Vehicle control device

Abstract

The vehicle control device of the present application performs parking assistance control in accordance with the selected departure method on the screen. The vehicle control device selects, from among a plurality of departure methods, a departure method that is presumed to be highly likely to be desired by the driver of the vehicle as a specific departure method, and displays the screen on the display device in a state in which the specific departure method is preselected.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle control device that executes parking assistance control. BACKGROUND

[0002] In the past, a vehicle control device (see, for example, International Publication No. 2018 / 168512) configured to execute parking assistance control to move a vehicle to a target position set in accordance with a surrounding situation of the vehicle has been proposed. The parking assistance control includes, for example, a parking mode and an egress mode. The parking mode is a mode for causing the vehicle to perform parking. The egress mode is a mode for causing the vehicle that has been parked to perform egress to a travel road (movement to the travel road).

[0003] The device described in International Publication No. 2018 / 168512 (hereinafter referred to as "the related-art device") displays a plurality of arrow marks indicating an egress direction (movement direction) of the vehicle on a display device when starting the parking assistance control based on the egress mode. When the driver selects one of the plurality of arrow marks, the related-art device determines the direction indicated by the selected arrow mark as a final egress direction. The related-art device executes the parking assistance control based on the egress mode to move the vehicle in the determined egress direction. SUMMARY

[0004] In the related-art device, the driver needs to select the arrow mark on the display device. Since it takes effort to select the egress direction of the vehicle, the driver can feel bothered.

[0005] One object of the present application is to provide a technology capable of reducing the possibility that the driver feels bothered when starting the parking assistance control based on the egress mode, as compared with the related-art device.

[0006] The vehicle control device according to one or more embodiments includes:

[0007] a sensor that acquires vehicle surrounding information related to a surrounding situation of the vehicle;

[0008] a display device; and

[0009] a control unit configured to execute, in response to generation of an assistance request, parking assistance control that moves the vehicle from a current position of the vehicle to a target position.

[0010] The control unit is configured to execute, when the assistance request is generated in a situation in which the vehicle has been parked, the following operation:

[0011] determine, from the vehicle surrounding information, a plurality of egress methods for the vehicle to egress to a travel road,

[0012] displaying a screen showing the plurality of departure methods on the display device,

[0013] performing the parking assistance control in accordance with the departure method selected on the screen.

[0014] The control unit is further configured to perform the following operation:

[0015] selecting, as a specific departure method, a departure method presumed to be highly likely to be desired by a driver of the vehicle, from among the plurality of departure methods,

[0016] displaying the screen on the display device in a state in which the specific departure method is preselected.

[0017] According to the above-described configuration, the vehicle control device displays a screen in a state in which a specific departure method is preselected. The specific departure method is a departure method that is relatively highly likely to be desired by a driver, as compared with other departure methods. Therefore, in many cases, it is not necessary to spend time and effort to select a departure method by the driver. As compared with a conventional device, the vehicle control device can reduce the likelihood that the driver feels inconvenienced.

[0018] In one or more embodiments, the control unit is configured to perform the parking assistance control in accordance with an assistance mode.

[0019] The assistance mode includes:

[0020] a plurality of parking modes that are modes for performing parking of the vehicle; and

[0021] a plurality of departure modes that are modes for performing the departure of the vehicle.

[0022] The departure method is defined by the departure mode and a departure direction.

[0023] The control unit is configured to, when the vehicle has been parked by the parking assistance control based on the parking mode, select, as the departure mode of the specific departure method, the departure mode corresponding to the parking mode used when the vehicle was parked.

[0024] According to the above-described configuration, the vehicle control device can select, as the departure mode of the specific departure method, a departure mode that is highly likely to be desired by a driver, in accordance with a parking mode used when the vehicle was parked.

[0025] In one or more embodiments, the exit direction includes a left direction and a right direction. The control unit is configured to select one of the left direction and the right direction as the exit direction of the specific exit method based on the exit mode of the specific exit method and the position of the steering wheel of the vehicle.

[0026] According to the above configuration, the vehicle control device is able to select an exit direction in which a driver is likely to desire as the exit direction of a specific exit method.

[0027] In one or more embodiments, the plurality of parking modes includes:

[0028] a first parking mode that is a mode for causing the vehicle to advance to park the vehicle in a side-by-side parking form;

[0029] a second parking mode that is a mode for causing the vehicle to retreat to park the vehicle in the side-by-side parking form; and

[0030] a third parking mode that is a mode for parking the vehicle in a longitudinal parking form.

[0031] The plurality of exit modes includes:

[0032] a first exit mode that corresponds to the first parking mode, is a mode for causing the vehicle parked in the side-by-side parking form to retreat to perform the exit;

[0033] a second exit mode that corresponds to the second parking mode, is a mode for causing the vehicle parked in the side-by-side parking form to advance to perform the exit; and

[0034] a third exit mode that corresponds to the third parking mode, is a mode for performing the exit of the vehicle parked in the longitudinal parking form.

[0035] In one or more embodiments, the control unit is configured to, in a case where the vehicle has parked without using the parking assistance control based on the parking mode:

[0036] select one of the first exit mode and the second exit mode as the exit mode of the specific exit method in preference to the third exit mode when the vehicle is present within a specific region,

[0037] select the third exit mode as the exit mode of the specific exit method in preference to the first exit mode and the second exit mode when the vehicle is not present within the specific region.

[0038] For example, the specific area is an area where parallel parking is usually performed. According to the above configuration, the vehicle control device can select, as the exit mode of the specific exit method, the exit mode in which the driver's expectation possibility is high, in accordance with the area in which the vehicle exists.

[0039] In one or more embodiments, the control unit is configured to select the specific exit method in accordance with a priority order set in advance by the driver.

[0040] In one or more embodiments, the control unit can also be implemented by a microprocessor programmed to perform one or more functions described in this specification. In one or more embodiments, the control unit can be implemented entirely or partially by hardware constituted by one or more application-specific integrated circuits, i.e., ASICs, and the like, dedicated to the use. In the above description, in order to facilitate understanding of the present application, for the configuration of the application corresponding to the embodiments described later, brackets are added to the names and / or symbols used in this embodiment. However, the respective elements of the present application are not limited to the embodiments defined by the names and / or symbols. BRIEF DESCRIPTION OF DRAWINGS

[0041] The features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described in the specification, together with the accompanying drawings, in which the same reference number refers to the same element throughout the specification. The features, advantages, and technical and industrial significance of exemplary embodiments of the application will be described in the specification, together with the accompanying drawings, in which the same reference number refers to the same element throughout the specification.

[0042] Figure 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present application.

[0043] Figure 2 is an example of an assist mode screen displayed on a display.

[0044] Figure 3 is an example of a selection screen displayed on a display.

[0045] Figure 4 is a flowchart showing a routine for selecting an exit mode of a specific exit method.

[0046] Figure 5 is a flowchart showing a routine for selecting an exit direction of a specific exit method.

[0047] Figure 6 is an example of a situation in which parking assist control based on an exit mode is performed.

[0048] Figure 7 is an example of a selection screen displayed on a display in a situation of Figure 6 .

[0049] Figure 8 is an example of a situation in which parking assist control based on an exit mode is performed.

[0050] Figure 9 is an example of a selection screen displayed on a display in a case where Figure 8

[0051] Figure 10 is a flowchart showing a routine for executing parking assistance control based on an outbound mode.

[0052] Figure 11 is an example of a screen for setting priorities of an outbound mode and priorities of outbound directions. DETAILED DESCRIPTION

[0053] <Configuration>

[0054] As shown in Figure 1 , a vehicle control device 100 according to the present embodiment is mounted (applied) to a vehicle VA. The vehicle control device 100 includes a parking assistance ECU 10, an engine ECU 20, a brake ECU 30, an SBW (Shift-by-Wire) ECU 40, an electric power steering ECU (hereinafter referred to as "EPS ECU") 50, and a navigation ECU 60. These ECUs are connected together via a CAN (Controller Area Network) 90 in a manner that enables them to transmit and receive data to and from each other.

[0055] ECU is an abbreviation of Electronic Control Unit, and is an electronic control circuit having a microcomputer including a CPU, a ROM, a RAM, an interface, a nonvolatile memory, and the like as main constituent components. The CPU realizes various functions by executing instructions (routines, programs) stored in the ROM. For example, the parking assistance ECU 10 includes a microcomputer including a CPU 10a, a ROM 10b, a RAM 10c, an interface (I / F) 10d, a nonvolatile memory 10e, and the like.

[0056] The engine ECU 20 is connected to an engine actuator 21. The engine actuator 21 includes a throttle actuator that changes an opening degree of a throttle valve of an internal combustion engine 22. The engine ECU 20 can change a torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to a drive wheel via a transmission 23 and a drive power transmission mechanism. Therefore, the engine ECU 20 can control a drive power of the vehicle VA by controlling the engine actuator 21.

[0057] ​Further, in the case where the vehicle VA is a hybrid vehicle, the engine ECU 20 is able to control the driving force generated by one or both of the "internal combustion engine and the electric motor" as a driving source. Further, in the case where the vehicle VA is an electric vehicle, the engine ECU 20 is able to control the driving force generated by the electric motor as a driving source.

[0058] The brake ECU 30 is connected to the brake actuator 31. The brake actuator 31 includes a publicly known hydraulic circuit. The hydraulic circuit includes a reservoir, an oil pump, and various valve devices, etc. The brake actuator 31 adjusts the hydraulic pressure (i.e., brake pressure) supplied to the wheel cylinder 32 according to the instruction from the brake ECU 30. The frictional braking force generated on the wheels varies according to the brake pressure. Therefore, the brake ECU 30 is able to control the braking force of the vehicle VA by controlling the brake actuator 31.

[0059] The SBW ECU 40 is connected to the SBW actuator 41. The SBW ECU 40 controls the SBW actuator 41 according to the position of a shift lever, not shown. The SBW actuator 41 switches the shift position of the transmission 23 to one of a plurality of shift positions according to the instruction from the SBW ECU 40.

[0060] In the present example, the shift positions include at least a park position in which the driving force is not transmitted to the drive wheels and the vehicle VA is mechanically locked in a stop position, a neutral position in which the driving force is not transmitted to the drive wheels and the vehicle VA is not mechanically locked in the stop position, a forward position in which the driving force that advances the vehicle VA is transmitted to the drive wheels, and a reverse position in which the driving force that reverses the vehicle VA is transmitted to the drive wheels.

[0061] The EPS ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is assembled in a steering mechanism 52. The steering mechanism 52 is a mechanism for turning the steered wheels by the rotational operation of a steering wheel SW. The steering mechanism 52 includes the steering wheel SW, a steering shaft US coupled to the steering wheel SW, and a steering gear mechanism, not shown, etc. The EPS ECU 50 detects the steering torque input to the steering wheel SW by a driver through a steering torque sensor, not shown, provided to the steering shaft US, and drives the assist motor 51 according to the steering torque. The EPS ECU 50 applies the steering torque (steering assist torque) to the steering mechanism 52 by the drive of the assist motor, whereby the steering operation of the driver can be assisted.

[0062] In addition, the EPS ECU 50 drives the assist motor 51 in accordance with a steering torque determined by a steering command in a case where the steering command is received from the parking assist ECU 10 during execution of the parking assist control described later. The steering torque is different from the steering assist torque described above, and indicates a torque applied to the steering mechanism 52 by the steering command from the parking assist ECU 10 without steering operation by the driver. The steering angle of the steered wheels of the vehicle VA is changed by this torque.

[0063] The navigation ECU 60 is connected to a GPS receiver 61, a map storage section 62, and a display (display device) 63. The GPS receiver 61 receives a GPS signal for detecting "latitude and longitude" of a position where the vehicle VA is located. The map storage section 62 stores map information. The display 63 is a touch panel type display. The navigation ECU 60 performs various arithmetic processes based on the latitude and longitude of the position where the vehicle VA is located, the map information, and the like, and causes the display 63 to display the position of the vehicle VA on a map. Hereinafter, a display mode in which the position of the vehicle VA on the map is displayed on the display 63 will be referred to as a "first mode (navigation mode)".

[0064] The display 63 has a second mode (parking assist mode) in addition to the first mode. The second mode is a display mode in a case where the parking assist control is performed, and is a display mode in which various images indicating the surrounding situation of the vehicle VA are displayed, as described later. The display mode is switched from the first mode to the second mode when an assist request described later is generated.

[0065] The parking assist ECU 10 is connected to a surrounding sensor 70. The surrounding sensor 70 acquires information related to the surrounding situation of the vehicle VA (hereinafter referred to as "vehicle surrounding information"). The vehicle surrounding information includes information related to objects existing in the surroundings of the vehicle VA, and information related to a lane mark on a road surface in the surroundings of the vehicle VA. The objects include, for example, moving objects such as automobiles, pedestrians, and bicycles, and fixed objects such as guardrails and fences. For example, the surrounding sensor 70 includes a plurality of ultrasonic sensors 71 and a plurality of cameras 72.

[0066] The ultrasonic sensor 71 transmits ultrasonic waves to a prescribed range around the vehicle VA in a pulse manner, and receives reflected waves reflected by objects. The ultrasonic sensor 71 is capable of detecting, for example, a "reflection point on an object that reflects the transmitted ultrasonic waves" and a "distance between the ultrasonic sensor and the object" based on the time from transmission to reception of the ultrasonic waves.

[0067] The camera 72 is, for example, a digital camera in which a CCD (charge coupled device) or a CIS (CMOS image sensor) is built in as an imaging element. The camera 72 acquires image data of the situation around the vehicle VA (including the positions and shapes of objects and the positions and shapes of lane lines), and outputs the image data to the parking assistance ECU 10.

[0068] Every time a predetermined time dT elapses, the parking assistance ECU 10 receives the vehicle surrounding information from the surrounding sensor 70. The parking assistance ECU 10 detects, from the vehicle surrounding information, a "region in which no object exists" around the vehicle VA. In a case where the region in which no object exists is a region having a size and a shape that enables the vehicle VA to be sufficiently de-parked (or parked), the parking assistance ECU 10 determines the region as a "de-parking possible region (or a parking possible region)".

[0069] Further, the parking assistance ECU 10 is connected to a parking assistance switch 80. The parking assistance switch 80 is a switch that is pressed by the driver when the driver requests the parking assistance ECU 10 to execute the parking assistance control (when an assistance request described later is generated).

[0070] <Display of screen>

[0071] Next, a screen (hereinafter referred to as an "assistance mode screen") displayed on the display 63 in a case where the display mode is the second mode will be described. As shown in Fig. 6, the assistance mode screen has a first display region 210 and a second display region 220. Figure 2

[0072] In a case where the display mode is the second mode, the parking assistance ECU 10 displays, on the assistance mode screen, a "viewpoint image and a travel direction image" as described below. Hereinafter, the generation method of each of the viewpoint image and the travel direction image will be briefly described.

[0073] The parking assistance ECU 10 generates an image (a viewpoint image) obtained by observing the vehicle VA and the surrounding region of the vehicle VA from a set virtual viewpoint, from the image data (front image data, rear image data, right side image data, and left side image data) acquired from the camera 72. The method of generating such a viewpoint image is known (see, for example, Japanese Patent Application Publication No. 2012-217000 and Japanese Patent Application Publication No. 2013-021468). For example, the viewpoint image is an image viewed from directly above the vehicle VA. Such a viewpoint image is also referred to as an "overhead image".

[0074] ​The parking assist ECU 10 generates an image showing a region in the travel direction of the vehicle VA (travel direction image) based on the front image data and the rear image data. In the case where the vehicle VA is proceeding, the parking assist ECU 10 generates a travel direction image showing a region in front of the vehicle VA based on the front image data. On the other hand, in the case where the vehicle VA is retreating, the parking assist ECU 10 generates a travel direction image showing a region behind the vehicle VA based on the rear image data.

[0075] As shown in FIG. 2, the parking assist ECU 10 causes the first display region 210 to display the overhead image 211 and the second display region 220 to display the travel direction image 221. Figure 2

[0076]

[0077] The parking assist ECU 10 executes the parking assist control in the assist mode. The parking assist control includes a parking mode and a departure mode. The parking mode is a mode for causing the vehicle VA to park in a parking space. The departure mode is a mode for causing the parked vehicle VA to depart from the parking space to the travel road.

[0078] The parking mode includes a first parking mode PM1, a second parking mode PM2, and a third parking mode PM3. The first parking mode PM1 is a mode for causing the vehicle VA to proceed and park the vehicle VA in a parallel parking. The parallel parking refers to parking the vehicle in a direction at right angles to the travel direction of the travel road. In the case where the vehicle VA is parked using the first parking mode PM1, the vehicle VA is parked in a state where the rear portion of the vehicle body faces the travel road. The second parking mode PM2 is a mode for causing the vehicle VA to retreat and park the vehicle VA in a parallel parking. In the case where the vehicle VA is parked using the second parking mode PM2, the vehicle VA is parked in a state where the front portion of the vehicle body faces the travel road. The third parking mode PM3 is a mode for parking the vehicle VA in a longitudinal parking. The longitudinal parking refers to parking the vehicle in a manner such that the vehicle is parallel to the travel direction of the travel road.

[0079] ​​The exit modes include a first exit mode EM1, a second exit mode EM2, and a third exit mode EM3. The first exit mode EM1 is a mode corresponding to the first parking mode PM1, and is a mode for causing the vehicle VA parked in the side-by-side parking to perform exit (movement to the travel road) by backing up. The second exit mode EM2 is a mode corresponding to the second parking mode PM2, and is a mode for causing the vehicle VA parked in the side-by-side parking to perform exit (movement to the travel road) by moving forward. The third exit mode EM3 is a mode corresponding to the third parking mode PM3, and is a mode for causing the vehicle VA parked in the tandem parking to perform exit (movement to the travel road).

[0080] <Contents of the Parking Assistance Control>

[0081] The "exit mode-based parking assistance control" related to the features of the present embodiment is described. Upon generation of the assistance request, the parking assistance ECU 10 determines an exit method as described later. The exit method is defined by an exit mode and an exit direction. As described above, the exit modes include the first exit mode EM1, the second exit mode EM2, and the third exit mode EM3. The exit direction includes a left direction and a right direction.

[0082] The parking assistance ECU 10 sets a target position in accordance with the determined exit method. The target position is a position of the vehicle VA at the time of completion of exit of the vehicle VA, and is a position to which the center position in the bird's-eye view of the vehicle VA should reach.

[0083] The parking assistance ECU 10 calculates a movement path for causing the vehicle VA to move from the current position to the target position. The movement path is a path that enables the vehicle VA to move from the current position to the target position while the vehicle body of the vehicle VA is separated from an object (another vehicle, a curb, a guardrail, or the like) by a prescribed interval or more. In addition, the parking assistance ECU 10 calculates the movement path in accordance with one of various known calculation methods (for example, the method proposed in Japanese Patent Application Publication No. 2015-3565).

[0084] Next, the parking assistance ECU 10 determines movement assistance information for causing the vehicle VA to move along the movement path. The movement assistance information includes a movement direction of the vehicle VA (specifically, a shift position of the transmission 23), a steering angle model, and a speed model.

[0085] The parking assistance ECU 10 sends a shift control command to the SBW·ECU 40 via the CAN 90 in accordance with the determined shift position. The SBW·ECU 40, upon receipt of the shift control command from the parking assistance ECU 10, drives the SBW actuator 41 to change the shift position of the transmission 23 to the position determined by the shift control command (i.e., performs shift control).

[0086] The steering angle model is data that correlates the position of the vehicle VA on the travel path with the steering angle of the steering wheels, representing changes in the steering angle of the vehicle VA as it travels along the travel path. Based on the steering angle model, the parking assist ECU 10 transmits a steering command (including a target steering angle) to the EPS ECU 50 via the CAN 90. Upon receiving the steering command from the parking assist ECU 10, the EPS ECU 50 drives the assist motor 51 according to the steering torque determined by the steering command, bringing the actual steering angle into alignment with the target steering angle (i.e., executing steering angle control).

[0087] The speed model is data that correlates the position of the vehicle VA on the moving path with the target speed of the vehicle VA, and represents changes in the speed of the vehicle VA as it travels along the moving path. The parking assist ECU 10 transmits a driving force control instruction to the engine ECU 20 via the CAN 90 in accordance with the speed model. Upon receiving the driving force control instruction from the parking assist ECU 10, the engine ECU 20 controls the engine actuator 21 in accordance with the driving force control instruction (i.e., performs driving force control). Furthermore, the parking assist ECU 10 transmits a driving force control instruction to the brake ECU 30 via the CAN 90 in accordance with the speed model. Upon receiving the braking force control instruction from the parking assist ECU 10, the brake ECU 30 controls the brake actuator 31 in accordance with the braking force control instruction (i.e., performs braking force control).

[0088] The same applies to "parking assist control based on the parking mode." The parking assist ECU 10 sets a target position, which is the position of the vehicle VA when parking is complete. The parking assist ECU 10 calculates a movement path for moving the vehicle VA from its current position to the target position. The parking assist ECU 10 determines movement assist information for moving the vehicle VA along the movement path. Based on the movement assist information, the parking assist ECU 10 executes shift control, steering angle control, driving force control, and braking force control.

[0089] <Determination of the delivery method>

[0090] Next, the method for determining an exit method will be described. When an assistance request is generated while the vehicle VA is parked, the parking assistance ECU 10 determines multiple exit methods (i.e., multiple exit methods that can be performed under the current circumstances) for exiting the vehicle VA onto the travel road based on vehicle perimeter information (specifically, the exitable area detected based on the vehicle perimeter information). These multiple exit methods are candidates for the exit method ultimately used and are hereinafter referred to as "candidate exit methods."

[0091] When an assist request is generated, the parking assist ECU 10 switches the display mode of the display 63 to the second mode.Figure 3 The parking assistance ECU 10 displays, on the bird's-eye image 211, a plurality of arrow marks (301L, 301R, 302L, 302R, 303L, 303R) indicating candidate exit methods and a start button 310, as shown. Such a screen is a screen for selecting a final exit method from among the candidate exit methods, hereinafter referred to as "selection screen 300".

[0092] In the present example, the parking assistance ECU 10 can display, on the selection screen 300, at most six arrow marks (301L, 301R, 302L, 302R, 303L, 303R) as candidate exit methods. The arrow mark 301L indicates that the exit mode is the first exit mode EM1 and the exit direction is the left direction. The arrow mark 301R indicates that the exit mode is the first exit mode EM1 and the exit direction is the right direction. The arrow mark 302L indicates that the exit mode is the second exit mode EM2 and the exit direction is the left direction. The arrow mark 302R indicates that the exit mode is the second exit mode EM2 and the exit direction is the right direction. The arrow mark 303L indicates that the exit mode is the third exit mode EM3 and the exit direction is the left direction. The arrow mark 303R indicates that the exit mode is the third exit mode EM3 and the exit direction is the right direction.

[0093] The start button 310 is a button that is pressed down by the driver when starting the parking assistance control based on the exit mode.

[0094] The driver selects one from among the plurality of arrow marks (301L, 301R, 302L, 302R, 303L, 303R) on the selection screen 300. Then, the driver presses down the start button 310. In Figure 3 In the example, the arrow mark 301R is selected. In addition, the selected arrow mark 301R is displayed in emphasis compared to the other arrow marks. When the start button 310 is pressed down by the driver in this state, the parking assistance ECU 10 executes the parking assistance control in accordance with the exit method corresponding to the arrow mark 301R selected on the selection screen 300. That is, the parking assistance ECU 10 causes the vehicle VA to exit in the right direction while causing the vehicle VA to back up.

[0095] <Outline of Action>

[0096] As described above, in the conventional apparatus, there is a problem that the driver feels bothered because it takes time to select the exit direction of the vehicle.

[0097] Here, the parking assistance ECU 10 selects, as a "specific exit method", an exit method that is presumed to be highly likely to be desired by the driver of the vehicle VA from among the candidate exit methods. The parking assistance ECU 10 displays the selection screen 300 in a state in which the arrow mark corresponding to the specific exit method is preselected.

[0098] The specific egress method is an egress method for which the driver's expectation of likelihood is relatively high compared to other egress methods. Therefore, in many cases, it is not necessary to spend the time and effort of the driver selecting the arrow mark (i.e., the egress method). The driver can start the parking assist control based on the egress mode by simply operating the start button 310 on the selection screen 300. In this way, the vehicle control device 100 can reduce the likelihood of the driver feeling inconvenienced compared to the conventional device.

[0099] < Determination method of specific egress method >

[0100] Next, the determination method of the specific egress method will be described. When the assist request is generated, the CPU 10a of the parking assist ECU 10 (referred to simply as "CPU") determines the candidate egress method based on the egressable area detected by the vehicle surrounding information.

[0101] Next, the CPU sequentially executes the routine of Figure 4 and the routine of Figure 5 to determine the specific egress method from the candidate egress methods. Figure 4 The routine of Figure 5 is a routine for selecting the egress direction of the egress mode of the specific egress method.

[0102] The CPU starts processing from step 400 of Figure 4 and proceeds to step 401 to determine whether the vehicle VA has been parked using the parking assist control based on the parking mode. The CPU stores information related to the parking mode in the nonvolatile memory 10e. Specifically, the CPU stores an identification XA indicating whether the parking assist control based on the parking mode has been executed in the nonvolatile memory 10e. In the case where the value of the identification XA is "1", this indicates that the vehicle VA has been parked using the parking assist control based on the parking mode. In the case where the value of the identification XA is "0", this indicates that the vehicle VA has been parked without using the parking assist control based on the parking mode.

[0103] The CPU sets the value of the identification XA to "1" in the case where the parking assist control based on the parking mode has been executed. Further, the CPU also stores information related to the executed parking mode (i.e., information indicating one of the first parking mode PM1, the second parking mode PM2, and the third parking mode PM3) in the nonvolatile memory 10e. In addition, the value of the identification XA is set (reset) to "0" at the time when the speed of the vehicle VA becomes a predetermined speed threshold Vth or more.

[0104] The CPU refers to flag XA and determines whether the vehicle VA has been parked using parking assistance control based on the parking mode. Assume that the value of flag XA is "1." In this case, the CPU makes a "yes" determination in step 401 and proceeds to step 402. In step 402, the CPU determines whether the candidate exit methods include an exit method using an exit mode corresponding to the parking mode stored in non-volatile memory 10e.

[0105] If the candidate exit methods include an exit method using an exit pattern corresponding to the parking pattern stored in the non-volatile memory 10e, the CPU determines "yes" in step 402 and proceeds to step 403. The CPU then selects the exit pattern corresponding to the parking pattern stored in the non-volatile memory 10e (i.e., the parking pattern used when the vehicle was parked in VA) as the exit pattern for the specific exit method. The CPU then proceeds to step 495, terminating this routine.

[0106] For example, assume that after the vehicle VA has been parked using parking assistance control based on the first parking mode PM1, the driver then utilizes parking assistance control based on the exit mode. In this case, the driver is likely to desire the first exit mode EM1 corresponding to the first parking mode PM1. If the candidate exit methods include an exit method using the first exit mode EM1, the CPU selects the first exit mode EM1 as the exit mode for the specific exit method. This configuration enables the driver to select the exit mode that is most likely to be desired as the exit mode for the specific exit method.

[0107] On the other hand, if the candidate exit methods do not include an exit method using the exit pattern corresponding to the parking pattern stored in the nonvolatile memory 10e, the CPU determines "No" in step 402 and proceeds to step 404. The processing after step 404 will be described later.

[0108] Assume that vehicle VA has not been parked using parking assistance control based on the parking mode. In this case, the value of flag XA is "0." The CPU determines "No" in step 401 and proceeds to step 404. The CPU determines whether vehicle VA is located within a specific area. In this example, specific areas are regions where parallel parking is common, such as Japan and China. Regions outside the specific areas are regions where parallel parking is common, such as Europe. The CPU determines whether vehicle VA is located within the specific area based on information from the navigation ECU 60.

[0109] When the vehicle VA exists within the specific area, the vehicle VA is more likely to be parked in a side-by-side manner. Therefore, as the egress mode of the specific egress method, the CPU selects one of the first egress mode EMl and the second egress mode EM2 in preference to the third egress mode EM3.

[0110] Specifically, when the vehicle VA exists within the specific area, the CPU determines "Yes" in step 404 and proceeds to step 405. The CPU determines whether the candidate egress method includes an egress method using the first egress mode EMl or the second egress mode EM2. When the candidate egress method includes an egress method using the first egress mode EMl or the second egress mode EM2, the CPU determines "Yes" in step 405 and proceeds to step 406.

[0111] In step 406, the CPU selects the first egress mode EMl or the second egress mode EM2 as the egress mode of the specific egress method. When the candidate egress method includes an egress method using the first egress mode EMl and does not include an egress method using the second egress mode EM2, the CPU selects the first egress mode EMl as the egress mode of the specific egress method. When the candidate egress method does not include an egress method using the first egress mode EMl and includes an egress method using the second egress mode EM2, the CPU selects the second egress mode EM2 as the egress mode of the specific egress method. When the candidate egress method includes both an egress method using the first egress mode EMl and an egress method using the second egress mode EM2, the CPU selects the first egress mode EMl or the second egress mode EM2 as the egress mode of the specific egress method in accordance with a predetermined priority order. In this example, the CPU gives priority to the first egress mode EMl. After the process in step 406, the CPU proceeds to step 495 and ends the routine.

[0112] In addition, when the candidate egress method does not include either an egress method using the first egress mode EMl or an egress method using the second egress mode EM2, the CPU determines "No" in step 405 and proceeds to step 408, and selects the third egress mode EM3 as the egress mode of the specific egress method. Thereafter, the CPU proceeds to step 495 and ends the routine.

[0113] On the other hand, when the vehicle VA does not exist within the specific area, the vehicle VA is more likely to be parked in a longitudinal manner. Therefore, as the egress mode of the specific egress method, the CPU selects the third egress mode EM3 in preference to the first egress mode EMl and the second egress mode EM2.

[0114] Specifically, in a case where the vehicle VA is not present in the specific area, the CPU determines "NO" in step 404 and proceeds to step 407. The CPU determines whether the candidate exit method includes an exit method using the third exit mode EM3. In a case where the candidate exit method includes an exit method using the third exit mode EM3, the CPU determines "YES" in step 407 and proceeds to step 408. The CPU selects the third exit mode EM3 as the exit mode of the specific exit method. After that, the CPU proceeds to step 495 and ends the present routine.

[0115] In a case where the candidate exit method does not include an exit method using the third exit mode EM3, the CPU determines "NO" in step 407 and proceeds to step 406, and selects the first exit mode EM1 or the second exit mode EM2 as the exit mode of the specific exit method as described above. After that, the CPU proceeds to step 495 and ends the present routine.

[0116] The CPU starts the routine of Figure 4 after ending the routine of Figure 5 . The CPU starts processing from step 500 of Figure 5 and proceeds to step 501. The CPU determines whether the exit direction can be selected from the two directions of the left direction and the right direction for the exit mode of the specific exit method selected in the routine of Figure 4

[0117] Specifically, the CPU determines whether the candidate exit method includes both of the following exit methods Yl and Y2.

[0118] (Exit method Yl) an exit method using the exit mode of the specific exit method selected in the routine of Figure 4 and the exit direction being the left direction.

[0119] (Exit method Y2) an exit method using the exit mode of the specific exit method selected in the routine of Figure 4 and the exit direction being the right direction.

[0120] In a case where the candidate exit method includes only one of the exit methods Yl and Y2, this means that there is a restriction on the selectable exit direction for the exit mode of the specific exit method, and only one of the left direction and the right direction can be selected. Therefore, the CPU determines "NO" in step 501 and proceeds to step 509, and selects the selectable direction as the exit direction of the specific exit method.

[0121] ​On the other hand, in a case where the candidate departure method includes both the departure methods Yl and Y2, this means that, for the departure mode of the specific departure method, the departure direction can be selected from the two directions of the left direction and the right direction. Therefore, the CPU determines "Yes" in step 501 and proceeds to step 502, and determines whether the vehicle VA is right-hand drive.

[0122] In a case where the vehicle VA is right-hand drive, the vehicle VA has a high possibility of traveling on a road in a region (country) where traffic is on the left. Therefore, the CPU selects the departure direction of the specific departure method as follows.

[0123] Specifically, in a case where the vehicle VA is right-hand drive, the CPU determines "Yes" in step 502 and proceeds to step 503, and determines whether the departure mode of the specific departure method selected in the routine of Figure 4 is the first departure mode EMl or the second departure mode EM2. In a case where the departure mode of the specific departure method is the first departure mode EMl or the second departure mode EM2, the CPU determines "Yes" in step 503 and proceeds to step 504, and selects the left direction as the departure direction of the specific departure method. In a case where the vehicle parked in a parallel parking form in a region where traffic is on the left is departed, the driver often departs the vehicle to the left direction. According to this configuration, it is possible to select the departure direction in which the driver has a high expectation possibility as the departure direction of the specific departure method.

[0124] On the other hand, in a case where the departure mode of the specific departure method is the third departure mode EM3, the CPU determines "No" in step 503 and proceeds to step 505, and selects the right direction as the departure direction of the specific departure method. In a case where the vehicle parked in a vertical parking form in a region where traffic is on the left is departed, the driver often departs the vehicle to the right direction. According to this configuration, it is possible to select the departure direction in which the driver has a high expectation possibility as the departure direction of the specific departure method.

[0125] In addition, in a case where the vehicle VA is left-hand drive, the vehicle VA has a high possibility of traveling on a road in a region where traffic is on the right. Therefore, the CPU selects the departure direction of the specific departure method as follows.

[0126] Specifically, in a case where the vehicle VA is left-hand drive, the CPU determines "No" in step 502 and proceeds to step 506, and determines whether the departure mode of the specific departure method selected in the routine of Figure 4The CPU determines whether the selected specific exit method's exit mode in the routine is the first exit mode EM1 or the second exit mode EM2. If the exit mode of the specific exit method is the first exit mode EM1 or the second exit mode EM2, the CPU determines "yes" in step 506 and proceeds to step 507, selecting the right direction as the exit direction for the specific exit method. When unloading a vehicle parked in a parallel parking area on the right, the driver often unloads the vehicle in the right direction. This configuration enables the driver to select the exit direction of the specific exit method that is most likely to be desired.

[0127] On the other hand, if the specific exit method's exit mode is the third exit mode EM3, the CPU determines "No" in step 506 and proceeds to step 508, selecting the left direction as the exit direction for the specific exit method. When unloading a vehicle parked in a parallel parking pattern in a right-hand traffic area, the driver often unloads the vehicle to the left. This configuration allows the driver to select the exit direction most likely desired by the specific exit method.

[0128] As described above, the CPU selects one of the left direction and the right direction as the delivery direction of the specific delivery method based on the delivery mode of the specific delivery method and the position of the steering wheel SW of the vehicle VA.

[0129] In addition, when the candidate outbound method contains only one outbound method, the CPU does not execute Figure 4 Routines and Figure 5 Then, the CPU displays the selection screen 300 in a state where the arrow mark corresponding to the specific outgoing method is pre-selected.

[0130] <Action Example>

[0131] use Figures 6 to 9 , which illustrates an example of processing for determining a specific outbound method.

[0132] (Example 1)

[0133] exist Figure 6 In the example shown, vehicle VA is parked in a parallel parking lot. Assume that vehicle VA is parked using parking assistance control in the first parking mode PM1. Furthermore, vehicle VA is right-hand drive. The driver of vehicle VA wishes to exit (move) vehicle VA to the left using the first exit mode EM1. In this situation, the CPU determines a specific exit method as follows.

[0134] The CPU determines the following delivery methods A1 to A3 as delivery method candidates based on the delivery-enabled area 601 detected by the vehicle surrounding information.

[0135] (Discharge method A1) The discharge mode is the first discharge mode EM1 and the discharge direction is the left direction.

[0136] (Discharge method A2) The discharge mode is the first discharge mode EM1 and the discharge direction is the right direction.

[0137] (Discharge method A3) The discharge mode is the third discharge mode EM3 and the discharge direction is the right direction.

[0138] The CPU executes the routine of Figure 4 . The candidate discharge methods include the discharge methods using the first discharge mode EM1 corresponding to the first parking mode PM1 (discharge method A1 and discharge method A2). Therefore, the CPU executes the processes of step 401, step 402, and step 403 in this order, and selects the first discharge mode EM1 as the discharge mode of the specific discharge method.

[0139] Next, the CPU executes the routine of Figure 5 . With respect to the discharge mode (first discharge mode EM1) of the specific discharge method, the discharge direction can be selected from the two directions of the left direction and the right direction. Further, the vehicle VA is right-hand drive. Therefore, the CPU executes the processes of step 501, step 502, step 503, and step 504 in this order, and selects the left direction as the discharge direction of the specific discharge method. Therefore, the CPU determines the discharge method A1 as the specific discharge method from among the candidate discharge methods.

[0140] As shown in Figure 7 , the CPU displays a plurality of arrow marks (301L, 301R, and 303R) corresponding to the candidate discharge methods on the selection screen 300. The arrow mark 301L corresponds to the discharge method A1, the arrow mark 301R corresponds to the discharge method A2, and the arrow mark 303R corresponds to the discharge method A3. Further, the CPU displays the selection screen 300 in a state in which the arrow mark 301L corresponding to the specific discharge method is pre-selected. In this way, the selection screen 300 is displayed in a state in which the discharge method (arrow mark 301L) desired by the driver is pre-selected.

[0141] (Example 2)

[0142] In the example of Figure 6 , it is assumed that the vehicle VA is parked by the driving of the driver without using the parking assist control based on the parking mode. Further, the vehicle VA exists within a specific region (for example, Japan). The vehicle VA is right-hand drive. The driver of the vehicle VA desires to discharge (move) the vehicle VA in the left direction using the first discharge mode EM1. In this case, the CPU determines the specific discharge method as follows.

[0143] As in Example 1, the CPU determines the egress method Al to the egress method A3 as the candidate egress method.

[0144] The CPU executes the routine of Figure 4 . The CPU sequentially executes the processes of Step 401, Step 404, Step 405, and Step 406, and selects the first egress mode EM1 as the egress mode of the specific egress method. Next, the CPU executes the routine of Figure 5 . As in Example 1, the CPU sequentially executes the processes of Step 501, Step 502, Step 503, and Step 504, and selects the left direction as the egress direction of the specific egress method. As described above, the CPU determines the egress method Al from the candidate egress method as the specific egress method.

[0145] As shown in Figure 7 , the CPU displays the selection screen 300 in a state in which the arrow mark 301L corresponding to the specific egress method is pre-selected. In this way, the selection screen 300 is displayed in a state in which the egress method (arrow mark 301L) desired by the driver is pre-selected.

[0146] (Example 3)

[0147] In the example of Figure 8 , the vehicle VA is parked in a form of a columnar parking in a road in which vehicles travel on the right side. It is assumed that the vehicle VA is parked by using the parking assist control based on the third parking mode PM3. Further, the vehicle VA is a left-hand drive vehicle. The driver of the vehicle VA desires to make the vehicle VA exit (move) in the left direction using the third egress mode EM3. In this situation, the CPU determines the specific egress method as follows.

[0148] The CPU determines the egress method Bl and the egress method B2 as the candidate egress method in accordance with the egressable area 801 detected by the vehicle surrounding information.

[0149] (Egress method Bl) The egress mode is the first egress mode EM1 and the egress direction is the left direction.

[0150] (Egress method B2) The egress mode is the third egress mode EM3 and the egress direction is the left direction.

[0151] The CPU executes the routine of Figure 4 . The candidate egress method includes the egress method (the egress method B2) using the third egress mode EM3 corresponding to the third parking mode PM3. Therefore, the CPU sequentially executes the processes of Step 401, Step 402, and Step 403, and selects the third egress mode EM3 as the egress mode of the specific egress method.

[0152] Next, the CPU executes the routine of Figure 5The CPU executes the routine of FIG. 9. The CPU executes the processes of steps 901, 904, 907, and 908 in this order, and selects the second exit mode EM2 as the exit mode of the specific exit method. Next, the CPU executes the routine of FIG. 10. With respect to the exit mode of the specific exit method (the second exit mode EM2), the CPU can select only the right direction as the exit direction. Therefore, the CPU executes the processes of steps 1001 and 1009 in this order, and selects the right direction as the exit direction of the specific exit method. As described above, the CPU determines the exit method B2 as the specific exit method from among the candidate exit methods.

[0153] As shown in FIG. 11, the CPU displays the arrow marks (301L and 303L) corresponding to the candidate exit methods on the selection screen 300. The arrow mark 301L corresponds to the exit method Bl, and the arrow mark 303L corresponds to the exit method B2. Further, the CPU displays the selection screen 300 in a state in which the arrow mark 303L corresponding to the specific exit method is preselected. In this way, the selection screen 300 is displayed in a state in which the exit method (arrow mark 303L) desired by the driver is preselected. Figure 9

[0154] (Example 4)

[0155] In the example of FIG. 12, it is assumed that the vehicle VA has been parked by the driving of the driver without using the parking assist control based on the parking mode. Further, the vehicle VA exists in a region other than the specific region (for example, Europe). The vehicle VA is a left-hand drive. The driver of the vehicle VA desires to cause the vehicle VA to exit (move) in the left direction using the third exit mode EM3. In this case, the CPU determines the specific exit method as follows. Figure 8 As in Example 3, the CPU determines the exit method Bl and the exit method B2 as the candidate exit methods.

[0156] The CPU executes the routine of FIG. 9. The CPU executes the processes of steps 901, 904, 907, and 908 in this order, and selects the second exit mode EM2 as the exit mode of the specific exit method. Next, the CPU executes the routine of FIG. 10. With respect to the exit mode of the specific exit method (the second exit mode EM2), the CPU can select only the right direction as the exit direction. Therefore, the CPU executes the processes of steps 1001 and 1009 in this order, and selects the right direction as the exit direction of the specific exit method. As described above, the CPU determines the exit method B2 as the specific exit method from among the candidate exit methods.

[0157] Figure 4 The CPU executes the routine of FIG. 9. The CPU executes the processes of steps 901, 904, 907, and 908 in this order, and selects the second exit mode EM2 as the exit mode of the specific exit method. Next, the CPU executes the routine of FIG. 10. With respect to the exit mode of the specific exit method (the second exit mode EM2), the CPU can select only the right direction as the exit direction. Therefore, the CPU executes the processes of steps 1001 and 1009 in this order, and selects the right direction as the exit direction of the specific exit method. As described above, the CPU determines the exit method B2 as the specific exit method from among the candidate exit methods. Figure 5 As shown in FIG. 13, the CPU displays the selection screen 300 in a state in which the arrow mark 303L corresponding to the specific exit method is preselected. In this way, the selection screen 300 is displayed in a state in which the exit method (arrow mark 303L) desired by the driver is preselected.

[0158] Figure 9 ​​​​

[0159] <Actions>

[0160] Next, the process of executing the parking assist control based on the departure mode will be described. The CPU executes the routine of Figure 10 every prescribed time dT. Figure 10

[0161] In addition, the CPU executes a routine not shown in the figure every prescribed time dT, whereby vehicle surrounding information is acquired from the surrounding sensor 70.

[0162] When the prescribed timing is reached, the CPU starts the process from step 1000 of the routine of Figure 10 and proceeds to step 401, where it determines whether the value of the execution flag XB is "0". When the value of the execution flag XB is "0", this indicates that the parking assist control is not being executed. When the value of the execution flag XB is "1", this indicates that the parking assist control is being executed. In addition, at the time when the state of the ignition switch changes from the on state to the off state after the vehicle VA has stopped, the value of the execution flag XB is set to "0".

[0163] Now, assume that the vehicle VA has stopped and the value of the execution flag XB is "0". The CPU determines "Yes" in step 1001 and proceeds to step 1002, where it determines whether an assist request has been generated. The CPU determines that an assist request has been generated when all of the following conditions 1 to 3 are satisfied. In addition, other conditions can be added as conditions for generating an assist request.

[0164] (Condition 1) The parking assist switch 80 is being pressed.

[0165] (Condition 2) The shift position is the parking position.

[0166] (Condition 3) The CPU has detected a departure area in which the vehicle VA can move, based on the vehicle surrounding information.

[0167] In the case where an assist request has not been generated, the CPU determines "No" in step 1002 and proceeds directly to step 1095, where it temporarily ends the routine.

[0168] Now, if an assist request is assumed to have been generated, the CPU determines "Yes" in step 1002 and executes the processes of steps 1003 to 1007 described below in order. After this, the CPU proceeds to step 1008.

[0169] Step 1003: The CPU sets the value of the execution flag XB to "1".

[0170] Step 1004: The CPU determines a candidate departure method based on the vehicle surrounding information.

[0171] ​Step 1005: The CPU executes the routine of FIG. 10B, and selects a departure mode of the specific departure method. Figure 4

[0172] Step 1006: The CPU executes the routine of FIG. 10C, and selects a departure direction of the specific departure method. Figure 5

[0173] Step 1007: The CPU switches the display mode of the display 63 from the first mode to the second mode. Then, the CPU causes the selection screen 300 to be displayed. Specifically, the CPU causes the arrow marks corresponding to the candidate departure methods to be displayed. Further, the CPU displays the selection screen 300 in a state in which the arrow mark corresponding to the specific departure method is pre-selected.

[0174] Next, the CPU determines in step 1008 whether or not the start button 310 is pressed. The CPU repeatedly executes the process of step 1008 until the start button 310 is pressed. If the start button 310 is pressed, the CPU determines "YES" in step 1008, and sequentially executes the processes of steps 1009 to 1011 described below. After this, the CPU proceeds to step 1095, and temporarily ends the present routine.

[0175] Step 1009: The CPU sets a target position for the departureable area in accordance with the departure method (departure mode and departure direction) selected on the selection screen 300. Then, the CPU calculates a movement path that causes the vehicle VA to move from the current position to the target position.

[0176] Step 1010: The CPU determines movement assistance information (specifically, a shift position of the transmission 23, a steering angle model, and a speed model) for causing the vehicle VA to move along the movement path.

[0177] Step 1011: The CPU executes the parking assistance control based on the departure mode. The CPU executes shift control, steering angle control, drive force control, and brake force control in accordance with the movement assistance information.

[0178] After the parking assistance control based on the departure mode is started, the CPU starts the routine of FIG. 10A again. After the CPU proceeds to step 1001, the CPU determines "NO" and proceeds to step 1012. The CPU determines whether or not a prescribed end condition is satisfied. The end condition is satisfied when the vehicle VA reaches the target position. In the case where the end condition is not satisfied, the CPU determines "NO" in step 1012, and executes the process of step 1011 as described above. That is, the CPU continues the parking assistance control. After this, the CPU proceeds to step 1095, and temporarily ends the present routine. Figure 10

[0179] ​​​On the other hand, if the termination condition is met at the time the CPU enters step 1012, the CPU determines "yes" in step 1012 and proceeds to step 1013, where it sets the execution flag XB to "0." The CPU then proceeds to step 1095, temporarily terminating this routine. Parking assist control in the exit mode thus ends.

[0180] The vehicle control device 100 having the above configuration displays the selection screen 300 in a state where the specific exit method is preselected. The specific exit method is an exit method determined based on "the parking mode used, the area where the vehicle VA is located, and the position of the steering wheel SW of the vehicle VA" (see Figure 4 and Figure 5 . ) is the exit method that is presumed to be highly desired by the driver. Therefore, in many cases, the driver does not need to spend time selecting an exit method. Compared with conventional devices, the vehicle control device 100 can reduce the possibility of the driver feeling troubled.

[0181] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0182] (Variation 1)

[0183] The CPU may also determine a specific method of unloading from the candidate unloading methods according to the priority order pre-set by the driver. Figure 11 Screen 1100 is shown in second display area 220. Screen 1100 is used to set the priority of the delivery mode and delivery direction. Screen 1100 includes a first button 1101 indicating the first delivery mode EM1 and a second button 1102 indicating the second delivery mode EM2. The driver can select either button 1101 or button 1102. Screen 1100 also includes a third button 1103 indicating the left direction and a fourth button 1104 indicating the right direction. The driver can select either button 1103 or button 1104.

[0184] exist Figure 11 In the example, the second button 1102 is selected and the fourth button 1104 is selected. In this state, the driver presses the confirmation button 1105. In this case, when selecting the unloading mode of the specific unloading method, the CPU selects the second unloading mode EM2 in priority to the first unloading mode EM1. Figure 4 In the case of step 406 of the routine, the CPU selects the second removal mode EM2 as the removal mode of the specific removal method.

[0185] Further, the CPU selects the right direction in preference to the left direction when selecting the egress direction of the specific egress method. In this configuration, the CPU omits the processing of steps 502 to 508 of the routine of FIG. 8 when the determination in step 501 is "Yes". Also, the CPU selects the right direction as the egress direction of the specific egress method when the determination in step 501 is "Yes". Figure 5

[0186] (Variation 2)

[0187] The CPU can also record the history of the egress method (the egress mode and the egress direction) selected by the driver on the selection screen 300 in the nonvolatile memory 10e. The CPU can also select the egress mode that is selected by the driver a large number of times as the egress mode of the specific egress method. The CPU can also select the egress direction that is selected by the driver a large number of times as the egress direction of the specific egress method.

[0188] (Variation 3)

[0189] In the above-described embodiment, the CPU is configured to be able to execute three parking modes (PM1, PM2, and PM3) and three egress modes (EM1, EM2, and EM3), but is not limited to this configuration. For example, the parking modes can include only the second parking mode PM2 and the third parking mode PM3, and the egress modes can include only the second egress mode EM2 and the third egress mode EM3. That is, the CPU can also be configured to be able to execute two parking modes (PM2 and PM3) and two egress modes (EM2 and EM3), but is not limited to this configuration.

[0190] (Variation 4)

[0191] In a case where the vehicle VA cannot be moved to the target position by making the vehicle VA retreat once, the CPU can also calculate the movement path as follows. For example, the CPU calculates a first path that makes the vehicle VA advance or retreat from the current position of the vehicle VA to a travel direction switching position (i.e., a position at which the vehicle VA is temporarily stopped in order to switch the shift position of the transmission 23), and a second path that makes the vehicle VA advance or retreat from the travel direction switching position to the target position. In this case, the egress direction of the egress method indicates the direction in which the first path extends.​

Claims

1. A vehicle control device comprising: A sensor that acquires information related to the surrounding conditions of the vehicle, namely, vehicle surrounding information; display device; as well as a control unit configured to execute parking assist control that moves the vehicle from a current position of the vehicle to a target position in response to generation of an assist request, The control unit is configured to, when the assistance request is generated while the vehicle is parked, perform the following operations: Determining a plurality of exit methods for the vehicle to exit the vehicle onto the travel road based on the vehicle surrounding information, displaying a screen showing the plurality of delivery methods on the display device, The parking assist control is executed according to the exit method selected on the screen, The control unit is further configured to perform the following operations: selecting, from the plurality of departure methods, a departure method estimated to be highly likely to be desired by the driver of the vehicle as a specific departure method; The screen is displayed on the display device in a state where the specific delivery method is preselected, The control unit is configured to execute the parking assist control in an assist mode, The auxiliary modes include: a plurality of parking modes, which are modes for parking the vehicle; and a plurality of outbound modes, which are modes for carrying out the outbound movement of the vehicle; The outbound method is defined by the outbound mode and outbound direction. The control unit is configured to, when the vehicle is parked using the parking assist control based on the parking mode, select the exit mode corresponding to the parking mode used when the vehicle is parked as the exit mode of the specific exit method, The outbound direction includes left and right directions. The multiple parking modes include: a first parking mode for moving the vehicle forward to park the vehicle in a parallel parking manner; a second parking mode for backing up the vehicle to park the vehicle in a parallel parking manner; and The third parking mode is a mode for parking the vehicle in a parallel parking manner. The multiple outbound modes include: a first exit mode corresponding to the first parking mode, for performing the exit by backing up the vehicle parked in the parallel parking configuration; a second exit mode corresponding to the second parking mode, which is a mode for moving the vehicle parked in the parallel parking manner forward to perform the exit; and A third exit mode corresponds to the third parking mode and is a mode for exiting the vehicle parked in the parallel parking format. The control unit is configured to: In the case where the steering wheel of the vehicle is located on the right side of the vehicle, if the outbound mode of the specific outbound method is the first outbound mode or the second outbound mode, the left direction is selected as the outbound direction of the specific outbound method; if the outbound mode of the specific outbound method is the third outbound mode, the right direction is selected as the outbound direction of the specific outbound method. When the steering wheel of the vehicle is located on the left side of the vehicle, if the outbound mode of the specific outbound method is the first outbound mode or the second outbound mode, the right direction is selected as the outbound direction of the specific outbound method; if the outbound mode of the specific outbound method is the third outbound mode, the left direction is selected as the outbound direction of the specific outbound method.

2. The vehicle control device according to claim 1, wherein: The control unit is configured to, when the vehicle is parked without using the parking assist control based on the parking mode, perform the following operations: When the vehicle is present in a specific area, one of the first and second unloading modes is selected as the unloading mode of the specific unloading method with priority over the third unloading mode. When the vehicle is not present in the specific area, the third delivery mode is selected as the delivery mode of the specific delivery method in preference to the first delivery mode and the second delivery mode.

3. The vehicle control device according to claim 1, wherein: The control unit is configured to select the specific exit method according to a priority order preset by the driver.

Images