigation HMI  52  includes a display device, a speaker, a touch panel, a key, and the like. The navigation HMI  52  may be partially or entirely shared with the HMI  30  described above. The route determiner  53  determines, for example, a route from the position of the host vehicle M identified by the GNSS receiver  51  (or an arbitrary input position) to a destination input by the occupant using the navigation HMI  52  (hereinafter, a route on a map) with reference to the first map information  54 . The first map information  54  is, for example, information in which a road shape is expressed by a link indicating a road and nodes connected by the link. The first map information  54  may include a curvature of a road, point of interest (POI) information, and the like. The route on a map is output to the MPU  60 . The navigation device  50  may perform route guidance using the navigation HMI  52  on the basis of the route on a map. The navigation device  50  may be realized by, for example, a function of a terminal device such as a smartphone or a tablet terminal carried by the occupant. The navigation device  50  may transmit a current position and a destination to a navigation server via the communication device  20 , and acquire the same route as the route on a map from the navigation server. 
     The MPU  60  includes, for example, a recommended lane determiner  61 , and holds second map information  62  in the storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the route on a map provided from the navigation device  50  into a plurality of blocks (for example, divides every 100 [m] in a vehicle proceeding direction), and determines a recommended lane for each block with reference to the second map information  62 . The recommended lane determiner  61  determines which lane from the left to travel. When a branch place is present in the route on a map, the recommended lane determiner  61  determines a recommended lane such that the host vehicle M can travel in a reasonable route for proceeding to the branch destination. 
     The second map information  62  is map information with higher accuracy than the first map information  54 . The second map information  62  includes, for example, information on a center of a lane, information on a boundary of a lane, or the like. The second map information  62  may include road information, traffic regulation information, address information (addresses and postal codes), facility information, telephone number information, and the like. The second map information  62  may be updated at any time by the communication device  20  communicating with another device. 
     The driving operator  80  includes, for example, accelerator pedals, brake pedals, shift levers, steering wheels, modified steering, joysticks, and other operators. A sensor that detects an amount of operation or a presence or absence of an operation is attached to the driving operator  80 . A result of the detection is output to the automated driving control device  100 , or some or all of the traveling drive force output device  200 , the brake device  210 , and the steering device  220 . 
     The automated driving control device  100  includes, for example, a first controller  120 , a second controller  160 , a first determiner  180 , a second determiner  182 , an information provider  184 , and a storage  190 . 
     The first controller  120 , the second controller  160 , the first determiner  180 , the second determiner  182 , and the information provider  184  are realized by, for example, a hardware processor such as a central processing unit (CPU) executing a program (software). Some or all of these components may be realized by hardware (circuit unit; including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and a graphics processing unit (GPU), or may also be realized by cooperation of software and hardware. The program may be stored in advance in a storage device (storage device including a non-transitory storage medium) such as an HDD or a flash memory of the automated driving control device  100 , or may be stored in a detachable storage medium such as a DVD or a CD-ROM and installed in the HDD or the flash memory of the automated driving control device  100  by the storage medium (non-transitory storage medium) being mounted on a drive device. 
     The storage  190  is realized by an HDD, a flash memory, an electrically erasable programmable read only memory (EEPROM), a read only memory (ROM), a random access memory (RAM), or the like. The storage  190  stores, for example, vehicle information  192  (details will be described below). 
       FIG. 2  is a functional configuration diagram of the first controller  120  and the second controller  160 . The first controller  120  includes, for example, a recognizer  130  and an action plan generator  140 . The first controller  120  realizes, for example, a function based on artificial intelligence (AI) and a function based on a model given in advance in parallel. For example, a function of “recognizing an intersection” may be may be realized by executing in parallel with recognition of an intersection by deep learning and the like and recognition based on conditions given in advance (such as a signal that can be subjected to pattern matching, a road sign, and the like), and may be realized by scoring both recognition and comprehensively evaluating them. As a result, a reliability of automated driving is secured. 
     The recognizer  130  recognizes a state such as a position, a speed, an acceleration, and the like of an object in the vicinity of the host vehicle M on the basis of information input from the camera  10 , the radar device  12 , and the finder  14  via the object recognition device  16 . The position of an object is recognized as a position on absolute coordinates with a representative point (a center of gravity, a center of a drive shaft, and the like) of the host vehicle M as an origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by a represented area. The “state” of the object may include an acceleration or jerk of the object, or an “action state” (for example, whether a lane change is being performed or is intended to be performed). 
     The recognizer  130  recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizer  130  recognizes the traveling lane by comparing a pattern of a road section line (for example, an array of solid lines and dashed lines) obtained from the second map information  62  with a pattern of a road section line in the vicinity of the host vehicle M recognized from an image captured by the camera  10 . The recognizer  130  may recognize the traveling lane by recognizing not only a road section line but also a traveling road boundary (road boundary) including the road section line, a road shoulder, a curb, a median strip, a guardrail, and the like. In this recognition, the position of the host vehicle M acquired from the navigation device  50  and a result of processing by the INS may be added. The recognizer  130  recognizes temporary stop lines, obstacles, red lights, toll booths, and other road events. 
     The recognizer  130  recognizes the position and posture of the host vehicle M with respect to the traveling lane when the traveling lane is recognized. The recognizer  130  may recognize a deviation of a reference point of the host vehicle M from the center of the lane and an angle formed against a line connecting the center of the lane in the proceeding direction of the host vehicle M as a relative position and posture of the host vehicle M with respect to the traveling lane. Instead, the recognizer  130  may recognize a position of the reference point of the host vehicle M or the like with respect to any side end (a road section line or road boundary) of the traveling lane) as the relative position of the host vehicle M with respect to the traveling lane. 
     The recognizer  130  includes a parking space recognizer  132  that is activated in an autonomous parking event to be described below. Details of functions of the parking space recognizer  132  will be described below. 
     The action plan generator  140  travels in a recommended lane determined by the recommended lane determiner  61 , in principle, and further generates a target trajectory in which the host vehicle M will automatically (independently from an operation of a driver) travel to be able to cope with a vicinity situation of the host vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a sequential arrangement of trajectory points to be reached by the host vehicle M. The trajectory points are points to be reached by the host vehicle M every predetermined traveling distance (for example, about several [m]) on a road, and apart from this, a target speed and a target acceleration for each predetermined sampling time (for example, about 0 commas [sec]) are generated as a part of the target trajectory. The trajectory point, for each predetermined sampling time, may be a position to be reached by the host vehicle M at a corresponding predetermined sampling time. In this case, information on the target speed and the target acceleration is expressed by an interval of the trajectory points. 
     The action plan generator  140  may set an event of automated driving in generating the target trajectory. Examples of the event of automated driving include a constant speed traveling event, a low-speed following traveling event, a lane change event, a branch event, a merging event, a takeover event, an autonomous parking event in which a vehicle parks with automated traveling without depending on an operation of the occupant in valet parking or the like. The action plan generator  140  generates a target trajectory in accordance with an activated event. The action plan generator  140  includes an autonomous parking controller  142  which is activated when the autonomous parking event is executed. Details of functions of the autonomous parking controller  142  will be described below. 
     The second controller  160  controls the traveling drive force output device  200 , the brake device  210 , and the steering device  220  such that the host vehicle M passes through a target trajectory generated by the action plan generator  140  at a scheduled time. 
     Returning to  FIG. 2 , the second controller  160  includes, for example, an acquirer  162 , a speed controller  164 , and a steering controller  166 . The acquirer  162  acquires information on the target trajectory (trajectory point) generated by the action plan generator  140 , and causes it to be stored in a memory (not shown). The speed controller  164  controls the traveling drive force output device  200  or the brake device  210  on the basis of a speed element associated with the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  in accordance with a bending condition of the target trajectory stored in the memory. The processing performed by the speed controller  164  and the steering controller  166  is, for example, realized by a combination of feed forward control and feedback control. As an example, the steering controller  166  executes a combination of the feed forward control in accordance with a curvature of a road ahead of the host vehicle M and the feedback control based on a deviation from the target trajectory. 
     Details of the processing of the first determiner  180 , the second determiner  182 , and the information provider  184  will be described below. 
     The traveling drive force output device  200  outputs a traveling drive force (torque) for traveling of the vehicle to drive wheels. The traveling drive force output device  200  includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an electronic control unit (ECU) for controlling these. The ECU controls the constituents described above according to information input from the second controller  160  or information input from the driving operator  80 . 
     The brake device  210  includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls an electric motor according to the information input from the second controller  160  and the information input from the driving operator  80 , and outputs a brake torque in accordance with a braking operation to each vehicle wheel. The brake device  210  may include, as a backup, a mechanism that transmits a hydraulic pressure generated by an operation of a brake pedal included in the driving operator  80  to the cylinder via a master cylinder. The brake device  210  is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls an actuator according to the information input from the second controller  160  and transmits the hydraulic pressure of the master cylinder to the cylinder. 
     The steering device  220  includes, for example, a steering ECU and an electric motor. The electric motor changes, for example, a direction of steering wheels by, for example, applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor and changes a direction of the steering wheels according to the information input from the second controller  160  or the information input from the driving operator  80 . 
     [Autonomous Parking Event—at the Time of Entrance] 
     The autonomous parking controller  142  causes, for example, the host vehicle M to park in a parking space on the basis of the information acquired from the parking lot management device  400  by the communication device  20 .  FIG. 3  is a diagram which schematically shows a scene in which the autonomous parking event is executed. In a route from a road Rd to a visiting destination facility, gates  300 -in (an entrance reference point that is a reference for entering a specific packing facility) and  300 -out are provided. The host vehicle M passes through the gate  300 -in and proceeds to the stop area  310  by manual driving or automated driving. The stop area  310  faces a getting-on/off area  320  connected to the visiting destination facility. The getting-on/off area  320  is provided with an eave to avoid rain and snow. 
     The host vehicle M stops at the stop area  310 , performs automated driving in an unmanned manner (or in a manned manner) after the occupant has got off at the getting-on/off area  320 , and starts the autonomous parking event that the vehicle moves to a parking space PS in a parking lot PA. the parking lot PA is, for example, a parking lot dedicated to vehicles parking in parking spaces by automated traveling. The parking lot PA is, for example, a parking lot which is not available for vehicles parking in parking spaces by traveling in manual driving. The “parking lot PA” is an example of the “specific parking facility.” In the first map information  54  or the second map information  62  (hereinafter, these may be referred to as map information), information indicating whether a parking lot is the parking lot dedicated to vehicles parking in parking spaces by automated traveling is associated with identification information or position information of a parking lot. Facilities in  FIG. 3  may include a parking lot in which vehicle parking is performed by manual driving in addition to the parking lot PA. 
     A start trigger of the autonomous parking event may be, for example, any operation by the occupant, or may be a reception of a predetermined signal wirelessly from the parking lot management device  400 . The autonomous parking controller  142  transmits a parking request to the parking lot management device  400  by controlling the communication device  20  when the autonomous parking event is started. Then, the host vehicle M moves from the stop area  310  to the parking lot PA according to a guidance of the parking lot management device  400  or while sensing by itself. 
       FIG. 4  is a diagram which shows an example of the configuration of the parking lot management device  400 . The parking lot management device  400  includes, for example, a communicator  410 , a controller  420 , and a storage  430 . The storage  430  stores information such as parking lot map information  432  and information on a parking space state table  434 . 
     The communicator  410  wirelessly communicates with the host vehicle M and other vehicles. The controller  420  guides a vehicle to a parking space PS on the basis of information acquired by the communicator  410  and information stored in the storage  430 . The parking lot map information  432  is information that geometrically represents a structure of a parking lot PA. The parking lot map information  432  includes coordinates for each parking space PS. The parking space state table  434  includes, for example, a state indicating whether a parking space PS is in an empty state or a full state (parking) and a vehicle ID that is identification information of a parking vehicle in the full state are associated with a parking space ID that is identification information of a parking space PS. 
     If the communicator  410  receives a parking request from a vehicle, the controller  420  extracts a parking space PS whose state is an empty state with reference to the parking space state table  434 , acquires a position of the extracted parking space PS from the parking lot map information  432 , and transmits a suitable route to the acquired position of the parking space PS to the vehicle using the communicator  410 . The controller  420  instructs an identified vehicle to stop, slow down, or the like when necessary on the basis of a positional relationship of a plurality of vehicles such that the vehicles do not proceed to the same place at the same time. 
     In a vehicle which has received a route (hereinafter, referred to as the host vehicle M), the autonomous parking controller  142  generates a target trajectory based on the route. If a target parking space PS is approached, the parking space recognizer  132  recognizes a parking frame line and the like that partition the parking space PS, and recognizes a detailed position of the parking space PS to provide it to the autonomous parking controller  142 . The autonomous parking controller  142  corrects the target trajectory by receiving it, and causes the host vehicle M to park in the parking space PS. 
     [Autonomous Parking Event—at the Time of Exit] 
     The autonomous parking controller  142  and the communication device  20  maintain an operation state even when the host vehicle M is parked. The autonomous parking controller  142  causes a system of the host vehicle M to be activated and causes the host vehicle M to move to the stop area  310  when, for example, the communication device  20  has received a pick-up request from a terminal device of the occupant. At this time, the autonomous parking controller  142  controls the communication device  20  and transmits a start request to the parking lot management device  400 . The controller  420  of the parking lot management device  400 , like at the time of entrance, instructs an identified vehicle to stop, slow down, or the like when necessary on the basis of the positional relationship of a plurality of vehicles such that the vehicles do not proceed to the same place at the same time. If the host vehicle M is moved to the stop area  310  and causes the occupant to get thereon, the autonomous parking controller  142  stops operating, and thereafter, manual driving or automated driving by another functional unit is started. 
     Not limited to the description described above, the autonomous parking controller  142 , independently from communication, may find an empty parking space by itself on the basis of a result of detection by the camera  10 , the radar device  12 , the finder  14 , or the object recognition device  16 , and cause the host vehicle M to park in the found parking space. 
     The first determiner  180  determines whether the host vehicle M may enter the parking lot PA in which vehicles autonomously park. For example, the first determiner  180  determines that the host vehicle may enter the parking lot PA when one or more conditions among the following conditions (1) to (3) are satisfied. 
     (1) The destination of a vehicle is set to the parking lot PA or a facility having the parking lot PA in the navigation device  50 . The facility having the parking lot PA is, for example, a facility that manages the parking lot PA like a department store that manages the parking lot PA, a facility affiliated with the parking lot PA, or the like. 
     (2) The occupant has operated a direction indicator of the vehicle to indicate an intention to enter the parking lot PA at a predetermined distance before the parking lot PA. The occupant has performed an operation of blinking a left direction indicator of the vehicle when the vehicle reaches a predetermined distance before the parking lot PA when the vehicle is traveling in the road Rd. 
     (3) The occupant of the vehicle has controlled the vehicle such that the vehicle approaches a side near the parking lot PA of a lane when the condition (1) or (2) described above is satisfied and the vehicle is traveling in the road Rd. 
     When it is determined that the host vehicle may enter a parking lot, the first determiner  180  refers to the position information of the host vehicle M and the map information, and determines whether the parking lot which is determined that there is a possibility that the host vehicle may enter is the parking lot dedicated to vehicles parking in parking spaces by automated traveling. Then, when the parking lot is such a specific parking lot, the second determiner  182  performs the following processing. 
     The second determiner  182  determines whether the host vehicle is a vehicle that can enter the parking lot PA. The second determiner  182  refers to the vehicle information  192  stored in the storage  190  and determines whether the host vehicle M satisfies conditions for entering the parking lot PA. 
       FIG. 5  is a diagram which shows an example of content of the vehicle information  192 . The vehicle information  192  includes, for example, information indicating whether the host vehicle M is a towing vehicle, information indicating whether the host vehicle is a vehicle capable of performing automated driving, information indicating a minimum ground clearance of the host vehicle M, information indicating a total length of the host vehicle M, information indicating an outer diameter ratio of a tire, and the like. The minimum ground clearance is a vertical distance from a horizontal ground surface to a lowest point (for example, a fender) of the vehicle body. Some of these types of information may be omitted. 
     For example, the host vehicle M may recognize that a trailer T is being towed on the basis of a result of detection by a detector that detects that a connection part of the trailer and a connection part of the vehicle are connected. Each piece of the information described above may be acquired on the basis of an operation of the HMI  30  performed by the occupant or the like. The second determiner  182  may refer to a result of detecting of an air pressure sensor that detects an air pressure of the tire, and derive an outer diameter ratio of the tire. 
     The second determiner  182  compares the vehicle information  192  with the setting conditions for entering the parking lot PA, and determines that the host vehicle M can enter the parking lot PA when the vehicle information  192  satisfies the setting conditions. Vehicles that do not satisfy the setting conditions include, for example, at least one or more conditions of towing vehicles, vehicles that do not have a function of automated driving, vehicles whose minimum ground clearances are equal to or less than a set minimum ground clearance, or vehicles that have different outer diameters of the left and right tires (vehicles whose outer diameter ratios are different by a predetermined degree or more). The setting conditions are not limited to the above description, and may be conditions related to specifications, elements, or the like of vehicles, which are different from the empty state of the parking lot. 
     The second determiner  182  may refer to the setting conditions of each parking lot, and determines that the host vehicle M is a vehicle which can enter the parking lot PA when the vehicle information  192  satisfies the setting conditions. The second determiner  182  may refer to the setting conditions of each parking lot associated with the identification information of a parking lot of the map information or the setting conditions of a parking lot acquired from another device as described in a third embodiment described below, and determine that the host vehicle M is a vehicle that can enter the parking lot PA. 
     When the first determiner  180  has determined that the host vehicle M may enter the parking lot PA and the second determiner  182  has determined that the host vehicle M does not satisfy the conditions for entering the parking lot PA, the information provider  184  notifies the occupant that entrance to the parking lot PA is inappropriate before the host vehicle M enters the parking lot PA. The term of “inappropriate” means that the host vehicle M cannot park in the parking lot PA. In the following description, this processing is referred to as “notification processing.” 
     [Notification Processing] 
       FIG. 6  is a diagram which shows an example of a scene in which the notification processing is performed. Description of the same content as in  FIG. 3  will be omitted. In the example of  FIG. 6 , it is assumed that the host vehicle M is towing the trailer T and it is recognized that the trailer T is being towed. Then, the setting condition is a vehicle which is not a towing vehicle. It is assumed that the host vehicle M satisfies the other setting conditions. 
     For example, when the first determiner  180  has determined that the condition of (2) described above is satisfied and the second determiner  182  has further determined that the host vehicle M is a towing vehicle, the occupant is notified that entrance to the parking lot PA is inappropriate before the host vehicle M enters the gate  300 -in. The term of “before the host vehicle M enters the gate  300 -in” relates to before the host vehicle M turns left to enter the gate  300 -in, for example, the host vehicle being near a predetermined distance L from the gate  300 -in. 
       FIG. 7  is a diagram which shows an example of information notified to the occupant. For example, before the host vehicle M enters the parking lot PA, an image IM 1  is displayed on a displayer of the HMI  30 . For example, a position of the parking lot PA is displayed in the image IM 1 . The image IM 1  includes information indicating that the host vehicle M cannot use the parking lot PA, and the reason for this. 
     As described above, the information provider  184  performs a notification before the host vehicle M passes through the gate, and thereby it is possible to allow the user to recognize that the predetermined parking lot cannot be used in advance. Then, the occupant can avoid entering the parking lot PA in which the host vehicle M cannot park. As a result, convenience of the user is improved. 
     [Flowchart] 
       FIG. 8  is a flowchart which shows an example of a flow of processing executed by the automated driving control device  100 . The present processing is, for example, processing executed when the host vehicle M has approached a parking lot stored in the map information. The term of “approaching” means, for example, that the host vehicle M has reached a predetermined distance (a distance longer than the predetermined distance L in  FIG. 6 ) from the parking lot. The present processing is processing that stops when the host vehicle M has passed through the parking lot. 
     First, the first determiner  180  determines whether the host vehicle M may enter a specific parking facility (step S 100 ). When it is determined that the host vehicle M may enter the specific parking lot, the second determiner  182  determines whether the host vehicle M satisfies the setting conditions for entering the parking lot PA (step S 102 ). When the host vehicle M satisfies the setting conditions for entering the parking lot PA, processing of one routine of the present flowchart ends. When the host vehicle M does not satisfy the setting conditions for entering the parking lot PA, the information provider  184  performs the notification to the occupant (step S 104 ). As a result, the processing of one routine of the present flowchart ends. 
     According to the first embodiment described above, when a getting-off area at which the occupant of the host vehicle M gets off the vehicle after the vehicle has passed through the gate  300 -in is provided in the facility having the parking lot PA, the automated driving control device  100  can allow the user to recognize that a predetermined parking lot cannot be used in advance by performing notification before the host vehicle M passes through the gate  300 -in. 
     Even when the gate  300 -in is not provided, processing of the first embodiment may be performed. In this case, notification is performed before the vehicle enters the facility having the parking lot PA from the road Rd (before turning left in the road Rd). 
     Second Embodiment 
     Hereinafter, a second embodiment will be described. In the second embodiment, a notification timing is different from the notification timing of the first embodiment. In the second embodiment, the information provider  184  performs the notification when the host vehicle M has reached or before reaching the getting-off area. In the following description, the second embodiment will be described. 
       FIG. 9  is a diagram which shows an example of a scene in which the information provider  184  of the second embodiment performs the notification. A difference from in  FIG. 6  will be described. In  FIG. 9 , a parking lot in which vehicles park using manual driving is further included in addition to the parking lot PA in which vehicles park using automated driving. In  FIG. 9 , the gate  300 -in and an exit gate  300 -out are omitted, and a gate  302  (entrance reference point) is provided in the vicinity of an entrance or exit of the parking lot PA. The parking lot PA of  FIG. 9  is a parking lot in which the vehicle can reach the getting-on/off area  320  at which the occupant of the vehicle gets off the vehicle without passing through the gate. 
     In the second embodiment, the information provider  184  performs the notification when the host vehicle M has reached or before reaching the stop area  310 . The time when it has reached means, for example, when the host vehicle M has entered the stop area  310 . The term of “before reaching” means, for example, before (for example, immediately before) the host vehicle M enters the stop area  310  after turning left on the road Rd and entering the parking lot PA. When the host vehicle M is present in an area AR of  FIG. 9 , the automated driving control device  100  determines that it is “before reaching.” 
       FIG. 10  is a diagram which shows an example of the information notified to the occupant. For example, when the host vehicle M has arrived at the stop area  310 , an image IM 2  is displayed on the displayer of the HMI  30 . For example, the stop area  310  and the getting-on/off area  320  are displayed in the image IM 2 . The image IM 1  includes information indicating that the host vehicle M cannot use the parking lot PA and the reason. The reason is a reason indicating that the vehicle is an inappropriate vehicle for use of the parking lot PA. The map information of parking facilities may be included in the map information, and may be provided from the parking lot management device  400 . 
     As described above, the information provider  184  performs the notification when the host vehicle has reached or before reaching the getting-off area, and thereby it is possible to allow the user to recognize that a predetermined parking lot cannot be used in advance. 
     [Flowchart] 
       FIG. 11  is a flowchart which shows an example of a flow of processing executed by the automated driving control device  100  of the second embodiment. The present processing is processing in a case in which notification is performed when the host vehicle has reached the stop area  310 . A timing at which the present processing is started may also be a timing when the host vehicle M has approached the parking lot stored in the map information, and may also be a timing at which the host vehicle has reached a point at a predetermined distance from the stop area  310  of the parking lot. 
     Since processing of steps S 100 , S 102 , and S 104  in the flowchart of  FIG. 11  is the same as the processing of steps S 100 , S 102 , and S 104  in the flowchart of  FIG. 8 , description thereof will be omitted. In the step S 100  of  FIG. 11 , the first determiner  180  may determine that the host vehicle M may enter the parking lot PA when it is determined that the host vehicle has entered the facility having the parking lot PA (for example, when it is determined that the vehicle has entered the area AR after turning left on the road Rd) instead of the determinations (1) to (3) described above. 
     When the host vehicle M does not satisfy the setting conditions for entering the parking lot PA, the information provider  184  determines whether the host vehicle M has arrived at the stop area  310  (step S 103 ). When the host vehicle M has arrived at the stop area  310 , the information provider  184  performs the notification to the occupant. When the host vehicle M has passed through the parking lot without entering the parking lot PA, the present processing stops. When the host vehicle M has passed the parking lot without entering the parking lot PA, for example, the host vehicle proceeds on the road Rd as it is, or enters once the facility having the parking lot PA and immediately exits. As a result, processing of one routine of the present flowchart ends. 
     According to the second embodiment described above, when the automated driving control device  100  may reach the stop area  310  at which the occupant of the host vehicle M gets off the vehicle without passing through the gate  302  in the facility having the parking lot PA, the automated driving control device  100  performs the notification when the host vehicle M has reached or before reaching the stop area  310 , and thereby it is possible to allow the user to recognize that a predetermined parking lot cannot be used in advance. 
     Even if the gate  300 -in is provided as shown in  FIG. 3  described above, the processing of the second embodiment may also be performed. In this case, the gate  302  corresponds to an “entrance gate.” 
     Third Embodiment 
     Hereinafter, a third embodiment will be described. In the third embodiment, the automated driving control device  100  determines a timing for performing notification on the basis of information on the facility having the parking lot PA. In the following description, a difference from the first embodiment and the second embodiment will be described. 
     The first determiner  180  determines whether the facility having the parking lot PA is a facility provided with a getting-off area at which the occupant of the vehicle gets off the vehicle after the vehicle passes through the gate or whether the facility having the parking lot PA is a facility in which the vehicle can reach the getting-off area at which the occupant of the vehicle gets off the vehicle without passing through the gate. The information provider  184  changes the timing for performing notification on the basis of a result of the determination performed by the first determiner. 
     The information provider  184  performs the notification at a first timing when the facility having the parking lot PA is the facility provided with the getting-on/off area  320  at which the occupant of the vehicle gets off the vehicle after the vehicle passes through the gate  300 -in, and performs the notification at a second timing when the facility having the parking lot PA is the facility in which the vehicle can reach the getting-on/off area  320  at which the occupant of the vehicle gets off the vehicle without passing through the gate  302 . 
     The second timing is a timing that is later than the first timing. The first timing is, for example, a timing before the vehicle passes through the gate. The second timing is, for example, a timing when the vehicle has reached or before reaching the getting-off area. 
       FIG. 12  is a flowchart which shows an example of a flow of processing executed by the automated driving control device  100  of the third embodiment. The first determiner  180  determines whether the host vehicle M has reached a set distance before the facility having the parking lot PA stored in the map information (step S 150 ). When the host vehicle M has reached the set distance before the facility, the first determiner  180  acquires information on the facility (step S 152 ). The information on the facility is information indicating that the stop area  310  (getting-on/off area  320 ) is present after the vehicle passes through the gate or information indicating that the stop area  310  (getting-on/off area  320 ) is present before the vehicle passes through the gate. This information may be associated with the identification information of the facility in the map information in advance, and may be acquired from another terminal device (for example, the parking lot management device  400 ). 
     Next, the first determiner  180  determines whether the stop area  310  (getting-on/off area  320 ) is present after the vehicle passes through the gate (step S 154 ). When the stop area  310  is present after the vehicle passes through the gate, the automated driving control device  100  executes processing of the flowchart of  FIG. 8  (step S 156 ). When the stop area  310  is present before the vehicle passes through the gate, the automated driving control device  100  executes processing of the flowchart of  FIG. 11  (step S 158 ). 
     According to the third embodiment described above, the automated driving control device  100  determines a timing for performing notification on the basis of the information on the facility having the parking lot PA, and thereby it is possible to perform the notification at an appropriate timing. The processing of the third embodiment may be applied to processing of a fourth embodiment or a fifth embodiment described below. 
     Fourth Embodiment 
     Hereinafter, a fourth embodiment will be described. In the fourth embodiment, the automated driving control device  100  determines whether to perform the notification using the information provided by the parking lot management device  400 A. In the following description, a difference from the second embodiment will be mainly described. 
       FIG. 13  is a diagram which shows an example of the configuration of the parking lot management device  400 A according to the fourth embodiment. The parking lot management device  400 A includes a controller  420 A instead of the controller  420 , and a parking space state table  434 A instead of the parking space state table  434 . The controller  420 A includes a condition provider  422 . The condition provider  422  provides information on a parking lot managed by the parking lot management device  400 A in response to a request from the automated driving control device  100 . The information on a parking lot is, for example, setting conditions and an availability of a parking space. 
       FIG. 14  is a diagram which shows an example of content of the parking space state table  434 A. In the parking space state table  434 A, for example, information indicating conditions of a parking available vehicle in a parking space is further associated with a parking space ID in addition to the information included in the parking space state table  434 . In the example of  FIG. 14 , for example, information indicating whether a towing vehicle can stop and the availability of a parking space are associated with the parking space ID. 
     In the parking space state table  434 A, the parking space ID is associated with information indicating conditions for parking, such as a total length of a parking available vehicle, a total combined length of the parking available trailer T and vehicle, or a minimum ground clearance for parking. The parking space ID may be associated with a presence or absence of parking of a vehicle that does not have a function of automatically controlling steering and acceleration or deceleration of the vehicle and a presence or absence of parking of a vehicle and the like that have different outer diameters of the left and right tires. 
       FIG. 15  is a flowchart which shows an example of a flow of processing executed by the host vehicle M and the parking lot management device  400 A. Since processing of steps S 100 , S 103 , and S 104  of  FIG. 15  are the same as the processing of steps S 100 , S 103 , and S 104  of  FIG. 11 , the description thereof will be omitted. 
     In step S 100 , when it is determined that the host vehicle M has entered the facility having the parking lot PA, the second determiner  182  requests the parking lot management device  400 A to transmit the information indicating conditions for parking available vehicles (step S 101 ). The parking lot management device  400 A refers to the parking space state table  434 A and provides the information indicating conditions for parking available vehicles in the parking lot to the vehicle in response to the request transmitted in step S 101  (step S 200 ). 
     Next, the second determiner  182  determines whether the host vehicle M satisfies conditions for entering the parking lot PA on the basis of the information provided in step S 200  (step S 102 ), and proceeds to subsequent processing. The second determiner  182  compares a state of the host vehicle M with the information provided in step S 102  to determine whether a specific parking lot is a parking lot in which the host vehicle M can park. As a result, processing of one routine of the present flowchart ends. 
     In the processing described above, the information on parking available vehicles is transmitted to the vehicle, but the availability of the parking lot, a degree of congestion, and the like may be transmitted in addition to the information. The availability of the parking lot is, for example, the availability of a parking space and the like in which an identified vehicle such as a towing vehicle can park. The automated driving control device  100  may perform notification indicating that there is no empty parking space when parking is not possible in the parking space in which the host vehicle M can park. In this case, the information provider  184  may perform a notification that urges the occupant to park in a parking space in which parking is possible by manual driving. By performing the notification in accordance with the availability of a parking space in this manner, the user can easily recognize a parking space in which parking is possible or recognize a parking space in which parking is not possible. As a result, the convenience of the user is improved. 
     In the present embodiment, processing when it is determined that the vehicle has entered the facility having a specific parking lot has been described, but processing of the present embodiment may also be applied to the processing of performing notification before the vehicle enters the specific parking lot described in the first embodiment. That is, when the facility having the parking lot PA is the facility provided with the getting-off area at which the occupant of the host vehicle M gets off the vehicle after passing through the gate  300 -in, the information provider  184  performs the notification before the host vehicle M passes through an entrance gate. 
     According to the fourth embodiment described above, the same effects as those of the second embodiment can be achieved. 
     Fifth Embodiment 
     Hereinafter, a fifth embodiment will be described. In the fourth embodiment, it is assumed that the automated driving control device  100  determines whether the host vehicle M satisfies the conditions for entering the parking lot PA using the information provided by the parking lot management device  400 . In the fifth embodiment, a parking lot management device  400 B determines whether the host vehicle M satisfies the conditions for entering the parking lot PA. In the following description, a difference of the fifth embodiment from the fourth embodiment will be mainly described. In the fifth embodiment, the first determiner  180  is an example of a “vehicle-side determiner,” and the information provider  184  is an example of a “vehicle-side provider.” In the fifth embodiment, a condition determiner  426  is an example of a “terminal-side determiner,” and a provider  428  is an example of a “terminal-side provider.” 
       FIG. 16  is a diagram which shows an example of a configuration of the parking lot management device  400 B of the fifth embodiment. The parking lot management device  400 B includes a controller  420 B instead of the controller  420 . The controller  420 B includes an information acquirer  424 , the condition determiner  426 , and the provider  428 . The information acquirer  424  acquires information transmitted by the automated driving control device  100 . The condition determiner  426  determines whether the parking lot PA is a parking lot which the host vehicle M can enter in response to a request of the automated driving control device  100 . The provider  428  provides a result of the determination to the host vehicle M. 
       FIG. 17  is a flowchart which shows an example of a flow of processing executed by the host vehicle M and the parking lot management device  400 B. Since processing of steps S 100 , S 103 , and S 104  of  FIG. 17  is the same as the processing of steps S 100 , S 103 , and S 104  of  FIG. 11 , the description thereof will be omitted. 
     In step S 100 , when it is determined that the host vehicle M has entered the facility having the parking lot PA, the second determiner  182  provides the vehicle information  192  of the host vehicle M to the parking lot management device  400 B and further requests the parking lot management device  400 B to determine whether the parking lot PA is a parking lot in which the host vehicle M can park (step S 101 #). 
     The parking lot management device  400 B refers to the parking space state table  434 A and the vehicle information of the host vehicle M in response to the request transmitted in step S 101 #, determines whether the parking lot is a parking lot in which the host vehicle M can park, and provides a result of the determination to the vehicle M (step S 200 #). Next, the second determiner  182  determines whether the host vehicle M satisfies the conditions for entering the parking lot PA on the basis of the information provided in step S 200 # (step S 102 ), and proceeds to subsequent processing. As a result, processing of one routine of the present flowchart ends. 
     In the processing described above, the parking lot management device  400 B may transmit the availability of the parking lot, the degree of congestion, and the like to the host vehicle M. The availability of the parking lot is, for example, the availability of a parking space and the like in which an identified vehicle such as a towing vehicle can park. As a result, the occupant can recognize the availability of a parking space in which the host vehicle M can park. 
     In the processing of step S 104  of  FIG. 17 , the parking lot management device  400 B may transmit information indicating that there is no empty parking space and information urging to use a parking space in which parking is possible by manual driving when there is no empty parking space in which the host vehicle M can park. 
     In the present embodiment, the processing when it is determined that the vehicle has entered the facility having the parking lot PA has been described, but the processing of the present embodiment may also be applied to the processing of performing the notification before the vehicle enters the parking lot PA described in the first embodiment. That is, the information provider  184  performs the notification before the host vehicle M passes through the entrance gate when the facility having the parking lot PA is the facility provided with the getting-off area at which the occupant of the host vehicle M gets off the vehicle after the host vehicle M passes through the gate  300 -in. 
     According to the fifth embodiment described above, the parking lot management device  400 B determines whether the host vehicle M is in a parking lot in which it can park, thereby reducing a processing load of the automated driving control device  100 . 
     In the fourth and fifth embodiments, an example in which the host vehicle M communicates with the parking lot management device  400 B to perform the notification has been described, but the host vehicle M may perform the same processing by communicating with another server device. In this case, the another server device performs the same processing as the processing performed by the parking lot management device described in the fourth and fifth embodiments. 
     Sixth Embodiment 
     Hereinafter, a sixth embodiment will be described. The processing of the notification performed by the host vehicle M described in the first embodiment to the fifth embodiment described above may also be performed by an information providing device. 
       FIG. 18  is a diagram which shows an example of a functional configuration of an information providing device  500 . The information providing device  500  includes, for example, a communicator  502 , an information manager  504 , a first determiner  506 , a second determiner  508 , a provider  510 , and a storage  520 . Each of the information manager  504 , the first determiner  506 , the second determiner  508 , and the provider  510  is realized by, for example, a hardware processor such as a CPU executing a program (software). Some or all of these components may be realized by hardware (circuit unit; including circuitry) such as an LSI, an ASIC, an FPGA, and a GPU, and may also be realized by a cooperation of software and hardware. The program may be stored in a storage device such as an HDD or a flash memory of the information providing device  500  in advance, and may be stored in a detachable storage medium such as a DVD or a CD-ROM and installed in the HDD or the flash memory of the information providing device  500  by the storage medium being mounted on a drive device. 
     The storage  520  stores, for example, vehicle information  522  and parking lot information  524 . The vehicle information  522  includes, for example, the vehicle information  192  acquired from each vehicle.  FIG. 19  is a diagram which shows an example of content of the parking lot information  524  of the sixth embodiment. The parking lot information  524  includes, for example, a parking lot space state table (the same content as in the parking space state table  434 ) associated with a plurality of parking lot facilities (P 001  to P 004 ). 
     The communicator  502  is a communication interface that communicates with a vehicle, another terminal device, or the like. The information manager  504  manages information acquired by the communicator  502  communicating with a vehicle, another terminal device, or the like. For example, the information manager  504  causes the storage  520  to store the acquired information. 
     The first determiner  506  determines whether the host vehicle may enter the parking lot PA in which vehicles autonomously park. The second determiner  508  determines whether the vehicle satisfies conditions for entering the parking lot PA. The provider  510  transmits a result of determination performed by the second determiner  508  to the vehicle, the another terminal device, or the like. 
       FIG. 20  is a sequence diagram which shows an example of a flow of processing executed by a vehicle and the information providing device  500 . First, a vehicle transmits the vehicle information  192 , the destination of the vehicle, and the like for each predetermined time (step S 300 ). In the present processing, it is assumed that the destination of the vehicle is the parking lot PA or the facility having the parking lot PA. The information manager  504  of the information providing device  500  acquires the information transmitted in step S 300 , and causes the storage  520  to store the acquired information (step S 302 ). Next, the vehicle transmits the position information of the vehicle to the information providing device  500  at a predetermined interval (step S 304 ). 
     Next, the first determiner  506  of the information providing device  500  acquires the position information transmitted in step S 304 , and determines whether the vehicle has approached the parking lot PA on the basis of the acquired position information and the map information stored in the storage  520  (not shown) (step S 306 ). When the first determiner  506  determines that the vehicle has approached the parking lot PA, the second determiner  508  performs the processing of (A) and (B) to be described below (step S 308 ). 
     (A) The second determiner  508  determines whether the vehicle can park on the basis of the vehicle information acquired in step S 300  and information indicating the setting conditions. (B) The second determiner  508  determines whether a parking space in which a vehicle of interest can park is empty. The parking space in which the vehicle of interest can park is a parking space in which the vehicle of interest having predetermined vehicle information can park, and, for example, if the vehicle of interest is a towing vehicle, the parking space is a parking space in which the towing vehicle can park 
     When the determination results of (A) and (B) described above are not positive, the provider  510  of the information providing device  500  transmits information indicating that the parking lot PA cannot be used to the vehicle of interest (step S 310 ). The vehicle of interest causes the information transmitted in step S 310  to be displayed on a display of the HMI  30  (step S 312 ). 
     The second determiner  508  may execute the processing of (A) of step S 308  after the processing of step S 302 . When the vehicle of interest is a vehicle which cannot use the parking lot PA, the provider  510  may transmit information indicating that the parking lot PA cannot be used to the vehicle of interest. When the information providing device  500  is a smartphone, a tablet terminal, or the like and has an outputter, it may cause the outputter to output the information indicating that the parking lot PA cannot be used. 
     The provider  510  may perform the notification before the host vehicle M passes through the gate  300 -in when the facility having the parking lot PA is the facility provided with the getting-on/off area  320  at which the occupant of the host vehicle M gets off the vehicle after the host vehicle M passes through the gate  300 -in, and perform the notification when the host vehicle M has reached or before reaching the getting-on/off area  320  when the facility having the parking lot PA is the facility in which the vehicle can reach the getting-on/off area  320  at which the occupant of the host vehicle M gets off the vehicle without passing through the gate  302 . The same processing as in the third embodiment described above may be performed by the information providing device  500 . As a result, the notification is performed to the occupant at an appropriate timing. 
     According to the sixth embodiment described above, the information providing device  500  performs the notification indicating that entrance to the parking lot PA is inappropriate, thereby allowing the user to recognize that a predetermined parking lot cannot be used in advance. 
     Seventh Embodiment 
     Hereinafter, a seventh embodiment will be described. The predetermined vehicle information described in the first embodiment to fifth embodiment described above may be acquired by a device different from the host vehicle M. In the following description, the seventh embodiment will be described. 
       FIG. 21  is a diagram which schematically shows a scene in which an autonomous parking event of the seventh embodiment is executed. A difference from the schematic diagram of  FIG. 9  will be described. For example, the gate  300 -in is provided at an entrance of the facility. The gate  300 -in includes, for example, a camera  304  and a recognition processor  306 . The camera  304  captures an image of a vehicle stopped before the gate  300 -in to enter the facility. The recognition processor  306  analyzes the image captured by the camera  304  and acquires vehicle information. The vehicle information is the same information as the vehicle information  192  described above. The recognition processor  306  may be provided in another device. In this case, the image captured by the camera  304  is transmitted to a device including the recognition processor  306 . 
     The facility may include one or more cameras in addition to the camera  304 . The cameras capture images of the vehicle stopped immediately before the gate  300 -in in a plurality of directions. Then, the recognition processor  306  analyzes the images of the vehicle captured by the camera  304  and other cameras, and acquires vehicle information (information indicating a towing vehicle, a minimum ground clearance, a total length, an outer diameter ratio of tires, and the like). 
     The recognition processor  306  determines that the vehicle associated with the image captured by the camera  304  is a vehicle capable of automated driving when an analysis result of a captured image of a type of vehicle capable of automated driving acquired in advance matches an analysis of the image captured by the camera  304 . Then, the gate  300 -in transmits a result of the processing performed by the recognition processor  306  to the parking lot management device  400 . 
     The parking lot management device  400  determines whether the vehicle stopped at the gate  300 -in can park in the parking lot PA on the basis of the information acquired from the gate  300 -in and the information of the parking space state table  434 A, and transmits a result of the determination to the vehicle. 
     According to the seventh embodiment described above, it is possible to allow the user to recognize that a predetermined parking lot cannot be used in advance. 
     Some or all of the content of each embodiment described above may be appropriately combined and implemented. Some or all of the functional constituents of the vehicle system  1  in each embodiment described above may be included in parking lot management device  400  ( 400 A,  400 B) or another terminal device, and some or all of the functional constituents of the parking lot management device  400  ( 400 A,  400 B) may also be included in the vehicle system  1  or another terminal device. Some of the functional constituents of the vehicle system  1  or some of the functional constituents of the parking lot management device  400  ( 400 A,  400 B) may be omitted. An order of the processing of each flowchart described above may be changed, or some of the processing may be omitted. 
     In the embodiment described above, the gate  300 -in or the gate  302  is described to be provided at the entrance reference point, but the gate  300 -in or the gate  302  may be omitted. In this case, for example, when a vehicle passes through the entrance reference point stored in the storage device, the automated driving control device  100  may recognize that the vehicle has entered, and report a result of the recognition to, for example, the parking lot management device  400 . The parking lot management device  400  may recognize that the host vehicle M has passed the entrance reference point by the host vehicle M communicating with the parking lot management device  400  when passing through the entrance reference point. An exit reference point may be provided as described above, and settlement processing may be performed. 
     [Hardware Configuration] 
       FIG. 21  is a diagram which shows an example of a hardware configuration of the automated driving control device  100  of the embodiment. As shown in  FIG. 21 , the automated driving control device  100  is configured to include a communication controller  100 - 1 , a CPU  100 - 2 , a random access memory (RAM)  100 - 3  used as a working memory, a read only memory (ROM)  100 - 4  that stores a booting program and the like, a storage device  100 - 5  such as a flash memory or a hard disk drive, a drive device  100 - 6 , and the like connected to one another by an internal bus or a dedicated communication line. The communication controller  100 - 1  communicates with components other than the automated driving control device  100 . The storage device  100 - 5  stores a program  100 - 5   a  executed by the CPU  100 - 2 . This program is developed in the RAM  100 - 3  by a direct memory access (DMA) controller (not shown) or the like, and is executed by the CPU  100 - 2 . Accordingly, some or all of the first controller  120 , the second controller  160 , the first determiner  180 , the second determiner  182 , and the information provider  184  are realized. The parking lot management device  400  and the terminal device  500  also have the configuration shown in  FIG. 21 , and processing of each functional unit is executed. 
     The embodiments described above can be expressed as follows. 
     A vehicle control device is configured to include a storage device which has stored a program, and a hardware processor, by the hardware processing executing the program stored in the storage device, to recognize a vicinity situation of a host vehicle, to control steering and acceleration or deceleration of the host vehicle on the basis of the recognized vicinity situation, to determine whether the host vehicle may enter a specific parking facility in which vehicles autonomously park, to determine whether the host vehicle is a vehicle that can park in the specific parking facility, and to notify an occupant of the vehicle that entrance to the specific parking facility is inappropriate before the host vehicle enters the specific parking facility when it is determined that the host vehicle may enter the specific parking facility and the host vehicle is a vehicle that cannot enter the specific parking facility. 
     As described above, modes for implementing the present invention have been described using the embodiments, but the present invention is not limited to these embodiments, and various modification and replacement can be made within a range not departing from the gist of the present invention.