Parking assistance device and portable terminal

Abstract

Provided is a parking assistance device and a portable terminal. A parking ECU executes parking assistance control including power-off control that automatically switches a power source of a vehicle from an on state to an off state in the case where a reaching condition that the vehicle reaches a target parking position is satisfied. In the case where the parking ECU does not become an inoperative state during a period from when the power-off control is started to when a predetermined off grace time elapses, the parking ECU performs abnormality notification for notifying a user of the vehicle that an off abnormality has occurred in which the power source has not been switched to the off state.

Description

Technical Field

[0001] The present invention relates to a parking assistance device that switches the power supply of a vehicle from an on state to an off state when the vehicle arrives at a target parking position, and a portable terminal configured to establish communication with the vehicle that switches the power supply from an on state to an off state when the vehicle arrives at a target parking position. Background Technology

[0002] Parking assistance devices that automatically drive a vehicle to a target parking position are known in the past. For example, the parking assistance device described in Japanese Patent Application Publication No. 2015-120403 (hereinafter referred to as "the prior art device") determines whether the driver has gotten out of the vehicle when the vehicle arrives at the target parking position, and switches the vehicle's power supply to a disconnected state if it is determined that the driver has gotten out of the vehicle. Summary of the Invention

[0003] However, sometimes the power supply cannot be switched off due to ECU malfunctions or CAN bus anomalies. If the power supply is not switched off after the driver exits the vehicle, the vehicle will be left with the power on. In this situation, there is a possibility of vehicle theft and the vehicle's battery being depleted.

[0004] The present invention was made to address the aforementioned problems. Specifically, one of the objectives of the present invention is to provide a parking assistance device and a portable terminal that notifies the user of the vehicle that the vehicle's power has not been switched off and prevents the vehicle from being parked while the power is on.

[0005] The parking assistance device of the present invention includes:

[0006] Power source (36), configured to supply power to equipment mounted on the vehicle; and

[0007] The first control unit (20) is configured such that, if the power supply is on, it becomes operational by receiving power from the power supply; and if the power supply is off, it becomes non-operational by stopping the power supply from the power supply.

[0008] The first control unit is configured as follows:

[0009] The parking assistance control includes power disconnection control (530, step 1070), which automatically switches the power supply from the on state to the off state when the vehicle has reached the preset target parking position (522, step 1050 is "yes").

[0010] If, during the period from the start of the power disconnection control until the predetermined disconnection grace period (Toff) has elapsed, the disconnection anomaly condition that the vehicle itself has not changed to the non-operating state is met (702, step 1115 is "Yes"), an anomaly notification is made to inform the user of the vehicle that a disconnection anomaly has occurred in which the power supply has not switched to the disconnection state (steps 1120, 1125).

[0011] When the power supply is disconnected, the first control unit becomes inactive. Even if the power disconnection control begins after a specified grace period from when the vehicle reaches the target parking position, and the first control unit remains inactive (i.e., the disconnection abnormality condition is met), there is a high probability that a disconnection abnormality has occurred where the power supply has not switched to the disconnected state for some reason. In this case, the auxiliary device will issue an abnormality notification. This allows the user to be aware that a disconnection abnormality has occurred, preventing the vehicle from being parked while the power supply remains on.

[0012] In one technical solution of the aforementioned parking assistance device,

[0013] The first control unit is configured as follows:

[0014] Based on the instruction signal sent by the portable terminal to the vehicle (518, step 1010 is "Yes"), the parking assistance control, which also includes automatic parking control, is executed (520, step 1035, step 1045). The portable terminal is a portable terminal carried by the user that is capable of establishing a communication connection with the vehicle to exchange data. The automatic parking control is the control that causes the vehicle to automatically drive towards the target parking position and stop the vehicle at the target parking position.

[0015] When the disconnection exception condition is met, the exception is reported by sending an exception signal (704, step 1120) to the portable terminal to make the portable terminal display an exception screen. The exception screen is a screen used to inform the user that the disconnection exception has occurred.

[0016] According to this technical solution, when the disconnection anomaly condition is met, an anomaly signal is sent to the portable terminal to cause it to display an anomaly screen. The portable terminal displays the anomaly screen upon receiving the anomaly signal. Even when the user is operating the portable terminal outside the vehicle to send command signals to the vehicle, the user is still notified of the disconnection anomaly.

[0017] In the above technical solutions,

[0018] The first control unit is configured to, when the arrival condition is met (522, step 1050 is "Yes"), send a command to the portable terminal to cause the portable terminal to display an arrival screen. Figure 4B The arrival signal (526, step 1060) is used to inform the user that the vehicle has arrived at the target parking location.

[0019] According to this technical solution, when the arrival conditions are met, an arrival signal is sent to a portable terminal. Upon receiving the arrival signal, the portable terminal displays an arrival screen. This allows the user to be notified that the vehicle has arrived at the target parking location.

[0020] In the above technical solutions,

[0021] The first control unit is configured as follows:

[0022] Determine the cause of the disconnection anomaly (steps 1415, 1435, and 1115).

[0023] In order to enable the portable terminal to display the abnormal screen in a manner that can determine the cause of the disconnection abnormality, an abnormal signal including information that can determine the cause of the disconnection abnormality is sent to the portable terminal (steps 1425, 1445, 1620, 1630, and 1120).

[0024] According to this technical solution, an error screen is displayed on the portable terminal in a way that allows for the determination of the cause of the disconnection error. Therefore, the user can not only be notified of the occurrence of the disconnection error but also of its cause. Consequently, the user can take appropriate action based on the cause of the disconnection error.

[0025] The above technical solution also has the following features:

[0026] The second control unit (30) is configured to switch the state of the power supply to either the on state or the off state; and

[0027] Third control unit (40, 50, 60, 70, 80),

[0028] The first control unit, the second control unit, and the third control unit are configured as follows:

[0029] They are connected to each other via a vehicle-to-everything (CAN) network in a way that allows them to exchange data.

[0030] A normal operation signal is sent via the in-vehicle network each time the predetermined transmission time has elapsed.

[0031] The first control unit is configured as follows:

[0032] If the normal operation signal is not received from the second control unit but is received from the third control unit (step 1415 is "Yes"), the cause of the disconnection is determined to be an abnormality of the second control unit.

[0033] If no normal operation signal is received from either the second control unit or the third control unit (step 1435 is "Yes"), the cause of the disconnection is determined to be an anomaly in the vehicle network.

[0034] If the normal operation signal is received from both the second control unit and the third control unit, but the disconnection abnormality condition is met (step 1115 is "Yes"), the cause of the disconnection abnormality is determined to be an abnormality in the power supply.

[0035] If a normal operation signal is not received from the second control unit but is received from the third control unit, and no abnormality has occurred in the vehicle network, there is a high probability that the second control unit is unable to send a normal operation signal due to an abnormality within the second control unit. In this case, the cause of the disconnection abnormality in this technical solution is determined to be an abnormality in the second control unit.

[0036] If no normal operating signal is received from either the second or third control unit, it is highly likely that an anomaly has occurred in the in-vehicle network, causing the inability to receive the normal operating signal. In this case, the cause of the disconnection anomaly is determined to be an anomaly in the in-vehicle network, as described in this technical solution.

[0037] Even if normal operating signals are received from the second and third control units, but the disconnection abnormality condition is met, since no abnormality has occurred in the vehicle network, the second control unit, or the third control unit, the probability that an abnormality has occurred in the power supply is high. In this case, the cause of the disconnection abnormality determined in this technical solution is a power supply abnormality.

[0038] In this technical solution, the cause of the disconnection anomaly is determined by the above-described determination method, thus enabling accurate determination of the cause of the disconnection anomaly.

[0039] In the above technical solutions,

[0040] The first control unit is configured to: when an abnormality is determined in the second control unit or the in-vehicle network (step 1415 is "yes", step 1435 is "yes"), before the disconnection abnormality condition is met, perform the abnormality notification (steps 1425, 1445, 1620, 1630).

[0041] Anomalies in the second control unit and the in-vehicle network are determined based on normal operating signals. Therefore, this can be achieved even before a predetermined disconnection grace period (before the disconnection anomaly condition is met) has elapsed since the start of power disconnection control. Thus, in this technical solution, if an anomaly in the second control unit or the in-vehicle network is determined, an anomaly notification is issued before the disconnection anomaly condition is met. Therefore, the user can quickly become aware that a disconnection anomaly has occurred.

[0042] In the above technical solutions,

[0043] The first control unit is configured to, when the arrival condition is met (522, step 1050 is "Yes"), send a command to the portable terminal to cause the portable terminal to display an arrival screen. Figure 4B The arrival signal (526, step 1060) is received, and the arrival screen is used to inform the user that the vehicle has arrived at the target parking location.

[0044] When the power supply is switched to the disconnected state, the communication connection is cut off (534).

[0045] If the communication connection is not interrupted during the period from receiving the arrival signal to the elapsed predetermined cutoff grace time (Tdcn) (804, step 1325 is "Yes"), the portable terminal displays the abnormal screen (806, step 1330).

[0046] The first control unit is configured to pre-set the disconnection grace time to be shorter than the cut-off grace time.

[0047] The time from when the first control unit sends an abnormal signal to when the portable terminal receives the abnormal signal is corresponding to the latency in the communication connection. In this technical solution, the disconnection grace period is set to be shorter than the cut-off grace period. This prevents the disconnection grace period from elapsed before the portable terminal receives the "abnormal signal sent from the first control unit," even though the first control unit has sent an abnormal signal. Furthermore, if the abnormal signal contains information that can determine the cause of the disconnection abnormality, the possibility of displaying an abnormal screen in a manner that determines the cause of the disconnection abnormality can be increased.

[0048] The portable terminal of the present invention is configured as follows:

[0049] A communication connection capable of exchanging data is established between the vehicle and the vehicle performing parking assistance control, including automatic parking control (520, steps 1035, 1045) and power disconnection control (530, step 1070). The automatic parking control is the control that enables the vehicle to drive to a predetermined target parking position while the vehicle's power supply (36) is on, supplying power to the equipment mounted on the vehicle. The power disconnection control is the control that, when the vehicle has reached the target parking position, switches the power supply from the on state to a state of disconnection, preventing the supply of power to the equipment.

[0050] Send a command signal (518) to the vehicle to cause the vehicle to perform the automatic parking control.

[0051] The portable terminal is configured as follows:

[0052] When the power supply is switched from the on state to the off state, the communication connection is cut off (534).

[0053] If the arrival condition is met, and the communication connection is not interrupted during the period from receiving the arrival signal sent by the vehicle to the elapsed time of the predetermined cut-off grace period (Tdcn) (804, step 1325 is "Yes"), an error screen (1330) is displayed to inform the user of the vehicle that a disconnection error has occurred because the power supply has not been switched to the disconnected state.

[0054] According to the present invention, the portable terminal can detect a disconnection anomaly where the power is not switched off even when the vehicle arrives at the target parking position, and can notify the user of the occurrence of the disconnection anomaly. Thus, the user can be informed that a disconnection anomaly has occurred, preventing the vehicle from being parked while the power is still on.

[0055] In one technical solution of the aforementioned portable device,

[0056] The configuration is as follows: upon receiving the arrival signal (526, step 1210 is "Yes"), an arrival screen is displayed to inform the user that the vehicle has arrived at the target parking location (528, step 1220).

[0057] According to this technical solution, the portable terminal displays an arrival screen when the vehicle arrives at the target parking location, thus notifying the user that the vehicle has arrived at the target parking location.

[0058] In one technical solution of the aforementioned portable device,

[0059] The configuration is as follows: if the communication connection is cut off during the period from receiving the arrival signal to the expiration of the cut-off grace period (534, step 1315 is "Yes"), a normal completion screen is displayed to inform the user that the parking assist control has been completed normally (536, step 1340).

[0060] If the communication connection is interrupted between the receipt of the arrival signal and the expiration of the cut-off grace period, the vehicle's power is switched off after the vehicle reaches the target parking position. According to this technical solution, a normal completion screen is displayed in this case, thus notifying the user that no disconnection abnormality occurred and that parking assistance control has been successfully completed.

[0061] In one of the technical solutions for the aforementioned portable terminal,

[0062] The configuration is as follows: when an abnormal signal sent by the vehicle is received during the period from the start of the power disconnection control until the predetermined disconnection grace time (Toff) has elapsed (702) and the power supply has not switched to the disconnection state (704, step 1310 is "Yes"), the abnormal screen is displayed (706, step 1330).

[0063] According to this technical solution, even if a disconnection anomaly is detected on the vehicle side (i.e., the power supply has not switched to the disconnected state), the portable terminal can still display an abnormal screen. Therefore, even if a disconnection anomaly is detected on the vehicle side, the user can be notified of the disconnection anomaly.

[0064] In the above technical solutions,

[0065] The configuration is as follows: the cut-off grace time is preset to be longer than the disconnection grace time.

[0066] The time from when the vehicle sends an abnormal signal to when the portable terminal receives the abnormal signal is equivalent to the delay time in the communication connection. Therefore, in this technical solution, the cut-off grace time is set to be longer than the disconnection grace time.

[0067] Furthermore, in the foregoing description, to aid in understanding the invention, parentheses have been used to add the names and / or reference numerals used in the embodiments described below to the components of the invention corresponding to those embodiments. However, the constituent elements of the invention are not limited to the embodiments specified by the names and / or reference numerals. Other objects, features, and incidental advantages of the invention will be readily understood from the description of embodiments of the invention as illustrated in the following drawings. Attached Figure Description

[0068] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0069] Figure 1 This is a schematic system configuration diagram of a parking assistance device according to an embodiment of the present invention.

[0070] Figure 2 This is a schematic system configuration diagram of a portable terminal according to an embodiment of the present invention.

[0071] Figure 3 This is an explanatory diagram illustrating the working principle of an embodiment of the present invention.

[0072] Figure 4A This is an explanatory diagram of the abnormal screen displayed on the portable terminal.

[0073] Figure 4B This is an explanatory diagram of the arrival screen displayed on a portable terminal.

[0074] Figure 5 This is a timing diagram representing the first operational example of the parking assistance device and the portable terminal.

[0075] Figure 6A This is an explanatory diagram of the settings screen displayed on the vehicle's display device.

[0076] Figure 6B This is an explanatory diagram of the confirmation screen displayed on a portable terminal.

[0077] Figure 6C This is an explanatory diagram of the operation screen displayed on a portable terminal.

[0078] Figure 6D This is an explanatory diagram showing the normal completion screen displayed on a portable terminal.

[0079] Figure 7 This is a timing diagram representing a second working example of the parking assistance device and the portable terminal.

[0080] Figure 8 This is a timing diagram representing the third working example of the parking assistance device and the portable terminal.

[0081] Figure 9 It means Figure 1 The flowchart shown is the start determination routine executed by the CPU of the parking ECU.

[0082] Figure 10 It means Figure 1 The flowchart shown is of the automatic parking control routine executed by the CPU of the parking ECU.

[0083] Figure 11 It means Figure 1The flowchart shown is the disconnection exception determination routine executed by the CPU of the parking ECU.

[0084] Figure 12 It means Figure 2 The flowchart shown is of the receive determination routine executed by the CPU of the portable terminal.

[0085] Figure 13 It means Figure 2 The flowchart shown is a cutoff exception detection routine executed by the CPU of the portable terminal.

[0086] Figure 14 This is a flowchart illustrating the cause determination routine executed by the CPU of the parking ECU in a first variation of the embodiment of the present invention.

[0087] Figure 15A This is an explanatory diagram of a first abnormal screen displayed on a portable terminal according to a first variation of an embodiment of the present invention.

[0088] Figure 15B This is an explanatory diagram of a second abnormal screen displayed on a portable terminal according to a first variation of an embodiment of the present invention.

[0089] Figure 16 This is a flowchart illustrating a portion of the automatic parking control routine executed by the CPU of a parking ECU according to a first variation of an embodiment of the present invention.

[0090] Figure 17 This is a flowchart illustrating a portion of the reception determination routine executed by the CPU of a portable terminal according to a first variation of an embodiment of the present invention.

[0091] Figure 18A This is an explanatory diagram of a first abnormality arrival screen displayed on a portable terminal according to a first variation of an embodiment of the present invention.

[0092] Figure 18B This is an explanatory diagram of a second abnormality arrival screen displayed on a portable terminal according to a first variation of an embodiment of the present invention.

[0093] Figure 19A This is an explanatory diagram of an abnormal screen displayed on a portable terminal according to a first variation of an embodiment of the present invention.

[0094] Figure 19B This is an explanatory diagram of an abnormal screen displayed on a portable terminal according to a first variation of an embodiment of the present invention. Detailed Implementation

[0095] One embodiment of the present invention relates to a parking assistance device (hereinafter referred to as "this assistance device") 10 mounted on a vehicle VA. For example... Figure 1As shown, the parking assist device 10 includes a parking ECU 20, a matching ECU 30, a drive ECU 40, a brake ECU 50, an EPB (electric parking brake) ECU 60, a steering ECU 70, and a shift ECU 80. These ECUs are interconnected via CAN (Controller Area Network) in a manner that enables data exchange (communication). Furthermore, CAN is sometimes referred to as the "in-vehicle network".

[0096] ECU is short for Electronic Control Unit, an electronic control circuit that uses a microcomputer as its main component, including a CPU, ROM, RAM, and interfaces (I / F). ECU is sometimes also called a "controller," "controller," or "computer." The CPU performs various functions by executing instructions (routes) stored in memory (ROM). All or several of the aforementioned ECUs (20-80) can be combined into a single ECU.

[0097] Sometimes the parking ECU20 is referred to as the "first control unit," and the reference ECU30 as the "second control unit." Furthermore, sometimes at least one of the drive ECU40, brake ECU50, EPBECU60, steering ECU70, and shift ECU80 is referred to as the "third control unit."

[0098] The parking ECU 20 is connected to multiple wheel speed sensors 21, multiple gap sonars 22, multiple cameras 23, communication interface (I / F) 24, display device 25 and speaker 26 in a manner that enables data exchange.

[0099] Wheel speed sensors 21 are positioned according to the wheels of vehicle VA, generating a pulse signal each time the corresponding wheel rotates a predetermined angle. Parking ECU 20 measures the number of pulses per unit time of the pulse signals generated by each wheel speed sensor 21, and obtains the rotational speed (wheel speed) of each wheel based on the measured number of pulses. Based on the rotational speed of each wheel, parking ECU 20 obtains the vehicle speed Vs, representing the speed of vehicle VA. As an example, the average rotational speed of the four wheels is obtained as the vehicle speed Vs.

[0100] Four gap sonars 22 are configured at the front end of the vehicle VA and four gap sonars 22 are configured at the rear end of the vehicle VA. The gap sonars 22 detect stationary objects such as walls using ultrasonic waves and send the detection results to the parking ECU 20. The parking ECU 20 detects stationary objects in front of the vehicle VA based on the detection results of the gap sonars 22 configured at the front end of the vehicle VA, and detects stationary objects behind the vehicle VA based on the detection results of the gap sonars 22 configured at the rear end of the vehicle VA.

[0101] The vehicle VA is equipped with four cameras 23. Specifically, one camera 23 is located near the center of the front grille in the width direction of the vehicle VA, and this camera 23 captures images of the area in front of the vehicle VA. Another camera 23 is located near the center of the rear door in the width direction of the vehicle VA, and this camera captures images of the area behind the vehicle VA. A camera 23 is located in the left-side rearview mirror of the vehicle VA, and this camera captures images of the area to the left of the vehicle VA. A camera 23 is located in the right-side rearview mirror of the vehicle VA, and this camera captures images of the area to the right of the vehicle VA.

[0102] Each camera 23 sends image data acquired by capturing images of its respective area to the parking ECU 20. The parking ECU 20 then synthesizes the image data to generate image data of the area surrounding the vehicle VA.

[0103] Communication I / F24 is an interface used to establish and conduct wireless communication with a device that is a pre-defined connection target. In this example, the device that is the connection target is a portable terminal 90 of the user (driver or passenger) of the vehicle VA.

[0104] The portable terminal 90, such as a smartphone or tablet, has a display device 92. For example, the display device 92 is a touch panel type display device. Further, such as... Figure 2 As shown, the portable terminal 90 includes a CPU, ROM, RAM, an interface (I / F), and a communication interface (I / F). The communication I / F is used to establish a wireless communication connection with a device that has been pre-defined as a connection target, and to conduct wireless communication.

[0105] In the following text, the CPU of the parking ECU 20 is sometimes referred to as the "first CPU", and the CPU of the portable terminal 90 is referred to as the "second CPU".

[0106] Display device 25 is a multimedia display located in the center of the instrument panel in the vehicle's interior (VA) along the vehicle's width. This display device 25 is a touch panel type display device. In the event of an abnormality in the vehicle (VA), display device 25 displays warning messages and a settings screen (described later). Figure 6A Speaker 26 emits a buzzing sound in the event of an abnormality in vehicle VA.

[0107] The ECU 30 is connected to the ignition (IG) switch 32 and the ignition (IG) relay 34 in a manner that enables data exchange.

[0108] IG switch 32 is also known as a "start switch" or "ready switch". When the user operates IG switch 32 in the off position, IG switch 32 is changed from the off position to the on position. When the user operates IG switch 32 in the on position, IG switch 32 is changed from the on position to the off position.

[0109] The IG relay 34 is a relay circuit connected to the ignition (IG) power supply 36. The IG relay 34 has two states: de-energized and energized. The de-energized state is when the electrical connection between the IG power supply 36 and the ECUs (20, 40-80) other than the reference ECU 30 is disconnected, meaning no power is supplied to the vehicle's VA for operation. Furthermore, power is supplied to the reference ECU 30 from the +B power supply (not shown), and the reference ECU 30 operates even when the IG power supply 36 is de-energized.

[0110] The energized state is the state in which the IG power supply 36 and the aforementioned ECUs (20, 40-80) are electrically connected, and it is the state in which the power required for the vehicle's VA to run is supplied.

[0111] In the following, the state of the IG power supply 36 when the IG relay 34 is in a non-energized state is referred to as the "disconnected state", and the state of the IG power supply 36 when the IG relay 34 is in an energized state is referred to as the "energized state".

[0112] When the ECU 30 changes the IG switch 32 from the off position to the on position, it switches the state of the IG relay 34 from the off state to the on state and switches the IG power supply 36 from the off state to the on state. On the other hand, when the ECU 30 changes the IG switch 32 from the on position to the off position, it switches the state of the IG relay 34 from the on state to the off state and switches the IG power supply 36 from the on state to the off state.

[0113] Furthermore, when the ECU30 receives a disconnect command from the parking ECU20, it switches the state of the IG relay 34 from the ON state to the OFF state.

[0114] The drive ECU 40 is connected to the accelerator pedal operation sensor 42 and the drive source actuator 44 in a manner that enables data exchange.

[0115] Accelerator pedal operation amount sensor 42 detects the accelerator pedal operation amount AP, which is the operation amount of accelerator pedal 42a, and generates a signal representing the accelerator pedal operation amount AP. Drive ECU 40 obtains the accelerator pedal operation amount AP based on the signal generated by accelerator pedal operation amount sensor 42.

[0116] The drive source actuator 44 is connected to a drive source (such as an electric motor or internal combustion engine) 44a that generates the driving force supplied to the vehicle VA. The drive ECU 40 can control the drive source actuator 44 to change the operating state of the drive source 44a, thereby adjusting the driving force supplied to the vehicle VA. The drive ECU 40 controls the drive source actuator 44 so that the greater the accelerator pedal operation amount AP, the greater the driving force supplied to the vehicle VA.

[0117] When the IG switch 32 is operated while the drive source 44a is in a non-operating state, the drive source 44a starts up and becomes operational. Conversely, when the IG switch 32 is operated while the drive source 44a is in an operational state, the drive source 44a becomes non-operating.

[0118] The brake ECU 50 is connected to the brake pedal operation sensor 52 and the brake actuator 54.

[0119] The brake pedal operation amount sensor 52 detects the brake pedal operation amount BP, which is the operation amount of the brake pedal 52a, and generates a signal representing the brake pedal operation amount BP. The brake ECU 50 obtains the brake pedal operation amount BP based on the signal generated by the brake pedal operation amount sensor 52.

[0120] Brake actuator 54 is an actuator that controls friction braking mechanism 56, including a well-known hydraulic circuit. Friction braking mechanism 56 includes a brake disc 56a fixed to the wheel and a brake caliper 56b fixed to the vehicle body. Brake actuator 54 adjusts the hydraulic pressure supplied to the wheel brake pump built into the brake caliper 56b according to instructions from brake ECU 50, thereby pressing the brake pad against the brake disc 56a to generate friction braking force. Therefore, brake ECU 50 can control the braking force of vehicle VA by controlling brake actuator 54.

[0121] The EPBE CU60 is connected to the parking brake actuator (hereinafter referred to as the "PKB actuator") 62 in a manner that allows for data exchange. The PKB actuator 62 generates frictional braking force by pressing the brake pads against the brake disc 56a, or, in the case of a drum brake, against a brake drum that rotates with the wheel. The EPB ECU60 can use the PKB actuator 62 to provide parking braking force to the wheels, keeping the vehicle VA stationary. Hereinafter, the braking of the vehicle VA achieved by activating the PKB actuator 62 will be referred to as "EPB".

[0122] The steering ECU 70 is connected to the steering angle sensor 72, the steering torque sensor 74, and the steering motor 76 in a manner that enables data exchange.

[0123] The steering angle sensor 72 detects the rotation angle of the steering wheel 72a from the neutral position and uses it as the steering angle θs, generating a signal representing the steering angle θs. The steering ECU 70 obtains the steering angle θs based on the signal generated by the steering angle sensor 72.

[0124] The steering torque sensor 74 detects the steering torque Tr and generates a signal representing the steering torque Tr, which represents the torque acting on the steering shaft 74a connected to the steering wheel 72a. The steering ECU 70 obtains the steering torque Tr based on the signal generated by the steering torque sensor 74.

[0125] The steering motor 76 is assembled to transmit torque to the steering mechanism 76a of the vehicle VA, which includes a steering wheel 72a, a steering shaft 74a, and a steering gear mechanism. The steering motor 76 generates torque corresponding to the power supplied by a vehicle battery (not shown). The direction and magnitude of this power are controlled by the steering ECU 70. The torque generated by the steering motor 76 produces steering assist torque, and the left and right steering wheels steer (turn the wheel).

[0126] The steering ECU 70 normally controls the steering motor 76 to generate a steering assist torque corresponding to the steering torque Tr.

[0127] The shift ECU 80 is connected to the shift position sensor 82. The shift position sensor 82 detects the position of the shift lever 82a (hereinafter sometimes referred to as "shift position SP"). In this example, the position of the shift lever 82a is the parking position (P), the forward position (D), and the reverse position (R). The shift ECU 80 receives the position of the shift lever 82a from the shift position sensor 82 and controls the transmission (not shown) of the vehicle VA based on this position.

[0128] More specifically, when the shift lever 82a is in the "P" position, the shift ECU 80 controls the transmission to prevent the transmission of driving force to the drive wheels, mechanically locking the vehicle VA in a stationary position. When the shift lever 82a is in the "D" position, the shift ECU 80 controls the transmission to transmit driving force to the drive wheels, propelling the vehicle VA forward. When the shift lever 82a is in the "R" position, the shift ECU 80 controls the transmission to transmit driving force to the drive wheels, propelling the vehicle VA backward.

[0129] Furthermore, when the shift ECU 80 receives a shift command from the parking ECU 20, it moves the shift lever 82a to a position corresponding to the shift command, and controls the transmission according to the shift command.

[0130] Job Summary

[0131] Reference Figure 3 The working principle of the parking assistance device 10 is explained.

[0132] The parking ECU 20 of the parking assist device 10 performs automatic parking control (remote automatic parking control) based on the operation of the portable terminal 90 by the user outside the vehicle, so that the vehicle VA moves to the predetermined target parking position Ptgt and stops at the target parking position Ptgt.

[0133] When the vehicle VA reaches the target parking position Ptgt, the parking ECU 20 performs a power disconnection control. This power disconnection control switches the IG power supply 36 from an on state to an off state. When the IG power supply 36 is off, power is no longer supplied to the ECUs (20, 40-80). Therefore, these ECUs become inactive (non-operating).

[0134] If the parking ECU 20 is still operating (still in an active state) even after a predetermined disconnection grace period Toff has elapsed since the start of power disconnection control, it determines that a disconnection anomaly has occurred because the IG power supply 36 has not switched to the disconnected state. Furthermore, the parking ECU 20 sends an anomaly signal to the portable terminal 90.

[0135] When the portable terminal 90 receives an abnormal signal, it displays on the display device 92. Figure 4A The abnormal screen displayed indicates that the IG power supply 36 has not switched to the off state. Specifically, the abnormal screen displays the message: "Vehicle power disconnection failed. Please check the vehicle directly."

[0136] Users outside the vehicle can be notified of a disconnection anomaly by viewing the abnormal screen. Knowing the anomaly has occurred, users can board the vehicle VA and take appropriate action. The parking assist device 10 reduces the likelihood of the user leaving the vehicle VA while the IG power 36 remains on, or the vehicle VA being left unattended despite the IG power 36 remaining on.

[0137] Next, refer to Figure 3 A brief description of the operation of the portable terminal 90 is provided.

[0138] When the vehicle VA reaches the target parking position Ptgt, the parking ECU 20 sends an arrival signal to the portable terminal 90. Upon receiving the arrival signal, the portable terminal 90 displays the information on the display device 92. Figure 4B The arrival screen shown indicates that vehicle VA has arrived at the target parking location Ptgt. Specifically, the arrival screen displays the message "Arrived at target parking location."

[0139] When the IG power supply 36 switches to the off state, the wireless communication connection established between the portable terminal 90 and the vehicle VA is severed. Considering this, the portable terminal 90 determines that the aforementioned disconnection anomaly has occurred even if the predetermined disconnection grace period Tdcn has elapsed since the reception of the arrival signal and the aforementioned wireless communication connection has not been severed. Furthermore, the portable terminal 90 displays on the display device 92... Figure 4A The abnormal screen shown.

[0140] Therefore, even if the portable terminal 90 cannot receive abnormal signals, it can still notify the user that a disconnection has occurred.

[0141] Work example

[0142] First, refer to Figure 5 The following example illustrates this: the IG power supply 36 normally becomes disconnected, and the wireless communication connection is cut off before the cutoff grace period Tdcn elapses after the arrival signal is received from the portable terminal 90.

[0143] When the user parks the vehicle VA near the desired parking position (502) and operates the parking switch (not shown) (504), the parking assist device 10 will... Figure 6A The setup screen shown is displayed on display device 25 (506). Furthermore, the parking switch is located near the steering wheel 72a.

[0144] The setup screen displays an overhead view of the landscape centered on vehicle VA, viewed directly above it. This overhead view is generated based on image data acquired by camera 23. The overhead view shows a parking space P, which is the space where vehicle VA can park, and a target parking frame 602 is displayed surrounding this parking space P. Figure 6A (Represented by dashed lines.) Furthermore, a setting completion button 604 is also displayed on the setting screen. When the vehicle speed Vs falls below a predetermined threshold speed Vsth, the parking assist device 10 searches for a parking space based on image data obtained by the camera 23 and the position of stationary objects detected by the gap sonar 22.

[0145] When multiple parking spaces P exist, the target parking frame 602 is displayed in a manner that surrounds the parking space P closest to vehicle VA. When the user presses and holds the target parking frame 602, the target parking frame 602 can be moved to any position. When the user determines that the target parking frame 602 is in the position where vehicle VA is to be parked, the setting completion button 604 is operated. When the setting completion button 604 is operated, the parking assist device 10 sets the position corresponding to the target parking frame 602 as the target parking position Ptgt (507).

[0146] After the user operates the setting completion button 604, they move the portable terminal 90 out of the vehicle (508), activating the automatic parking application installed on the portable terminal 90 (510). When the automatic parking application is activated, the portable terminal 90 communicates with the parking assistance device 10 to obtain parking location information, including the aforementioned overhead view and the target parking location Ptgt. Based on the parking location information, the portable terminal 90 displays the information on the display device 92. Figure 6B The confirmation screen shown is (512).

[0147] In the confirmation screen, the "target parking position Ptgt set by the parking assist device 10" is displayed on the aforementioned overhead view. Furthermore, the confirmation screen also displays a long-press button 606.

[0148] When the user agrees to allow vehicle VA to park at the target parking position Ptgt, they press and hold the long-press button 606 displayed on the setting screen. When the long-press button 606 is held down, the portable terminal 90 sends a parking agreement signal (514) to the parking assistance device 10, which is then displayed on the display device 92. Figure 6C The operation screen shown is (516).

[0149] The operation screen displays the operation area 608 and a message urging operation on the operation area 608. As the touch position in the operation area 608 continuously changes due to the user's continuous tracing of the operation area 608 with their finger, the portable terminal 90 continuously sends operation signals (518) to the parking assistance device 10. In addition, the operation signal is sometimes referred to as a "command signal".

[0150] On the other hand, when the parking assist device 10 receives the parking consent signal sent by the portable terminal 90, it obtains the target path up to the target parking position Ptgt based on the image data and the position of the stationary object, and starts automatic parking control (516).

[0151] Once automatic parking control is initiated, the parking assist device 10 continuously drives the vehicle VA along the target path as long as it receives an operation signal, until the vehicle VA reaches the target parking position Ptgt. When the vehicle VA reaches the deceleration start position, the parking assist device 10 causes the vehicle VA to begin deceleration, stopping the vehicle VA at the target parking position Ptgt (522). The deceleration start position is a predetermined distance ahead of the target parking position Ptgt along the target path.

[0152] When the vehicle VA stops at the target parking position Ptgt, the parking assist device 10 sets the shift position SP to "P" and activates the EPB (524). Next, the parking assist device 10 sends an arrival signal to the portable terminal 90 (526). Upon receiving the arrival signal, the portable terminal 90 displays the signal on the display device 92. Figure 4B The arrival screen shown is (528).

[0153] After sending an arrival signal, the parking assist device 10 sends a disconnect command to the reference ECU 30 to switch the IG power supply 36 to the disconnect state (in other words, start power disconnect control) (530).

[0154] Before the disconnect command is sent and the disconnect grace period Toff has elapsed, the parking ECU 20 becomes inactive (532), and the wireless communication connection is severed (534). Figure 5 In the example shown, the wireless communication connection is cut off before the cutoff grace period Tdcn elapses after the arrival signal is received from the portable terminal 90. Therefore, the portable terminal 90 displays on the display device 92. Figure 6D The normal completion screen (536) is shown. The normal completion screen displays a message indicating that the automatic parking control has been completed normally ("Automatic parking ended." message).

[0155] Next, refer to Figure 7 The following example illustrates this: The parking ECU 20 is active even after a disconnection grace period Toff has elapsed since the disconnection command was sent to the reference ECU 30. Figure 7 In the timing diagram shown, for and Figure 5 The timing diagrams shown assign the same labels to the same processes, and the descriptions are omitted.

[0156] A disconnect command is sent from the parking ECU20 to the control ECU30. Figure 7 Since the timeout period Toff has elapsed from 530, the parking ECU 20, being in an active state (702), sends an abnormal signal (704) to the portable terminal 90. Upon receiving the abnormal signal, the portable terminal 90 displays on the display device 92... Figure 4AThe abnormal screen shown is (706).

[0157] Next, refer to Figure 8 The following example illustrates this: even after a cutoff grace period Tdcn has elapsed from when the arrival signal is received at the portable terminal 90, the wireless communication connection is not severed. Figure 8 In the timing diagram shown, for and Figure 5 The timing diagrams shown assign the same labels to the same processes, and the descriptions are omitted.

[0158] A disconnect command is sent from the parking ECU20 to the control ECU30. Figure 8 From 530) onwards, the time point Toff after the disconnection grace period has elapsed, and the parking ECU 20 is in working state (802). However, there is a situation where the parking ECU 20 is unable to send an abnormal signal due to some kind of anomaly. In this case, even though the portable terminal 90 has not received an abnormal signal, but the time point Tdcn after the reception of the signal has elapsed and the wireless communication connection has not been disconnected (804), the display device 92 displays Figure 4A The abnormal screen shown is (806).

[0159] Specific work

[0160] Start the decision routine

[0161] The CPU of the parking ECU 20 (hereinafter referred to as "first CPU" unless otherwise specified) executes the following every predetermined time interval: Figure 9 The routine (start decision routine) is represented by a flowchart.

[0162] Therefore, when the predetermined timing is reached, the first CPU starts from... Figure 9 Step 900 begins processing, proceeding to step 905, where it is determined whether the value of the execution flag Xexe is "0".

[0163] The value of the execution flag Xexe is set to "1" when the first CPU receives a parking consent signal from the portable terminal 90 (see step 915), and set to "0" when the vehicle VA arrives at the target parking position Ptgt (see step 915). Figure 10 (See step 1055 shown.) Furthermore, in the initialization routine executed by the first CPU when the IG switch 32 changes from the off position to the on position, the value of the execution flag Xexe is set to "0".

[0164] If the value of the execution flag Xexe is "0", the first CPU determines "yes" in step 905 and proceeds to step 910. In step 910, the first CPU determines whether it has received a parking consent signal sent by the portable terminal 90.

[0165] If the first CPU does not receive a parking consent signal, the first CPU determines "no" in step 910, proceeds to step 995, and temporarily terminates this routine.

[0166] Upon receiving a parking consent signal, the first CPU determines "yes" in step 910 and proceeds to step 915. In step 915, the first CPU sets the execution flag Xexe to "1" and proceeds to step 995, temporarily ending this routine.

[0167] When the first CPU enters step 905, if the value of the execution flag Xexe is "1", the first CPU determines "no" in step 905, enters step 995, and temporarily terminates this routine.

[0168] Automatic parking control routine

[0169] The first CPU executes [the command] every time a predetermined time elapses. Figure 10 The routine (automatic parking control routine) is represented by a flowchart.

[0170] Therefore, when the predetermined timing is reached, the first CPU starts from... Figure 10 Step 1000 begins processing, proceeding to step 1005, where it is determined whether the value of the execution flag Xexe is "1".

[0171] If the value of the execution flag Xexe is "0", the first CPU determines "no" in step 1005, proceeds to step 1095, and temporarily terminates this routine.

[0172] If the value of the execution flag Xexe is "1", the first CPU determines "yes" in step 1005 and proceeds to step 1010. In step 1010, the first CPU determines whether it has received an operation signal sent by the portable terminal 90.

[0173] If the first CPU does not receive an operation signal, it determines "no" in step 1010 and sends an acceleration / deceleration command, including a pre-set no-operation acceleration Gnt (<0) as the target acceleration Gtgt, to the drive ECU 40 and brake ECU 50. Then, the first CPU proceeds to step 1095 and temporarily terminates the current routine.

[0174] When the drive ECU 40 receives an acceleration / deceleration command, it controls the drive source actuator 44 to ensure that the acceleration G of the vehicle VA matches the target acceleration Gtgt contained in the acceleration / deceleration command. Similarly, when the brake ECU 50 receives an acceleration / deceleration command, it controls the brake actuator 54 to ensure that the acceleration G matches the aforementioned target acceleration Gtgt. Furthermore, the acceleration G is obtained by time derivative of the vehicle speed Vs.

[0175] When the first CPU receives the operation signal, the first CPU determines "yes" in step 1010 and executes steps 1020 and 1025 in sequence.

[0176] Step 1020: The first CPU obtains the target path up to the target parking position Ptgt. Furthermore, in this step 1020, the first CPU also obtains the deceleration start position, which is a predetermined distance ahead of the target parking position Ptgt along the target path.

[0177] Step 1025: The first CPU determines whether the value of the deceleration flag Xdec is "0".

[0178] The value of the deceleration indicator Xdec is set to "1" when the vehicle VA reaches the deceleration start position (see step 1040), and set to "0" when the vehicle VA reaches the target parking position Ptgt (see step 1055). Furthermore, the value of the deceleration indicator Xdec is set to "0" in the initialization routine.

[0179] If the value of the deceleration flag Xdec is "0", the first CPU determines "yes" in step 1025 and proceeds to step 1030. In step 1030, the first CPU determines whether the vehicle VA has reached the deceleration start position based on image data and detection signals from the wheel speed sensor 21. Specifically, the first CPU obtains the distance traveled by the vehicle VA during the period from the previous execution of this routine to the current execution of this routine based on the detection signals obtained in the aforementioned period. Further, the first CPU obtains the remaining distance to the obtained deceleration start position based on the image data. If the aforementioned travel distance is consistent with the remaining distance obtained when the current routine was executed, the first CPU determines that the vehicle VA has reached the deceleration start position.

[0180] If vehicle VA has not reached the deceleration start position, the first CPU determines "No" in step 1030 and proceeds to step 1035. In step 1035, the first CPU performs driving control to make vehicle VA travel along the target path at a preset target speed Vst. Then, the first CPU proceeds to step 1095, temporarily ending this routine.

[0181] The driving control is explained in detail below. The first CPU calculates a target acceleration Gtgt to make the vehicle speed Vs match the predetermined target vehicle speed Vst. The first CPU sends acceleration / deceleration commands including the target acceleration Gtgt to the drive ECU 40 and the brake ECU 50. Further, the first CPU calculates a target steering angle θtgt for the vehicle VA to travel along the target path, and sends a steering command including the target steering angle θtgt to the steering ECU 70. The steering ECU 70 controls the steering motor 76 to make the steering angle θs match the "target steering angle θtgt contained in the received steering command".

[0182] When the first CPU enters step 1030, if the vehicle VA has reached the deceleration start position, the first CPU determines "yes" in step 1030 and executes steps 1040 and 1045 in sequence.

[0183] Step 1040: The first CPU sets the value of the deceleration flag Xdec to "1".

[0184] Step 1045: The first CPU executes parking deceleration control to bring the vehicle VA to a stop at the target parking position. Then, the first CPU proceeds to step 1095, temporarily terminating this routine.

[0185] The parking deceleration control is explained in detail below. The first CPU sends acceleration / deceleration commands, including a pre-set parking acceleration Gst (<0) as the target acceleration Gtgt, to the drive ECU 40 and brake ECU 50. In addition, in parking deceleration control, the first CPU also sends steering commands, including a target steering angle θtgt for the vehicle VA to travel along the target path, to the steering ECU 60.

[0186] When the first CPU enters step 1025, if the value of the deceleration flag Xdec is "1", the first CPU determines "No" in step 1025 and proceeds to step 1050. In step 1050, the first CPU determines whether vehicle VA has reached the target parking position Ptgt. Furthermore, the determination of whether vehicle VA has reached the target parking position Ptgt can be performed using the same method as the determination of whether vehicle VA has reached the deceleration start position.

[0187] If the vehicle VA has not reached the target parking position Ptgt, the first CPU determines "no" in step 1050 and proceeds to step 1045 to execute parking deceleration control. Then, the first CPU proceeds to step 1095, temporarily ending this routine.

[0188] When vehicle VA reaches the target parking position Ptgt, the first CPU determines "yes" in step 1050 and executes steps 1055 to 1075 in sequence.

[0189] Step 1055: The first CPU sets the values ​​of the execution flag Xexe and the deceleration flag Xdec to "0".

[0190] Step 1060: The first CPU sends an arrival signal to the portable terminal 90.

[0191] Step 1065: The first CPU activates the EPB and changes the position of the shift lever 82a to "P".

[0192] Step 1070: The first CPU sends a disconnect command to the reference ECU 30.

[0193] When the ECU30 receives a disconnect command, it changes the IG relay 34 to a non-energized state, thereby changing the IG power supply 36 to a disconnected state.

[0194] Step 1075: The first CPU sets the value of the disconnection determination flag Xoff to "1" and sets the disconnection determination timer TMoff to "0". Then, the first CPU proceeds to step 1095, temporarily ending this routine.

[0195] The value of the disconnection determination flag Xoff is set to "1" when the first CPU sends a disconnection command, and is set to "0" in the initialization routine.

[0196] The disconnect decision timer TMoff is a timer used to keep track of the time elapsed since the first CPU sent the disconnect instruction.

[0197] Then, the first CPU enters step 1095, temporarily ending this routine.

[0198] Disconnect exception handling routine

[0199] The first CPU executes [the command] every time a predetermined time elapses. Figure 11 The routine (disconnection exception judgment routine) is represented by a flowchart.

[0200] Therefore, when the predetermined timing is reached, the first CPU starts from... Figure 11 Step 1100 begins processing, proceeding to step 1105, where it is determined whether the value of the disconnection determination flag Xoff is "1".

[0201] If the value of the disconnection determination flag Xoff is “0”, the first CPU determines “no” in step 1105, proceeds to step 1195, and temporarily terminates this routine.

[0202] If the value of the disconnection determination flag Xoff is "1", the first CPU determines "yes" in step 1105 and executes steps 1110 and 1115 in sequence.

[0203] Step 1110: The first CPU increments the disconnection determination timer TMoff by "1".

[0204] Step 1115: The first CPU determines whether the disconnection determination timer TMoff is above a predetermined threshold TM1th. The threshold TM1th is preset so that the value of the disconnection determination timer TMoff reaches the threshold TM1th after a disconnection grace period Toff has elapsed since the disconnection command was sent.

[0205] If the disconnection timer TMoff is less than the threshold TM1th, the first CPU determines "no" in step 1115, proceeds to step 1195, and temporarily terminates this routine.

[0206] If the disconnection determination timer TMoff is above the threshold TM1th, the first CPU determines "yes" in step 1115 and executes steps 1120 and 1125 in sequence.

[0207] Step 1120: The first CPU sends an abnormal signal to the portable terminal 90.

[0208] Step 1125: The first CPU displays an image indicating a disconnection error on the display device 25 to trigger an alarm sound from the speaker 26.

[0209] Then, the first CPU enters step 1195, temporarily ending this routine.

[0210] Receive decision routine

[0211] The CPU of the portable terminal 90 (hereinafter, unless otherwise stated, "second CPU" refers to the CPU of the portable terminal 90) executes the following every predetermined time interval: Figure 12 The routine (receive decision routine) is represented by a flowchart.

[0212] Therefore, when the predetermined timing is reached, the second CPU starts from... Figure 12 Step 1200 begins processing, proceeding to step 1205, where it is determined whether the value of the cutoff determination flag Xdcn is "0".

[0213] The value of the cutoff determination flag Xdcn is set to "1" when the portable terminal 90 receives an arrival signal (refer to step 1215), and set to "0" when an abnormal screen or a normal completion screen is displayed (refer to...). Figure 13(See step 1335 shown.) Furthermore, when the automatic parking application is started, the second CPU sets the value of the cut-off determination flag Xdcn to "0".

[0214] If the cutoff determination flag Xdcn has a value of "0", the second CPU determines "yes" in step 1205 and proceeds to step 1210. In step 1210, the second CPU determines whether the portable terminal 90 has received an arrival signal.

[0215] If the portable terminal 90 does not receive the arrival signal, the second CPU determines "no" in step 1210, proceeds to step 1295, and temporarily terminates this routine.

[0216] When the portable terminal 90 receives the arrival signal, the second CPU determines "yes" in step 1210 and executes steps 1215 and 1220 in sequence.

[0217] Step 1215: The second CPU sets the value of the cutoff determination flag Xdcn to "1" and sets the value of the cutoff determination timer TMdcn to "0".

[0218] The cutoff determination timer TMdcn is a timer used to count the time elapsed since the arrival signal was received from the portable terminal 90.

[0219] Step 1220: The second CPU displays the screen on the display device 92.

[0220] Then, the second CPU enters step 1295, temporarily ending this routine.

[0221] Cut off abnormal judgment routine

[0222] The CPU of the portable terminal 90 (hereinafter, unless otherwise stated, "second CPU" refers to the CPU of the portable terminal 90) executes the following every predetermined time interval: Figure 13 The routine (interruption exception judgment routine) is represented by a flowchart.

[0223] Therefore, when the predetermined timing is reached, the second CPU starts from... Figure 13 Step 1300 begins processing, proceeding to step 1305, where it is determined whether the value of the cutoff determination flag Xdcn is "1".

[0224] If the value of the cutoff determination flag Xdcn is "0", the second CPU determines "no" in step 1305, proceeds to step 1395, and temporarily ends this routine.

[0225] If the cutoff determination flag Xdcn has a value of "1", the second CPU determines "yes" in step 1305 and proceeds to step 1310. In step 1310, the second CPU determines whether the portable terminal 90 has received an abnormal signal.

[0226] If the portable terminal 90 does not receive an abnormal signal, the second CPU determines "No" in step 1310 and proceeds to step 1315. In step 1315, the second CPU determines whether the wireless communication connection established between the vehicle VA and the portable terminal 90 has been severed.

[0227] Step 1315 is explained in detail.

[0228] After establishing a wireless communication connection, both the vehicle VA and the portable terminal 90 send a normal operation signal via the wireless communication connection at predetermined intervals. If the time during which no normal operation signal is received from the vehicle VA exceeds a predetermined threshold disconnection time, the second CPU determines that the wireless communication connection has been disconnected.

[0229] If the wireless communication connection is not cut off, the second CPU determines "no" in step 1315 and executes steps 1320 and 1325 in sequence.

[0230] Step 1315: The second CPU adds "1" to the cutoff determination timer TMdcn.

[0231] Step 1320: The second CPU determines whether the cutoff timer TMdcn is above the predetermined threshold TM2th.

[0232] The threshold TM2th is preset to a value larger than the threshold TM1th. The threshold TM2th is preset such that the value of the cutoff determination timer TMdcn reaches the threshold TM2th at the point when the cutoff grace period Tdcn has elapsed since the reception time of the arriving signal.

[0233] If the cutoff determination timer TMdcn is less than the threshold TM2th, the second CPU determines "no" in step 1325, proceeds to step 1395, and temporarily ends this routine.

[0234] If the cutoff determination timer TMdcn is above the threshold TM2th, the second CPU determines "yes" in step 1325 and executes steps 1330 and 1335 in sequence.

[0235] Step 1330: The second CPU displays the abnormal screen on the display device 92.

[0236] Step 1335: The second CPU sets the value of the cutoff determination flag Xdcn to "0" and sets the value of the cutoff determination timer TMdcn to "0".

[0237] Then, the second CPU enters step 1395, temporarily ending this routine.

[0238] On the other hand, if the portable terminal 90 receives an abnormal signal when the second CPU enters step 1310, the second CPU determines "yes" in step 1310, enters step 1330, displays the abnormal screen, and executes step 1335. Then, the second CPU enters step 1395 and temporarily terminates this routine.

[0239] On the other hand, if the wireless communication connection is cut off when the second CPU enters step 1315, the second CPU determines "yes" in step 1315 and proceeds to step 1340. In step 1340, the second CPU displays the normal completion screen on the display device 92 and proceeds to step 1395, temporarily ending this routine.

[0240] According to this embodiment, if the parking ECU 20 is still operating after a disconnection grace period Toff has elapsed since the disconnection command was sent from the parking ECU 20 to the reference ECU 30, the portable terminal 90 displays an error screen. This allows the user outside the vehicle to be notified that a disconnection error has occurred.

[0241] Furthermore, if the wireless communication connection is not severed even after the cutoff grace period Tdcn has elapsed since the arrival signal was received from the portable terminal 90, the portable terminal 90 will display an abnormal screen. Thus, even if the parking ECU 20 is unable to send an abnormal signal due to an abnormality, it can still notify the user outside the vehicle that a disconnection abnormality has occurred.

[0242] The present invention is not limited to the foregoing embodiments, and various modifications of the present invention may be employed.

[0243] First variation

[0244] In this variation, the parking ECU 20 determines the cause of the disconnection anomaly and sends an anomaly signal to the portable terminal 90 in a manner that confirms the cause. Upon receiving the anomaly signal, the portable terminal 90 displays an anomaly screen in a manner that confirms the cause of the disconnection anomaly. According to this variation, the user can learn about the cause of the disconnection anomaly at the same time as it occurs. Therefore, the user can take appropriate action based on the cause of the disconnection anomaly.

[0245] In this variant, the parking ECU 20 determines the following first to third causes.

[0246] First reason: Abnormalities in ECU30

[0247] Second reason: CAN anomaly

[0248] Third reason: Abnormal IG power system

[0249] Each ECU 20 to 80 sends a normal operation signal via CAN every time a predetermined transmission time has elapsed.

[0250] If the parking ECU20 is found to have a disconnection anomaly of the first cause, and the first abnormal condition is met ("receiving a normal working signal from ECU40-80 other than the reference ECU30, but not receiving a normal working signal from the reference ECU30") is met, the parking ECU20 is determined to have a disconnection anomaly of the first cause.

[0251] If the parking ECU 20 determines that a disconnection anomaly has occurred due to a second cause when the condition of "not receiving a normal working signal from multiple ECUs 30 to 80, including the reference ECU 30" is met.

[0252] If the parking ECU 20 is found to be operating under the third abnormal condition that "although it receives a normal operation signal from ECUs 30-80, it continues to operate even after the disconnection grace period Toff has elapsed since the disconnection command was sent," then a disconnection abnormality due to a third cause has occurred. An abnormality in the IG power system refers to an abnormality occurring in at least one of the IG relay 34 and the IG power supply 36.

[0253] The first CPU execution in this variation Figure 9 The start determination routine shown, part of which is related to Figure 10 The following are different automatic parking control routines (see reference). Figure 16 . ) Figure 11 The disconnection exception detection routine is shown. Further, the first CPU executes... Figure 14 The reason shown is to determine the routine.

[0254] The second CPU in this variation executes Figure 17 The received decision routine shown is used instead Figure 12 The received determination routine shown is executed. Figure 13 The example shown is a routine for determining cutoff anomalies.

[0255] Cause Determination Routine

[0256] In this variation, the first CPU executes the function every predetermined time interval. Figure 14 The routines (cause determination routines) are represented by flowcharts.

[0257] Therefore, when the predetermined timing is reached, the first CPU starts from... Figure 14The process begins at step 1400 and proceeds to step 1405. In step 1405, the first CPU determines whether the value of the execution flag Xexe is "1".

[0258] If the value of the execution flag Xexe is "0", the first CPU determines "no" in step 1405, proceeds to step 1495, and temporarily terminates this routine.

[0259] If the value of the execution flag Xexe is "1", the first CPU determines "yes" in step 1405 and executes steps 1410 and 1415 in sequence.

[0260] Step 1410: The first CPU determines the ECU that sent the normal operation signal received by the parking ECU 20 during the period from the previous execution of this routine to the current execution of this routine.

[0261] Step 1415: The first CPU determines whether the above-mentioned first abnormal condition is met.

[0262] If the first condition is met, the first CPU determines "yes" in step 1415 and executes steps 1420 to 1430 in sequence.

[0263] Step 1420: The first CPU sets the value of the first exception flag Xerr1 to "1".

[0264] The value of the first exception flag Xerr1 is set to "1" when the first exception condition is met, and set to "0" when an initialization routine or a predetermined special operation is performed. For example, this special operation is performed by the repairman when vehicle VA is being repaired.

[0265] Step 1425: The first CPU sends a first abnormal signal to the portable terminal 90. The first abnormal signal includes information that can determine that an abnormality of a first cause has occurred.

[0266] Step 1430: The first CPU displays the above-mentioned abnormality and causes the speaker 26 to emit a beeping sound.

[0267] Then, the first CPU enters step 1495, temporarily ending this routine.

[0268] If the first CPU enters step 1415 and the first abnormal condition is not met, the first CPU determines "no" in step 1415 and proceeds to step 1435. In step 1435, the first CPU determines whether the aforementioned second abnormal condition is met.

[0269] If the second abnormal condition is not met, the first CPU determines "no" in step 1435, proceeds to step 1495, and temporarily terminates this routine.

[0270] If the second abnormal condition is met, the first CPU determines "yes" in step 1435 and executes steps 1440 and 1445 in sequence.

[0271] Step 1440: The first CPU sets the value of the second exception flag Xerr2 to "1".

[0272] The value of the second exception flag Xerr2 is set to "1" when the second exception condition is met, and set to "0" when the initialization routine or the above-mentioned special operation is performed.

[0273] Step 1445: The first CPU sends a second abnormal signal to the portable terminal 90. Furthermore, the second abnormal signal includes information that can determine the abnormality caused by the second reason.

[0274] Then, the first CPU enters step 1495, temporarily ending this routine.

[0275] Upon receiving the first abnormal signal, the second CPU will... Figure 15A The first abnormality screen is displayed on display device 92. The first abnormality screen displays a message indicating that an abnormality has occurred in the reference ECU 30. Specifically, the first abnormality screen displays the message: "An abnormality has occurred in the reference ECU, and the vehicle power cannot be disconnected. Please stop the vehicle and check."

[0276] Upon receiving the second abnormal signal, the second CPU will... Figure 15B The second error screen is displayed on display device 92. This second error screen displays a message indicating an error has occurred in the CAN bus. Specifically, the second error screen displays the message: "An error has occurred in the vehicle network, and the vehicle power cannot be disconnected. Please check after stopping the vehicle."

[0277] Automatic parking control routine

[0278] The automatic parking control routine executed by the first CPU in this embodiment will be described. In this automatic parking control routine, the following steps are executed: Figure 10 Steps 1005 to 1055 are shown. After executing step 1055, the first CPU enters... Figure 16 Step 1605 is shown.

[0279] In step 1605, the first CPU determines whether the value of the first exception flag Xerr1 is "0" and the value of the second exception flag Xerr2 is "0".

[0280] If the value of the first exception flag Xerr1 is "0" and the value of the second exception flag Xerr2 is "0", the first CPU determines "yes" in step 1605 and proceeds to step 1610.

[0281] In step 1610, the first CPU sends a normal arrival signal to the portable terminal 90. This normal arrival signal is related to... Figure 10 The signal sent in step 1060 is the same as the arrival signal. Then, the first CPU executes sequentially. Figure 16 Steps 1065 to 1075 as shown indicate the entry point. Figure 10 Step 1095, as shown, temporarily terminates this routine.

[0282] If at least one of the first exception flag Xerr1 and the second exception flag Xerr2 has a value of "1", the first CPU determines "No" in step 1605 and proceeds to step 1615.

[0283] In step 1615, the first CPU determines whether the value of the first exception flag Xerr1 is "1".

[0284] If the value of the first exception flag Xerr1 is "1", the first CPU determines "yes" in step 1615 and executes steps 1620 and 1625 in sequence.

[0285] Step 1620: The first CPU sends a first abnormal arrival signal to the portable terminal 90.

[0286] Step 1625: The first CPU activates the EPB and changes the position of the shift lever 82a to "P".

[0287] Then, the first CPU enters Figure 10 Step 1095, as shown, temporarily terminates this routine.

[0288] When the first CPU enters step 1615 and the value of the first exception flag Xerr1 is "0", since the determination in step 1605 was "No", the value of the second exception flag Xerr2 is "1". In this case, the first CPU determines "No" in step 1615 and enters step 1630, sending a second exception arrival signal to the portable terminal 90. After executing step 1630, the first CPU executes step 1625, entering... Figure 10 Step 1095, as shown, temporarily terminates this routine.

[0289] Receive decision routine

[0290] In this variation, the second CPU executes the function every predetermined time interval. Figure 17 The routine (receive decision routine) is represented by a flowchart. Furthermore, in... Figure 17 In the middle, to conduct with Figure 12 The steps shown are the same as the steps in the process of assigning to the same processing steps. Figure 12 The same labels are used, and the descriptions are omitted.

[0291] When the scheduled time is reached, the second CPU starts from... Figure 17 Step 1700 begins processing, proceeding to... Figure 17 Step 1205 is shown. When the cutoff determination flag Xdcn has a value of "1", the second CPU... Figure 17 If the result in step 1205 is "No", proceed to step 1795 and temporarily end this routine.

[0292] When the cutoff decision flag Xdcn is set to "0", the second CPU... Figure 17 If the determination in step 1205 is "yes", proceed to step 1705. In step 1705, the second CPU determines whether the portable terminal 90 has received a normal arrival signal.

[0293] If the portable terminal 90 receives a normal arrival signal, the second CPU determines "yes" in step 1705 and executes the following steps sequentially. Figure 17 Steps 1215 and 1220 are shown. Then, the second CPU enters step 1795, temporarily ending this routine.

[0294] If the portable terminal 90 does not receive a normal arrival signal, the second CPU determines "no" in step 1705 and proceeds to step 1710. In step 1710, the second CPU determines whether the portable terminal 90 has received a first abnormal arrival signal.

[0295] If the portable terminal 90 receives a first abnormal arrival signal, the second CPU determines "yes" in step 1710 and proceeds to step 1715. In step 1715, the second CPU will... Figure 18A The first abnormality arrival screen is displayed on display device 92, and the process proceeds to step 1795, temporarily ending this routine.

[0296] The first anomaly arrival screen displays a message indicating that the vehicle VA has reached the target parking position Ptgt, and that the IG power supply 36 has not switched to the off state due to an anomaly in the reference ECU 30. Specifically, the first anomaly arrival screen displays the message "Target parking position reached. An anomaly occurred in the reference ECU, and the vehicle power supply cannot be disconnected."

[0297] If the portable terminal 90 does not receive the first abnormal arrival signal, the second CPU determines "no" in step 1710 and proceeds to step 1720. In step 1720, the second CPU determines whether the portable terminal 90 has received the second abnormal arrival signal.

[0298] If the portable terminal 90 does not receive the second abnormal arrival signal, the second CPU determines "no" in step 1720, proceeds to step 1795, and temporarily terminates this routine.

[0299] If the portable terminal 90 receives a second abnormal arrival signal, the second CPU determines "yes" in step 1720 and proceeds to step 1725. In step 1725, the second CPU will... Figure 18B The second abnormality arrival screen is displayed on display device 92, and the process proceeds to step 1795, temporarily ending this routine.

[0300] The second anomaly arrival screen displays a message indicating that vehicle VA has reached the target parking position Ptgt, and that an anomaly occurred in the CAN bus, preventing the IG power supply 36 from switching to the off state. Specifically, the second anomaly arrival screen displays the message: "Target parking position reached. An anomaly occurred in the vehicle network, and the vehicle power cannot be disconnected."

[0301] The second CPU responds when the portable terminal 90 receives an abnormal signal. Figure 13 Step 1310 shown: "Yes"), displayed in step 1330 Figure 19A The abnormal screen shown.

[0302] exist Figure 19A The displayed error message indicates that an anomaly has occurred in the IG power system, preventing the IG power supply 36 from switching to the off state. Specifically, the error message reads, "Vehicle power disconnection failed. An anomaly exists in the IG power system."

[0303] Furthermore, even if the wireless communication connection is not severed after the cutoff grace period Tdcn has elapsed since the arrival of the received signal ( Figure 13 Step 1325 (shown as "Yes"), is displayed in step 1330. Figure 19B The abnormal screen shown.

[0304] exist Figure 19B The displayed error message indicates that an anomaly occurred in the parking ECU 20, preventing the IG power supply 36 from switching to the off state. Specifically, the error message reads, "Vehicle power disconnection failed. An anomaly exists in the parking ECU."

[0305] In the case where the portable terminal 90 did not receive an abnormal signal even though the IG power supply 36 was not switched to the off state, it is highly likely that an abnormality occurred in the parking ECU 20, preventing the parking ECU 20 from sending an abnormal signal. Therefore, in Figure 19B The abnormal screen shown notifies the user that an anomaly has occurred in the parking ECU20.

[0306] Furthermore, in this variant, the first CPU may also not execute. Figure 14 Steps 1425 and 1440 are shown. In this case, Figure 15A The first abnormal screen shown and Figure 15B The second abnormal screen shown is not displayed on display device 92. If either the first or second abnormal condition is met, it is displayed when vehicle VA reaches the target parking position Ptgt. Figure 15A The first or second error arrival screen is shown. Users can learn about the error of the IG power supply not switching to the off state and the cause of the error without waiting for the disconnection grace period Toff from the time the disconnection command was sent.

[0307] Furthermore, an ECU other than the parking ECU20 can perform anomaly determination based on normal operating signals and notify the parking ECU20 of the determination result.

[0308] Second variation

[0309] The number of gap sonars 22 and cameras 23 described in the above embodiments are illustrative and are not limited to the numbers described in the above embodiments.

[0310] Third variation

[0311] The parking assist device 10 can be installed in vehicles such as engine vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), fuel cell electric vehicles (FCEV), and battery electric vehicles (BEV).

[0312] The present invention can also be obtained as a non-transient storage medium that stores a program for implementing the functions of the parking assistance device 10 and is readable by a computer.

Claims

1. A parking assistance device, comprising: A power source, configured to supply power to equipment mounted on a vehicle; and The first control unit is configured such that, if the power supply is on, it becomes operational by receiving power from the power supply; and if the power supply is off, it becomes non-operational by ceasing the supply of power from the power supply. The first control unit is configured as follows: The system implements parking assistance control, including power disconnection control, which automatically switches the power supply from the on state to the off state when the vehicle has reached a preset target parking position. If, during the period from the start of the power disconnection control until the predetermined disconnection grace period has elapsed, the disconnection anomaly condition of the vehicle itself not changing to the non-operating state is met, an anomaly report is made to the user of the vehicle to notify that a disconnection anomaly has occurred due to the power supply not switching to the disconnected state. The first control unit is configured as follows: Based on the instruction signals sent to the vehicle by the portable terminal, the parking assistance control, which also includes automatic parking control, is executed. The portable terminal is a portable terminal carried by the user that is capable of establishing a communication connection with the vehicle for data exchange. The automatic parking control is the control that causes the vehicle to automatically drive towards the target parking position and stop the vehicle at the target parking position. When the disconnection exception condition is met, the exception is reported by sending an exception signal to the portable terminal to cause the portable terminal to display an exception screen. The exception screen is used to inform the user that the disconnection exception has occurred. The first control unit is configured as follows: Determine the cause of the disconnection exception. In order to display the abnormal screen on the portable terminal in a manner that can determine the cause of the disconnection abnormality, an abnormal signal including information that can determine the cause of the disconnection abnormality is sent to the portable terminal. The parking assistance device also features: The second control unit is configured to switch the state of the power supply to either the on state or the off state; and Third control unit The first control unit, the second control unit, and the third control unit are configured as follows: They are interconnected via an in-vehicle network in a manner that enables data exchange. A normal operation signal is sent via the in-vehicle network each time the predetermined transmission time has elapsed. The first control unit is configured as follows: If the normal operation signal is not received from the second control unit but is received from the third control unit, the cause of the disconnection is determined to be an abnormality in the second control unit. If no normal operation signal is received from either the second control unit or the third control unit, the cause of the disconnection is determined to be an anomaly in the vehicle network. If the normal operation signal is received from both the second control unit and the third control unit, but the disconnection anomaly condition is met, the cause of the disconnection anomaly is determined to be an abnormality in the power supply.

2. The parking assistance device according to claim 1, The first control unit is configured to report the anomaly before the disconnection anomaly condition is met, in the event that an anomaly is determined in the second control unit or the in-vehicle network.

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