Patent Publication Number: US-2020282978-A1

Title: Vehicle control system, vehicle control method, and storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2019-042865, filed on Mar. 8, 2019, the content of which is incorporated herein by reference. 
     BACKGROUND 
     Field of the Invention 
     The present invention relates to a vehicle control system, a vehicle control method, and a storage medium. 
     Description of Related Art 
     In recent years, research on automatic control of vehicles has been performed. In connection therewith, a technology of notifying a terminal device of an occupant of a position of a vehicle parked according to automated driving has been known (for example, Japanese Unexamined Patent Application, First Publication No. 2017-182263). 
     SUMMARY 
     However, in the related art, even when the position of a parked vehicle can be ascertained, it is difficult to ascertain a parking environment of the vehicle, and convenience is not sufficient. 
     An aspect of the present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle control system, a vehicle control method, and a storage medium capable of improving convenience. 
     The vehicle control system, the vehicle control method, and the storage medium according to the present invention adopt the following configurations. 
     (1) A vehicle control system according to an aspect of the present invention includes a recognizer configured to recognize a surrounding environment of a vehicle; a driving controller configured to automatically perform at least one of speed control and steering control of the vehicle on the basis of a recognition result of the recognizer; a communicator configured to communicate with a terminal device; and a notificator configured to notify the terminal device of information according to a parking environment recognized by the recognizer using the communicator when the driving controller causes the vehicle to travel and stop at a vehicle stop position after an occupant has got off the vehicle. 
     (2) In the aspect (1), the parking environment is at least one of a distance from a parking position of the vehicle to the occupant having the terminal device, and an opening distance from an opening and closing portion of the vehicle to a nearby target when the opening and closing portion of the vehicle has been opened. 
     (3) In the aspect (1), the notificator further notifies the terminal device of the occupant of information indicating the vehicle stop position. 
     (4) In the aspect (1), the notificator notifies the terminal device of the occupant of information for proposing getting-on of the occupant through automatic control of driving from the vehicle stop position when the parking environment recognized by the recognizer indicates that the opening distance from an opening and closing portion of the vehicle when the opening and closing portion of the vehicle has been opened to a nearby target is a distance shorter than a reference. 
     (5) In the aspect (1), the driving controller stops the vehicle at a position at which an opening distance from an opening and closing portion of the vehicle when the opening and closing portion of the vehicle has been opened to a nearby target is long, when a preference of the occupant acquired in advance indicates that the occupant prefers to cause the vehicle to leave according to manual driving. 
     (6) In the aspect (1), the driving controller stops the vehicle at a position close to place that the occupant stops by when a preference of the occupant acquired in advance indicates that the occupant prefers to cause the vehicle to leave according to manual driving. 
     (7) In the aspect (1), the notificator notifies the terminal device of information according to the parking environment recognized by the recognizer, in response to a vehicle leaving request received from the terminal device by the communicator. 
     (8) In the aspect (1), the notificator notifies the terminal device of information according to the parking environment recognized by the recognizer, in response to inquiry information received from the terminal device by the communicator. 
     (9) In the aspect (1), the notificator notifies the terminal device of the occupant of information for proposing vehicle leaving of the vehicle according to manual driving when the parking environment recognized by the recognizer is an environment in which it is easy for the vehicle to leave. 
     (10) A vehicle control method according to another aspect of the present invention includes recognizing, by a computer, a surrounding environment of a vehicle; automatically performing, by the computer, at least one of speed control and steering control of the vehicle on the basis of a recognition result; communicating, by the computer, with a terminal device; and notifying, by the computer, the terminal device of information according to a recognized parking environment when the vehicle is caused to travel and stop at a vehicle stop position after an occupant has got off the vehicle. 
     (11) A storage medium according to still another aspect of the present invention is a non-transitory computer-readable storage medium storing a program, the program causing a computer to: recognize a surrounding environment of a vehicle; automatically perform at least one of speed control and steering control of the vehicle on the basis of a recognition result; communicate with a terminal device; and notify the terminal device of information according to a recognized parking environment when the vehicle is caused to travel and stop at a vehicle stop position after an occupant has got off the vehicle. 
     According to the aspects (1) to (11), it is possible to improve convenience for the occupant. 
     According to the aspect (3), it is possible to further improve convenience for the occupant. 
     According to the aspect (4), it is possible to cause the vehicle to safely leave according to automated driving in a narrow parking environment. 
     According to the aspects (5) and (6), it is possible to propose leaving of the vehicle according to manual driving in an environment in which it is easy for the occupant to cause the vehicle to leave. 
     According to the aspects (7) and (8), it is possible to provide the parking environment to the occupant at an appropriate time. 
    
    
     
       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 schematically illustrating a scene in which a self-propelled parking event is executed. 
         FIG. 4  is a diagram illustrating an example of a configuration of a parking lot management device. 
         FIG. 5  is a diagram illustrating an example of a first execution screen of a notification application that is executed in a terminal device. 
         FIG. 6  is a diagram illustrating an example of content of schedule information. 
         FIG. 7  is a diagram illustrating an example of a recognition result of a recognizer. 
         FIG. 8  is a diagram illustrating an example of a second execution screen that is displayed on the terminal device when a space around a host vehicle is narrow. 
         FIG. 9  is a diagram illustrating an example of a third execution screen that is displayed on the terminal device when the space around the host vehicle is wide. 
         FIG. 10  illustrates an example of a fourth execution screen that is displayed on the terminal device when an inquiry about a parking environment of the host vehicle is performed according to the notification application. 
         FIG. 11  is a diagram schematically illustrating a process of selecting a parking space. 
         FIG. 12  is a flowchart illustrating a series of flows of a process in which a notificator notifies a terminal device of information on a parking environment. 
         FIG. 13  is a flowchart illustrating a series of flows of a process relevant to vehicle leaving of a host vehicle M according to a notification from the notificator. 
         FIG. 14  is a diagram illustrating an example of a hardware configuration of an automated driving control device according to the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a storage medium of the present invention will be described with reference to the drawings. 
     [Overall Configuration] 
       FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. A vehicle in which the vehicle system  1  is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. A driving source thereof includes an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a power 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 travel driving force output device  200 , a brake device  210 , and a steering device  220 . These devices or equipment 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 part of the configuration may be omitted or another configuration may be added. 
     The camera  10  is, for example, a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera  10  is attached to any place on a vehicle in which the vehicle system  1  is mounted (hereinafter, a host vehicle M). In the case of forward imaging, the camera  10  is attached to an upper portion of a front windshield, a rear surface of a rearview mirror, or the like. The camera  10 , for example, periodically and repeatedly images surroundings of the host vehicle M. The camera  10  may be a stereo camera. 
     The radar device  12  radiates radio waves such as millimeter waves to the surroundings of the host vehicle M and detects radio waves (reflected waves) reflected by an object to detect at least a position (a distance and orientation) of the object. The radar device  12  is attached to any place on 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) scheme. 
     The finder  14  is a light detection and ranging (LIDAR). The finder  14  radiates light to the surroundings of the host vehicle M and measures scattered light. The finder  14  detects a distance to a target on the basis of a time from light emission to light reception. The radiated light is, for example, pulsed laser light. The finder  14  is attached to any place on the host vehicle M. 
     The object recognition device  16  performs a sensor fusion process on detection results of some or all of the camera  10 , the radar device  12 , and the finder  14  to recognize a position, type, speed, and the like of the object. The object recognition device  16  supplies recognition results to the automated driving control device  100 . The object recognition device  16  may output the detection results of the camera  10 , the radar device  12 , and the finder  14  as they are to the automated driving control device  100 . The object recognition device  16  may be omitted from the vehicle system  1 . 
     The communication device  20 , for example, communicates with another vehicle or a parking lot management device (to be described below) present around the host vehicle M, or various server devices using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), dedicated short range communication (DSRC), or the like. 
     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, for example, a vehicle speed sensor that detects a 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, and an orientation sensor that detects a direction of the host vehicle M. 
     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  specifies a 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 specified 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, keys, and the like. The navigation HMI  52  may be partly or wholly shared with the HMI  30  described above. The route determiner  53 , for example, determines a route (hereinafter, an on-map route) from the position of the host vehicle M specified by the GNSS receiver  51  (or any input position) to a destination input by the occupant using the navigation HMI  52  by referring to the first map information  54 . The first map information  54  is, for example, information in which a road shape is represented by links indicating roads and nodes connected by the links. The first map information  54  may include a curvature of the road, point of interest (POI) information, and the like. 
     The on-map route is output to the MPU  60 . The navigation device  50  may perform route guidance using the navigation HMI  52  on the basis of the on-map route. The navigation device  50  may be realized, for example, by a function of a terminal device such as a smartphone or a tablet terminal possessed 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 on-map route from the navigation server. 
     The MPU  60  includes, for example, a recommended lane determiner  61 , and holds second map information  62  in a storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the on-map route provided from the navigation device  50  into a plurality of blocks (for example, divides the route every 100 [m] in a traveling direction of the vehicle) and determines a recommended lane for each block by referring to the second map information  62 . The recommended lane determiner  61  determines in which lane from the left the host vehicle M travels. 
     The recommended lane determiner  61  determines the recommended lane so that the host vehicle M can travel on a reasonable route for progression to a branch destination when there is a branch place in the on-map route. 
     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 the lane or information on a boundary of the lane. Further, the second map information  62  may include road information, traffic regulation information, address information (an address and postal code), 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, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a variant steer, a joystick, and other operators. A sensor that detects the amount of operation or the presence or absence of operation is attached to the driving operator  80 , and a detection result thereof is output to the automated driving control device  100  or some or all of the travel driving 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 notificator  170 , and a storage  180 . The first controller  120  and the second controller  160  are realized, for example, by a processor such as a central processing unit (CPU) or a graphics processing unit (GPU) executing a program (software). Further, some or all of these components may be realized by hardware (a circuit portion; including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a graphics processing unit (GPU) or may be realized by software and hardware in cooperation. The program may be stored in a storage device (a storage device having a non-transitory storage medium) such as an HDD or a flash memory of the automated driving control device  100  in advance 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 (the non-transitory storage medium) being mounted in a drive device. Schedule information  182  and occupant preference information  184  are stored in the storage  180 . Details of the schedule information  182  and the occupant preference information  184  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 using artificial intelligence (AI) and a function using a previously given model in parallel. For example, a function of “recognizing an intersection” may be realized by recognition of the intersection using deep learning or the like and recognition based on previously given conditions (there is a signal which can be subjected to pattern matching, a road sign, or the like) being executed in parallel and scored for comprehensive evaluation. Accordingly, the reliability of automated driving is guaranteed. 
     The recognizer  130  recognizes a state such as a position, a speed, or an acceleration of an object around 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 the object, for example, is recognized as a position at absolute coordinates with a representative point (a centroid, a drive shaft center, or the like) of the host vehicle M as an origin, and is used for control. The position of the object may be represented by a representative point such as a centroid 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 or not the object is changing lanes or is about to change lanes). 
     The recognizer  130  recognizes, for example, a lane in which the host vehicle M is traveling (travel lane). For example, the recognizer  130  compares a pattern of a road marking line (for example, an arrangement of a solid line and a broken line) obtained from the second map information  62  with a pattern of a road marking line around the host vehicle M recognized from an image captured by the camera  10  to recognize the travel lane. The recognizer  130  may recognize not only the road marking lines but also a traveling road boundary (a road boundary) including the road marking line, a road shoulder, a curb, a median strip, a guard rail, or the like to recognize the travel lane. In this recognition, the position of the host vehicle M acquired from the navigation device  50  or a processing result of an INS may be additionally considered. Further, the recognizer  130  may recognize a temporary stop line, an obstacle, a red light, a toll gate, and other road events. 
     The recognizer  130  recognizes a position or posture of the host vehicle M with respect to a travel lane when recognizing the travel lane. The recognizer  130  may recognize, for example, a deviation of a reference point of the host vehicle M from a center of the lane and an angle formed between a traveling direction of the host vehicle M and a line connecting the center of the lane as the relative position and posture of the host vehicle M with respect to the travel lane. Instead, the recognizer  130  may recognize, for example, a position of the reference point of the host vehicle M with respect to any one of side end portions (the road marking line or the road boundary) of the travel lane as the relative position of the host vehicle M with respect to the travel lane. 
     The recognizer  130  includes a parking space recognizer  132  that is activated in a self-propelled parking event to be described below. Details of a function of the parking space recognizer  132  will be described below. 
     In principle, the action plan generator  140  generates a target trajectory along which the host vehicle M will travel in the future automatically (without depending on an operation of a driver) so that the host vehicle M can travel on the recommended lane determined by the recommended lane determiner  61  and cope with a surrounding situation of the host vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is represented as a sequence of points (trajectory points) to be reached by the host vehicle M. The trajectory point is a point that the host vehicle M is to reach for each predetermined travel distance (for example, several meters) at a road distance, and a target speed and a target acceleration at every predetermined sampling time (for example, every several tenths of a [sec]) are separately generated as a part of the target trajectory. The trajectory point may be a position that the host vehicle M is to reach at the sampling time at every predetermined sampling time. In this case, information on the target speed or the target acceleration is represented by the interval between the trajectory points. 
     When the action plan generator  140  generates the target trajectory, the action plan generator  140  may set an event of automated driving. Examples of the automated driving event include a constant speed traveling event, a low speed following driving event, a lane changing event, a branching event, a merging event, a takeover event, and a self-propelled parking event in which a vehicle travels in an unmanned manner and is parked in valet parking or the like. The action plan generator  140  generates a target trajectory according to an activated event. The action plan generator  140  includes a self-propelled parking controller  142  that is activated when the self-propelled parking event is performed. Details of a function of the self-propelled parking controller  142  will be described below. 
     The second controller  160  controls the travel driving force output device  200 , the brake device  210 , and the steering device  220  so that the host vehicle M passes through the target trajectory generated by the action plan generator  140  at a scheduled time. 
     Referring back 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 points) generated by the action plan generator  140  and stores the information on the target trajectory in a memory (not illustrated). The speed controller  164  controls the travel driving force output device  200  or the brake device  210  on the basis of the speed element incidental to the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  according to a degree of bend of the target trajectory stored in the memory. 
     Processes of the speed controller  164  and the steering controller  166  are realized by, for example, a combination of feedforward control and feedback control. For example, the steering controller  166  executes a combination of feedforward control according to a curvature of a road in front of the host vehicle M and feedback control based on a deviation from the target trajectory. 
     The notificator  170  notifies the terminal device TM of the occupant of the host vehicle M of information according to the parking environment of the host vehicle M recognized by the recognizer  130 . The terminal device TM is realized by, for example, a portable communication terminal device such as a smartphone, a portable personal computer such as a tablet computer (tablet PC), or the like. The notificator  170  communicates with the terminal device TM using a cellular network, a Wi-Fi network, Bluetooth, a WAN, a LAN, the Internet, or the like by means of the communication device  20 , to notify the occupant of the host vehicle M of various types of information. In the following description, the occupant of the host vehicle M is also simply referred to as an “occupant.” 
     The travel driving force output device  200  outputs a travel driving force (torque) for traveling of the vehicle to the driving wheels. The travel driving 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) that controls these. The ECU controls the above configuration 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 transfers hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the second controller  160  or information input from the driving operator  80  so that a brake torque according to a braking operation is output to each wheel. The brake device  210  may include a mechanism that transfers the hydraulic pressure generated by the operation of the brake pedal included in the driving operator  80  to the cylinder via a master cylinder, as a backup. The brake device  210  is not limited to the configuration described above and may be an electronically controlled hydraulic brake device that controls the actuator according to information input from the second controller  160  and transfers 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, for example, changes a direction of the steerable wheels by causing a force to act on a rack and pinion mechanism. The steering ECU drives the electric motor according to information input from the second controller  160  or information input from the driving operator  80  to change the direction of the steerable wheels. 
     [Self-Propelled Parking Event-at Time of Vehicle Entrance] 
     The self-propelled parking controller  142  parks the host vehicle M in the parking space on the basis of information acquired from the parking lot management device  400  by the communication device  20 , for example.  FIG. 3  is a diagram schematically illustrating a scene in which the self-propelled parking event is executed. Gates  300 -in and  300 -out are provided on a route from a road Rd to a visit destination facility. The host vehicle M advances to a stop area  310  through the gate  300 -in according to manual driving or automated driving. The stop area  310  faces a getting-on and off area  320  connected to the visit destination facility. An eave for avoiding rain or snow is provided in the getting-on and off area  320 . The visit destination facility is an example of “a place that the occupant stops by.” 
     After the occupant alights in the stop area  310 , the host vehicle M starts unmanned automated driving and starts the self-propelled parking event to move to the parking space PS in a parking lot PA. A start trigger of the self-propelled parking event may be, for example, any operation of an occupant, or may be wireless reception of a predetermined signal from the parking lot management device  400 . When the self-propelled parking controller  142  starts the self-propelled parking event, the self-propelled parking controller  142  controls the communication device  20  such that a parking request is transmitted to the parking lot management device  400 . The host vehicle M moves from the stop area  310  to the parking lot PA according to guidance of the parking lot management device  400  or while performing its own sensing. 
       FIG. 4  is a diagram illustrating an example of a 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 a parking space state table  434 . 
     The communicator  410  wirelessly communicates with the host vehicle M or other vehicles. The controller  420  guides the vehicle to the parking space PS on the basis of the information acquired by communicator  410  and the information stored in storage  430 . The parking lot map information  432  is information that geometrically represents a structure of the parking lot PA. The parking lot map information  432  includes coordinates for each parking space PS. 
     The parking space state table  434  is, for example, a table in which a state indicating whether the parking space is in an empty state or a full (parked) state and a vehicle ID that is identification information of parked vehicles when the parking space is full are associated with a parking space ID, which is identification information of the parking space PS. 
     When the communicator  410  receives the parking request from the vehicle, the controller  420  extracts the parking space PS that is in an empty state by referring 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 a specific vehicle, for example, to stop or slow down, as necessary, on the basis of positional relationships between a plurality of vehicles so that the vehicles do not advance to the same position at the same time. 
     In a vehicle (hereinafter, referred to as the host vehicle M) that has received the route, the self-propelled parking controller  142  generates a target trajectory based on the route. When the host vehicle M approaches the parking space PS, which is a target, the parking space recognizer  132  recognizes parking frame lines or the like that partition the parking space PS, recognizes a specific position of the parking space PS, and provides the position to the self-propelled parking controller  142 . The self-propelled parking controller  142  receives the position, corrects the target trajectory, and parks the host vehicle M in the parking space PS. 
     [Self-Propelled Parking Event-at Time of Vehicle Leaving] 
     The self-propelled parking controller  142  and the communication device  20  remain in an operating state even when the host vehicle M is parked. The self-propelled parking controller  142  activates a system of the host vehicle M and moves the host vehicle M to the stop area  310 , for example, when the communication device  20  receives a pick-up request from the terminal device TM. In this case, the self-propelled parking controller  142  controls the communication device  20  such that a start request is transmitted to the parking lot management device  400 . The controller  420  of the parking lot management device  400  instructs a specific vehicle, for example, to stop or slow down, as necessary, on the basis of a positional relationship among a plurality of vehicles so that the vehicles do not advance to the same position at the same time, similar to the time of vehicle entrance. When the host vehicle M is moved to the stop area  310  and an occupant gets on the host vehicle M, the self-propelled parking controller  142  stops an operation, and then, manual driving or automated driving by another functional unit is started. 
     The present invention is not limited to the above, and the self-propelled parking controller  142  may find a parking space in an empty state by itself on the basis of detection results of the camera  10 , the radar device  12 , the finder  14 , or the object recognition device  16  without depending on communication, and park the host vehicle M in the found parking space. 
     [Notification of Parking Environment] 
     The notificator  170  acquires a recognition result of the recognizer  130 , for example, when the self-propelled parking controller  142  parks (stops) the host vehicle M in the parking lot PA according to the self-propelled parking event. The notificator  170  acquires the parking environment of the host vehicle M on the basis of the acquired recognition result, and notifies the terminal device TM of information on the acquired parking environment. The information on the parking environment includes, for example, at least some of proximity from a parking position of the host vehicle M to the visited destination facility, ease of getting-on of the host vehicle M, ease of alighting from the host vehicle M, ease of loading luggage into the host vehicle M, ease of unloading luggage from the host vehicle M, and ease of leaving of the host vehicle M. The notificator  170  notifies the terminal device TM of information according to the acquired parking environment of the terminal device TM. 
     The information of which the notificator  170  notifies the terminal device TM is some or all of the following. 
     (1) Information indicating the position at which the host vehicle M has been parked (stopped) 
     (2) information indicating a space around the host vehicle M 
     (3) Information for proposing a method for leaving from the host vehicle M 
     [(1) Information Indicating Position at which Vehicle M has been Parked] 
     The notificator  170  notifies the terminal device TM of information indicating the position at which the host vehicle M has been parked on the basis of the recognition result of the recognizer  130  at a timing when the self-propelled parking controller  142  has parked the host vehicle M in the parking lot PA according to the self-propelled parking event.  FIG. 5  is a diagram illustrating an example of a first execution screen IM 1  of a notification application that is executed in the terminal device TM. The notification application is an application that is executed in the terminal device TM, and is an application for notifying the occupant of information acquired from the automated driving control device  100 . The first execution screen IM 1  includes, for example, a message MS 1  indicating the position at which the host vehicle M has been parked. 
     Hereinafter, it is assumed that codes (for example, area A or area B) that allow the parking position to be easily ascertained are determined in the parking lot PA in advance, and assigned to structures (for example, a column or a wall) of the parking lot PA in each area. In this case, the recognizer  130  analyzes the image captured by the camera  10  and recognizes the code assigned to the position (an area) in which the host vehicle M has been parked. The notificator  170  notifies the terminal device TM of the code recognized by the recognizer  130  as information indicating the position at which the host vehicle M has been parked. The terminal device TM receives the information from the notificator  170 , generates the first execution screen IM 1  including “The vehicle has been parked in area D” for notifying the occupant of an area in which the host vehicle M has been parked on the basis of the received information (the illustrated message MS 1 ), and displays the first execution screen IM 1  on the display. 
     The notificator  170  may generate the first execution screen IM 1  and notify the terminal device TM of a relevant image as the information indicating the position at which the host vehicle M has been parked. The notificator  170  may notify the terminal device TM of information indicating a current position of the host vehicle M at the time of parking detected by the GNSS receiver  51  as the information indicating the position at which the host vehicle M has been parked. In this case, the terminal device TM, for example, generates an image in which information indicating the current position of the host vehicle M is shown on a map, as the first execution screen IM 1 , in cooperation with a map application, and displays the image on the display. The notificator  170  may notify the terminal device TM of an image obtained by the camera  10  imaging an area around the position at which the host vehicle M has been parked, as information indicating the position at which the host vehicle M has been parked. 
     Thereby, the notificator  170  can reduce a time and effort for the occupant to search for the host vehicle M. The notificator  170  can allow the occupant to easily determine whether to cause the host vehicle M to leave according to the self-propelled parking event relevant to vehicle leaving of the self-propelled parking controller  142  or whether to cause the host vehicle M to leave according to driving (manual driving) of the occupant. 
     [(2) Information indicating space around host vehicle M] 
     The notificator  170  notifies the terminal device TM of information indicating a space around the host vehicle M at a timing when the host vehicle M leaves the parking lot PA. The self-propelled parking controller  142  executes, for example, the self-propelled parking event relevant to vehicle leaving on the basis of the schedule information  182 .  FIG. 6  is a diagram illustrating an example of content of the schedule information  182 . The schedule information  182  is, for example, information in which a getting-on place at which the occupant gets on the host vehicle M, a getting-off place at which the occupant gets off the host vehicle M, and a date and time when the occupant gets on at the getting-on place (hereinafter, a getting-on date and time) are associated with each other. The self-propelled parking controller  142  starts the self-propelled parking event relevant to vehicle leaving at a date and time included in the schedule information  182 , for example. When a current time is a time slightly before (for example, several minutes before) the getting-on date and time included in the schedule information  182 , the notificator  170  notifies the terminal device TM of the information indicating the space around the host vehicle M, to prompt a determination as to whether the host vehicle M is caused to leave under the control of the self-propelled parking controller  142  or according to manual driving. 
       FIG. 7  is a diagram illustrating an example of the recognition result of the recognizer  130 . The recognizer  130  and the communication device  20  remain in an operating state even when the host vehicle M is parked. The notificator  170  determines whether the space around the host vehicle M is wide on the basis of the recognition result of the surrounding environment of the host vehicle M recognized by the recognizer  130  at a time slightly before a getting-on time included in the schedule information  182 . For example, when the recognition result of the recognizer  130  shows a distance from a door (an opening and closing portion) of a driver seat to a nearest target (that is, a nearby target) (hereinafter, a first distance d 1 ) is equal to or smaller than a predetermined threshold value (hereinafter, a first threshold value Th 1 ) in a space necessary when the door of the driver seat is opened, the notificator  170  determines that the space around the host vehicle M is narrow. The first threshold value Th 1  is, for example, a value indicating about tens of centimeters. In  FIG. 7 , since the recognition result of the recognizer  130  indicates that the first distance d 1  is equal to or smaller than the first threshold value Th 1 , the notificator  170  notifies the terminal device TM of information indicating that the space around the host vehicle M is narrow. In the space necessary when the door of the driver seat is opened, the distance from the door to the nearest target is an example of an “opening distance.” 
     For example, when the recognition result of the recognizer  130  indicates that a distance from a door of a passenger seat to a nearest target (hereinafter, a second distance d 2 ) is equal to or smaller than a predetermined threshold value (hereinafter, a second threshold value Th 2 ) in a space necessary when the door of the passenger seat is opened, the notificator  170  may determine that the space around the host vehicle M is narrow. The second threshold value Th 2  is, for example, a value indicating about tens of centimeters. The first threshold value Th 1  and the second threshold value Th 2  may be the same value. In  FIG. 7 , since the recognition result of the recognizer  130  indicates that a distance to another vehicle m 1  parked next to the host vehicle M (that is, the second distance d 2 ) is greater than the second threshold value Th 2 , the notificator  170  notifies the terminal device TM of information indicating that the space around the host vehicle M is wide. In the space necessary when the door of the passenger seat is opened, the distance from the door to the nearest target is an example of an “opening distance.” 
     For example, when the recognition result of the recognizer  130  indicates that a distance from the host vehicle M to a nearest target (hereinafter, a third distance d 3 ) is equal to or smaller than a predetermined threshold value (hereinafter, a third threshold value Th 3 ) in a space virtually extending in front of the host vehicle M in a situation in which the host vehicle M travels forward and leaves the parking space PS (that is, is parked backward), the notificator  170  may determine that the space around the host vehicle M is narrow. The third threshold value Th 3  is, for example, a value indicating about tens of centimeters to hundreds of centimeters. In  FIG. 7 , since the recognition result of the recognizer  130  indicates that a distance to another vehicle m 2  parked in front of the host vehicle M (that is, the third distance d 3 ) is greater than the third threshold value Th 3 , the notificator  170  notifies the terminal device TM of information indicating that the space around the host vehicle M is wide. 
     For example, when the recognition result of the recognizer  130  indicates that a distance from the host vehicle M to a nearest target (hereinafter, a fourth distance d 4  (not illustrated)) is equal to or smaller than a predetermined threshold value (hereinafter, a fourth threshold value Th 4 ) in a space virtually extending to the rear of the host vehicle M in a situation in which the host vehicle M travels backward and leaves the parking space PS (that is, is parked forward), the notificator  170  may determine that the space around the host vehicle M is narrow. The fourth threshold value Th 4  is, for example, a value indicating about tens of centimeters to hundreds of centimeters. The third threshold value Th 3  and the fourth threshold value Th 4  may be the same value. 
     The notificator  170  may determine that the space around the host vehicle M is narrow on the basis of some or all of the determinations based on the first distance d 1 , the second distance d 2 , the third distance d 3 , and the fourth distance d 4 . Hereinafter, a description will be made assuming that the notificator  170  determines that the space around the host vehicle M is narrow when the notificator  170  has determined that the space around the host vehicle M is narrow in at least one of the determinations based on the first distance d 1 , the second distance d 2 , the third distance d 3 , or the fourth distance d 4 . 
       FIG. 8  is a diagram illustrating an example of a second execution screen IM 2  that is displayed on the terminal device TM when the space around the host vehicle M is small.  FIG. 9  is a diagram illustrating an example of a third execution screen IM 3  that is displayed on the terminal device TM when the space around the host vehicle M is wide. The second execution screen IM 2  includes, for example, the message MS 1 , and a message MS 2  indicating a determination result of the space around the host vehicle M, which is a message MS 2   a  when the determination result indicates that the space is narrow. The message MS 2   a  has, for example, content such as “The space around the vehicle is narrow.” The third execution screen IM 3  includes, for example, the message MS 1  and a message MS 2  indicating a determination result of the space around the host vehicle M, which is a message MS 2   b  when the determination result indicates that the space is wide. The message MS 2   b  has, for example, content such as “The space around the vehicle is wide.” 
     Thereby, the notificator  170  can allow the occupant to easily determine whether to cause the host vehicle M to leave according to the self-propelled parking event relevant to vehicle leaving of the self-propelled parking controller  142  or whether to cause the host vehicle M to leave according to manual driving. 
     [(3) Information for proposing a method for leaving of host vehicle M] 
     The second execution screen IM 2  includes a message MS 3  for inquiring about whether or not the host vehicle M will not be caused to leave according to manual driving and will be caused to leave according to the self-propelled parking event relevant to leaving of the self-propelled parking controller  142  since the space around the host vehicle M is narrow. The message MS 3  has, for example, content such as “Does the vehicle move to a getting-on position for pick-up according to automated driving?” The second execution screen IM 2  includes a button B 1  indicating that the occupant agrees with the message MS 3 , and a button B 2  indicating that the occupant does not agree with the message MS. When a process of selecting the button B 1  is performed in the terminal device TM, the self-propelled parking controller  142  causes the host vehicle M to leave according to the self-propelled parking event relevant to vehicle leaving. When a process of selecting the button B 2  is performed in the terminal device TM, the self-propelled parking controller  142  does not execute the self-propelled parking event relevant to vehicle leaving, and the occupant causes the host vehicle M to leave according to manual driving. 
     The third execution screen IM 3  includes a message MS 4  for inquiring about whether or not the host vehicle M is not caused to leave according to the self-propelled parking event relevant to leaving of the self-propelled parking controller  142  and is caused to leave according to manual driving since the space around the host vehicle M is wide, and buttons B 1  and B 2 . The message MS 4  has, for example, content such as “Does the host vehicle M leave by yourself?” When a process of selecting the button B 1  is performed in the terminal device TM, the self-propelled parking controller  142  does not execute the self-propelled parking event relevant to vehicle leaving, and the occupant causes the host vehicle M to leave according to manual driving. When a process of selecting the button B 2  is performed in the terminal device TM, the self-propelled parking controller  142  causes the host vehicle M to leave according to the self-propelled parking event relevant to vehicle leaving. 
     [Timing at which Terminal Device TM is Notified of Information According to Parking Environment] 
     A case in which the notificator  170  notifies the terminal device TM of the information according to the parking environment at the timing when the host vehicle M has parked in the parking lot PA or at the timing when the host vehicle M leaves the parking lot PA has been described above, but the present invention is not limited thereto. The notificator  170  may notify the terminal device TM of the information according to the parking environment on the basis of an instruction of the occupant, for example.  FIG. 10  is an example of a fourth execution screen IM 4  that is displayed on the terminal device TM when an inquiry about the parking environment of the host vehicle M is performed using a notification application. The fourth execution screen IM 4  includes, for example, a message MS 5  for inquiring of the occupant about whether or not an inquiry about the parking environment of the host vehicle M is necessary, and a button B 3  for instructing execution of the inquiry about the parking environment of the host vehicle M. The message MS 5  is, for example, “Do you want to inquire about the parking environment?” When a process of selecting the button B 3  is performed in the terminal device TM, the notificator  170  notifies the terminal device TM of the information such as (1) to (3) described above. 
     The notificator  170  may notify the terminal device TM of information such as (1) to (3) described above at a timing when a vehicle leaving request has been received from the terminal device TM. 
     [Parking Position] 
     The self-propelled parking controller  142  may select the parking space PS of the parking lot PA on the basis of the occupant preference information  184  and park the host vehicle M. The occupant preference information  184  is information indicating preferences of the occupant. The preferences include, for example, whether or not the occupant prefers to cause the host vehicle M to leave according to manual driving. For example, when the occupant preference information  184  indicates that the occupant prefers to cause the host vehicle M to leave according to manual driving, the self-propelled parking controller  142  parks the host vehicle M in the parking space PS in which it is easy for the occupant to cause the host vehicle M to leave, among the parking spaces PS. 
     For example, when the occupant preference information  184  indicates that the occupant prefers to cause the host vehicle M to leave according to manual driving, the self-propelled parking controller  142  parks the vehicle M in the parking space PS close to the visit destination facility at the time of execution of the self-propelled parking event relevant to vehicle entrance.  FIG. 11  is a diagram schematically illustrating a process of selecting the parking space PS. First, the self-propelled parking controller  142  controls the communication device  20  such that information indicating the parking space PS closest to the visited destination facility is included in the parking request and the resultant parking request is transmitted to the parking lot management device  400 . 
     The self-propelled parking controller  142 , for example, may include, in the parking request, position information indicating a position of the getting-on and off area  320  in the visit destination facility, a position of a doorway  322  of the visit destination facility, or a position of a centroid of the visit destination facility indicated in a map on which the visit destination facility is indicated as a point of interest (POI), and transmit the resultant parking request to the parking lot management device  400 . For example, when the parking request including the position information is received from a vehicle such as the host vehicle M, the parking lot management device  400  selects a parking space PS closest to the position indicated by the position information. Hereinafter, it is assumed that the parking request includes position information indicating the position of the doorway  322 . In this case, the parking lot management device  400  specifies a parking space PS 1  close to the doorway  322  of the visit destination facility among the parking spaces PS in the empty state. The parking lot management device  400  specifies, for example, a parking space PS closest to the doorway  322  in a straight line distance, a parking space PS having the shortest route from the doorway  322 , or the like as the parking space PS 1 . The parking lot management device  400  transmits a route RT 1  that is a shortest route connecting the doorway  322  to the parking space PS 1  to the automated driving control device  100  using the communicator  410 . The self-propelled parking controller  142  causes the host vehicle M to travel to the parking space PS 1  on the basis of the received route and parks the host vehicle M. 
     [Operation Flow] 
       FIG. 12  is a flowchart illustrating a series of flows of a process in which the notificator  170  notifies the terminal device TM of information on a parking environment. First, the notificator  170  determines whether or not the self-propelled parking controller  142  has parked the host vehicle M in the parking lot PA according to the self-propelled parking event (step S 100 ). The notificator  170  waits until the host vehicle M has been parked in the parking lot PA. When the host vehicle M has been parked in the parking lot PA, the notificator  170  notifies the terminal device TM of the information indicating the position at which the host vehicle M has been parked, on the basis of the recognition result of the recognizer  130  (step S 102 ). Then, the notificator  170  determines whether or not there has been an inquiry about the parking environment from the terminal device TM (step S 104 ). When there has been an inquiry about the parking environment from terminal device TM, the notificator  170  causes the process to proceed to step S 108 . When there has been no inquiry about the parking environment from the terminal device TM, the notificator  170  determines whether or not the current time is slightly before the getting-on date and time on the basis of the schedule information  182  (step S 106 ). When the notificator  170  determines that the current time is not a time slightly before the getting-on date and time and proceeds to the process of step S 104 . When the notificator  170  determines that the current time is a time slightly before the getting-on date and time and proceeds to the process of step S 108 . 
     The notificator  170  acquires the first distance d 1 , the second distance d 2 , the third distance d 3 , and the fourth distance d 4  on the basis of the recognition result of the recognizer  130  (step S 108 ). The notificator  170  determines whether the acquired first distance d 1  is equal to or smaller than the first threshold value Th 1  (step S 110 ). When the notificator  170  has determined that the first distance d 1  is equal to or smaller than the first threshold value Th 1 , the notificator  170  determines that the space around the host vehicle M is narrow (step S 112 ) and notifies the terminal device TM of the message MS 3  for inquiring about whether or not to the host vehicle M leaves according to the self-propelled parking event of the self-propelled parking controller  142  (step S 114 ). 
     When the notificator  170  has determined that the first distance d 1  is greater than the first threshold value Th 1 , the notificator  170  determines whether the second distance d 2  is equal to or smaller than the second threshold value Th 2  (step S 116 ). When the notificator  170  has determined that the second distance d 2  is equal to or smaller than the second threshold value Th 2 , the notificator  170  determines that the space around the host vehicle M is narrow and proceeds to the process of step S 112 . When the notificator  170  has determined that the second distance d 2  is greater than the second threshold value Th 2 , the notificator  170  determines whether the host vehicle M will be parked backward or forward on the basis of the recognition result of the recognizer  130  (step S 118 ). When the notificator  170  has determined that the host vehicle M is parked backward, the notificator  170  determines whether or not the third distance d 3  is equal to or smaller than the third threshold value Th 3  (step S 120 ). When the notificator  170  has determined that the third distance d 3  is equal to or smaller than third threshold value Th 3 , notificator  170  determines that the space around the host vehicle M is narrow and proceeds to the process of step S 112 . When the notificator  170  has determined that the third distance d 3  is greater than the third threshold value Th 3 , the notificator  170  determines that the space around the host vehicle M is wide (step S 122 ) and notifies the terminal device TM of the message MS 4  for inquiring about whether or not the host vehicle M is to leave according to manual driving (step S 124 ). When the notificator  170  has determined that the host vehicle M is parked forward, the notificator  170  determines whether the fourth distance d 4  is equal to or smaller than the fourth threshold value Th 4  (step S 126 ). When the notificator  170  has determined that the fourth distance d 4  is equal to or smaller than the fourth threshold value Th 4 , the notificator  170  determines that the space around the host vehicle M is narrow and proceeds to the process of step S 112 . When the notificator  170  has determined that the fourth distance d 4  is greater than the fourth threshold value Th 4 , the notificator  170  determines that the space around the host vehicle M is wide and proceeds to the process of step S 122 . 
     A case in which the notificator  170  determines that the space around the host vehicle M is wide only when all of the first distance d 1 , the second distance d 2 , the third distance d 3 , and the fourth distance d 4  are greater than the predetermined threshold values (the first threshold value Th 1  to the fourth threshold value Th 4 ) in the flowchart illustrated in  FIG. 12  has been described, but the present invention is not limited thereto. The notificator  170  may determine that the space around the host vehicle M is wide when some of the first distance d 1 , the second distance d 2 , the third distance d 3 , and the fourth distance d 4  are greater than the predetermined threshold values. The notificator  170  may execute a process (step S 118 ) of determining whether the host vehicle M is parked backward or forward in the process before step S 108  and acquire the third distance d 3  or the fourth distance d 4  according to a determination result. 
       FIG. 13  is a flowchart illustrating a series of flows of a process relevant to leaving of the host vehicle M according to the notification from the notificator  170 . First, the self-propelled parking controller  142  determines whether the pick-up request has been received from the terminal device TM (step S 200 ). When the self-propelled parking controller  142  has determined that the pick-up request has been received from the terminal device TM, the self-propelled parking controller  142  executes a self-propelled parking event relevant to vehicle leaving and moves the host vehicle M to the stop area  310  (step S 202 ). The self-propelled parking controller  142  determines whether or not the occupant has selected to leave the host vehicle M according to the self-propelled parking event relevant to vehicle leaving in response to the notification (for example, the messages MS 3  to MS 4 ) from the notificator  170  (step S 204 ). For example, the self-propelled parking controller  142  determines whether the occupant has performed an operation indicating that the occupant agrees with the message MS 3  for inquiring whether or not to cause the host vehicle M to leave according to the self-propelled parking event relevant to vehicle leaving or the occupant has performed an operation indicating that the occupant does not agree with the message MS 4  for inquiring about whether or not to cause the host vehicle M to leave according to manual driving. 
     When the self-propelled parking controller  142  has determined that the occupant has selected leaving of the host vehicle M according to the self-propelled parking event relevant to vehicle leaving, the self-propelled parking controller  142  determines whether the current time is a leaving date and time (that is, a leaving timing) included in the schedule information  182  (step S 206 ). The self-propelled parking controller  142  waits until the current time reaches the leaving timing. When the current time is the leaving timing, the self-propelled parking controller  142  proceeds to a process of step S 202 . When the self-propelled parking controller  142  has determined that the occupant has selected non-leaving of the host vehicle M according to the self-propelled parking event relevant to vehicle leaving (that is, the occupant has selected leaving of the host vehicle M according to manual driving), the self-propelled parking controller  142  does not execute the self-propelled parking event relevant to vehicle leaving (step S 208 ). 
     In this case, the occupant causes the host vehicle M to leave according to manual driving. 
     Conclusion of Embodiment 
     As described above, the automated driving control device  100  according to the embodiment includes a recognizer  130  configured to recognize the surrounding environment of the host vehicle M, a driving controller (the action plan generator  140  and the second controller  160 ) configured to automatically perform at least one of speed control and steering control of the host vehicle M on the basis of a recognition result of the recognizer  130 , the communication device  20  configured to communicate with the terminal device TM, and the notificator  170  configured to notify the terminal device M of information according to a parking environment recognized by the recognizer  130  using the communication device  20  when the driving controller causes the host vehicle M to travel and stop at a vehicle stop position after an occupant has got off the host vehicle M. Therefore, it is possible to improve convenience for the occupant. 
     [Hardware Configuration] 
       FIG. 14  is a diagram showing an example of a hardware configuration of the automated driving control device  100  according to the embodiment. As shown in  FIG. 14 , the automated driving control device  100  has a configuration in which a communication controller  100 - 1 , a CPU  100 - 2 , a random access memory (RAM)  100 - 3  that is used as a working memory, a read only memory (ROM)  100 - 4  that stores a boot program or the like, a storage device  100 - 5  such as a flash memory or a hard disk drive (HDD), a drive device  100 - 6 , and the like are connected to each other 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 . A program  100 - 5   a  to be executed by the CPU  100 - 2  is stored in the storage device  100 - 5 . This program is developed in the RAM  100 - 3  by a direct memory access (DMA) controller (not shown) or the like and executed by the CPU  100 - 2 . Thereby, some or all of the recognizer  130 , the self-propelled parking controller  142 , and the notificator  170  are realized. 
     The embodiments described above can be represented as follows. 
     A vehicle control device including a storage device storing a program, and a hardware processor, and configured to recognize a surrounding environment of a vehicle, automatically perform at least one of speed control and steering control of the vehicle on the basis of a recognition, communicate with a terminal device, and notify the terminal device of information according to a recognized parking environment when the vehicle is caused to travel and stop at a vehicle stop position after an occupant has got off the vehicle, by the hardware processor executing the program stored in the storage device. 
     While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description and is only limited by the scope of the appended claims.