Vehicle control device

Abstract

Provided is a vehicle control device that executes automatic travel control for causing a vehicle to automatically travel into a target space on the basis of an instruction transmitted by a remote operation device operated by a user located outside the vehicle. The vehicle control device is configured to stop the vehicle and cause the remote control device to perform a first notification when a predetermined pause condition is satisfied during execution of the automatic travel control, and cause the remote control device to perform a second notification in a different manner from the first notification when the user does not approach the vehicle after the first notification. This makes it possible to reduce the likelihood that the user does not notice the notification, and reduce the likelihood that the user feels troublesome in the notification, by performing an appropriate notification in accordance with the condition of the user when the pause condition is satisfied.

Description

Technical Field

[0001] The present invention relates to a vehicle control device that performs autonomous driving control, which is control for automatically driving a vehicle to a target space (space, site, parking space) by an operator outside the vehicle operating a remote operation device. Background Art

[0002] Conventionally, a vehicle control device that performs autonomous driving control, which is a type of autonomous driving, has been known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") performs remote parking control as autonomous driving control. Remote parking control is control for moving a vehicle to a target space and parking it according to a parking instruction sent from a remote operation device operated by an operator outside the vehicle.

[0003] Prior Art Documents

[0004] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2023-114501 Summary of the Invention

[0005] In such autonomous driving control in which an operator outside the vehicle operates a remote operation device to move the vehicle to a target space, the vehicle stops when a predetermined stop condition is satisfied. For example, the stop condition is satisfied when the traveling distance traveled by autonomous driving control reaches a threshold value or more. When the stop condition is satisfied and the vehicle stops, the operator needs to board the vehicle (get in).

[0006] Research is being conducted to notify the operator of this fact by the remote operation device when the stop condition is satisfied. However, if this notification is made uniformly without considering the operator's situation, an operator who is not approaching the vehicle may not notice the notification, and an operator who is approaching the vehicle may find the notification troublesome.

[0007] The present invention has been made to address the foregoing problems. That is, one object of the present invention is to provide a vehicle control device that can reduce the possibility that the operator does not notice the notification and reduce the possibility that the operator finds the notification troublesome by making an appropriate notification according to the operator's situation when the stop condition is satisfied.

[0008] The vehicle control device of the present invention (hereinafter referred to as the "device of the present invention") performs autonomous driving control (Steps 200 to 295) for automatically driving the vehicle to a target space based on an instruction sent from a remote operation device operated by an operator outside the vehicle.

[0009] The vehicle control device is configured such that, when a predetermined abort condition is satisfied during the execution of the automatic driving control (step 230 “Yes”), the vehicle is stopped (step 255), and the remote operation device gives a first notification (step 415 “Yes”, step 420). When the user does not approach the vehicle after the first notification (step 315 “No”, step 345), the remote operation device gives a second notification in a different manner from the first notification (step 415 “No”, step 425).

[0010] According to the device of the present invention, since a second notification in a different manner from the first notification is given when the user does not approach the vehicle after the first notification, the possibility that a user who does not approach the vehicle fails to notice the notification can be reduced. In addition, since the second notification is not given when the user approaches the vehicle, the possibility that a user who approaches the vehicle feels bothered by the notification can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic system configuration diagram of a vehicle control system according to an embodiment of the present invention.

[0012] Figure 2 is Figure 1 a flowchart of a summon control routine executed by the CPU of the ECU shown.

[0013] Figure 3 is Figure 1 a flowchart of a flag setting routine executed by the CPU of the ECU shown.

[0014] Figure 4 is Figure 1 a flowchart of an abort notification routine executed by the CPU of the ECU of a vehicle control device according to a modification of the embodiment of the present invention.

[0015] Figure 5 is a diagram summarizing each notification given when the abort condition is satisfied.

[0016] Figure 6 is a flowchart of an abort notification routine executed by the CPU of the ECU of a vehicle control device according to a modification of the embodiment of the present invention.

[0017] REFERENCE MARK DESCRIPTION

[0018] 10 Vehicle control device; 20 ECU (Electronic Control Unit); 22 Camera; 24 Sonar; 40 Remote operation device; 42 Display; 46 Speaker; 48 Vibration motor. DETAILED DESCRIPTION OF THE INVENTION

[0019] As Figure 1As shown, the vehicle control system according to this embodiment includes "the vehicle control device 10 applied to the vehicle VA" and the remote operation device 40. The vehicle control device 10 and the remote operation device 40 are communicably connected via the network NW.

[0020] The vehicle control device 10 includes Figure 1 the components shown. In this specification, the "ECU 20" is an electronic control device having a microcomputer as the main part. The ECU 20 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, and an interface (I / F), etc. The functions implemented by the ECU 20 can also be implemented by multiple ECUs.

[0021] The camera 22 obtains image data by photographing the scenery around the vehicle VA. The ECU 20 obtains the image data from the camera 22. The sonar 24 obtains sonar data related to the position of an object existing around the vehicle VA relative to the vehicle VA. The ECU 20 obtains the sonar data from the sonar 24. In addition, the ECU 20 detects the target space and the objects located around the vehicle VA based on the image data and the sonar data. The communication interface (I / F) 26 is an interface for connecting to the network NW.

[0022] The display 28 is disposed inside the vehicle. For example, the display 28 is a multi-functional information display. The in-vehicle speaker 30 is disposed inside the vehicle and emits a warning sound inside the vehicle. The horn 32 emits a warning sound outside the vehicle.

[0023] The remote operation device 40 is a device that can be operated even when the user is outside the vehicle. As an example, it is a smart phone. The remote operation device 40 includes a display 42, a GNSS (Global Navigation Satellite System) receiver 44, a speaker 46, and a vibration motor 48. The display 42 is a touch panel type display that allows the user to input to the remote operation device 40 by touching the display 42. When the display 42 is not a touch panel type, the remote operation device 40 includes an input device.

[0024] The GNSS receiver 44 receives signals from multiple artificial satellites and determines the current position (longitude and latitude) of the remote operation device 40 based on the received signals. The speaker 46 emits a warning sound. The vibration motor 48 is a motor for vibrating the remote operation device 40.

[0025] (Outline of operation)

[0026] In the present embodiment, an example of performing summon control as autonomous driving control will be described. The summon control includes Smart Summon control and Reverse Summon control.

[0027] In Smart Summon control, the vehicle VA sets the current position of the remote operation device 40 or the position designated by the user as the target space, automatically drives to the target space, and stops in the target space. In Reverse Summon control, when the user gets off at the entrance of the parking lot or the like and operates the remote operation device 40, the vehicle VA searches for a parking space where the vehicle VA can park while automatically driving, and parks in the parking space when a parking space is found. That is to say, the common point between Smart Summon control and Reverse Summon control is that the vehicle VA automatically drives to the target space and stops in the target space while the user is outside the vehicle.

[0028] When the user outside the vehicle operates the remote operation device 40 to start the application program for summon control and operates the start button for Smart Summon control, the vehicle control device 10 starts Smart Summon control. Similarly, when the user operates the start button for Reverse Summon control, the vehicle control device 10 starts Reverse Summon control. In addition, after starting the summon control, a driving button is displayed on the display 42. When the user operates the driving button, the remote operation device 40 sends a permission signal to the vehicle control device 10. The vehicle control device 10 makes the vehicle VA automatically drive based on the permission signal.

[0029] When a predetermined termination condition is satisfied during the execution of the summon control by the vehicle control device 10, the summon control is terminated and the vehicle VA stops. In this case, the vehicle control device 10 sends a first notification signal to the remote operation device 40. When the remote operation device 40 receives the first notification signal, a first notification is made. In the first notification, the remote operation device 40 displays a first message on the display 42. The first message is the message "The summon control has been terminated."

[0030] When the suspension condition is satisfied and the non-approach state where the user does not approach the vehicle VA (the remote operation device 40 does not approach the vehicle VA) continues for a predetermined time or more, the vehicle control device 10 sends a second notification signal to the remote operation device 40. When the remote operation device 40 receives the second notification signal, it performs a second notification in a different manner from the first notification. In the second notification, the remote operation device 40 displays a second message on the display 42. The second message is the message "The summon control has been suspended. Please board the vehicle quickly." Further, the remote operation device 40 causes the speaker 46 to emit a warning sound according to the first pronunciation pattern (pattern) described later, and controls the vibration motor 48 to vibrate the remote operation device 40 according to the first vibration pattern described later.

[0031] The second message adds the message "Please board the vehicle quickly." which urges the user to board compared to the first message. Therefore, the second notification is a notification in a manner that attracts the user's attention more than the first notification. Furthermore, in the second notification, in order to attract the user's attention more, in addition to the display on the display 42, a warning sound is emitted and the remote operation device 40 is vibrated.

[0032] Through the above, the vehicle control device 10 makes the second notification different from the first notification, so it is possible to reduce the possibility that the user who does not approach the vehicle VA after the first notification does not notice the "notification of the meaning that the suspension condition is satisfied". Furthermore, the vehicle control device 10 performs the first notification instead of the second notification when the user approaches the vehicle VA, so it is possible to reduce the possibility that the user who approaches the vehicle VA feels bothered by the "notification of the meaning that the suspension condition is satisfied".

[0033] (Specific operation)

[0034] Every time a predetermined time elapses, the CPU of the ECU 20 executes Figures 2 to 4 the routine shown in the flowchart.

[0035] When an appropriate time arrives, the CPU starts processing from Figure 2 step 200, and determines whether the value of the execution flag Xexe is "0" in step 205.

[0036] The value of the execution flag Xexe is set to "1" when starting the summon control, and set to "0" when ending or suspending the summon control. In addition, the value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when an ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0037] When the value of the execution flag Xexe is "0", the CPU determines "Yes" in step 205, and the process proceeds to step 210. In step 210, the CPU determines whether the vehicle control device 10 has received a start signal sent by the remote operation device 40. The remote operation device 40 sends a start signal to the vehicle control device 10 when the start button for intelligent summon control or reverse summon control is operated.

[0038] When the vehicle control device 10 has not received the start signal, the CPU determines "No" in step 210, and the process proceeds to step 295, where the CPU temporarily ends this routine. When the vehicle control device 10 has received the start signal, the CPU determines "Yes" in step 210, and the process proceeds to step 215. In step 215, the CPU sets the value of the execution flag Xexe to "1", and sets the values of the abort flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0".

[0039] The value of the abort flag Xst is set to "1" when the summon control is aborted due to the abort condition being satisfied. The value of the first warning flag Xa1 is set to "1" when the non-approach state continues for a predetermined time or more after the abort condition is satisfied. The value of the second warning flag Xa2 is set to "1" when there is an approaching object approaching the vehicle VA after the abort condition is satisfied. The values of the abort flag Xst, the first warning flag Xa1, and the second warning flag Xa2 are set to "0" when the user boards the vehicle VA or when the next summon control starts. In addition, the value of the second warning flag Xa2 is also set to "0" when the approaching object no longer exists.

[0040] After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0041] When the value of the execution flag Xexe is "1" when the process enters step 205, the CPU determines "No" in step 205, and the process executes steps 220 and 225.

[0042] Step 220: The CPU causes the vehicle VA to automatically drive so that the vehicle VA stops in the target space.

[0043] During the automatic driving of the vehicle VA, the CPU acquires image data and sonar data, and determines whether there is a contact object that may come into contact with the vehicle VA. When there is a contact object, the CPU determines whether it is possible to avoid the contact object. When it is possible to avoid the contact object, the CPU creates an avoidance path and causes the vehicle VA to drive along the avoidance path. When it is not possible to avoid the contact object, the CPU causes the vehicle VA to stop.

[0044] Step 225: The CPU determines whether the vehicle VA has parked in the target space.

[0045] When the vehicle VA has not parked in the target space, the CPU determines "No" in step 225, and the process proceeds to step 230.

[0046] In step 230, the CPU determines whether the abort condition is satisfied.

[0047] For example, when the travel distance from the start time of the summon control is equal to or greater than the threshold distance, the CPU determines that the abort condition is satisfied. Further, when the vehicle VA stops because it cannot avoid contacting an object, the CPU determines that the abort condition is satisfied. Further, when the state where the vehicle control device 10 has not received the permission signal continues for a predetermined time or longer, the CPU determines that the abort condition is satisfied.

[0048] When the abort condition is not satisfied, the CPU determines "No" in step 230, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0049] When the vehicle VA has parked in the target space when the process proceeds to step 225, the CPU determines "Yes" in step 225, and executes step 235 and step 240.

[0050] Step 235: The CPU sets the value of the execution flag Xexe to "0".

[0051] Step 240: The CPU sends a completion signal to the remote operation device 40.

[0052] When the remote operation device 40 receives the completion signal, it gives a completion notification. In the completion notification, the remote operation device 40 causes the display 42 to display the completion message "Summon control is completed."

[0053] After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0054] When the abort condition is satisfied when the process proceeds to step 230, the CPU determines "Yes" in step 230, and executes steps 245 to 255.

[0055] Step 245: The CPU sets the value of the execution flag Xexe to "0" and sets the value of the abort flag Xst to "1".

[0056] Step 250: The CPU sets the value of the timer Ta to "0". The timer Ta is a timer for counting the duration of the non-approach state.

[0057] Step 255: The CPU controls a brake actuator (not shown) to stop the vehicle VA.

[0058] After that, the process proceeds to step 295, and the CPU temporarily ends this routine.

[0059] <Flag setting routine>

[0060] When the appropriate time arrives, the CPU starts processing from Figure 3 step 300, and determines whether the value of the abort flag Xst is "1" in step 305.

[0061] When the value of the abort flag Xst is "0", the CPU determines "No" in step 305, and the process proceeds to step 395 to temporarily end this routine. When the value of the abort flag Xst is "1", the CPU determines "Yes" in step 305, and the process proceeds to step 310. In step 310, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0062] When the value of the first warning flag Xa1 is "0", the CPU determines "Yes" in step 310, and the process proceeds to step 315. In step 315, the CPU determines whether the user is approaching the vehicle VA. Specifically, after the abort condition is satisfied, the CPU obtains the current position of the remote operation device 40 from the remote operation device 40, and determines whether the remote operation device 40 is approaching the vehicle VA based on the history of the current position. When the remote operation device 40 is approaching the vehicle VA, the CPU determines that the user is approaching the vehicle VA.

[0063] When the user is approaching the vehicle VA, the CPU determines "Yes" in step 315 and executes step 318 and step 320.

[0064] Step 318: The CPU sets the value of the timer Ta to "0".

[0065] Step 320: The CPU determines whether the value of the second warning flag Xa2 is "0".

[0066] When the value of the second warning flag Xa2 is "0", the CPU determines "Yes" in step 320, and the process proceeds to step 325. In step 325, the CPU determines whether there is an approaching target based on the image data and sonar data.

[0067] When there is no approaching target, the CPU determines "No" in step 325, and the process proceeds to step 330. In step 330, the CPU determines whether the user is boarding the vehicle VA. Specifically, when the current position of the remote operation device 40 is within a predetermined distance from the vehicle VA and then the door lock of the vehicle VA is opened, the CPU determines that the user is boarding the vehicle VA.

[0068] When the user is not on board the vehicle VA, the CPU determines "No" in step 330, and the process proceeds to step 395, where the CPU temporarily ends this routine.

[0069] When the user is not approaching when the process proceeds to step 315, the CPU determines "No" in step 315 and executes steps 335 and 340.

[0070] Step 335: The CPU increments the timer Ta by "1".

[0071] Step 340: The CPU determines whether the timer Ta is equal to or greater than the threshold value Tath.

[0072] In addition, the threshold value Tath is set to a value such that when the timer Ta becomes equal to or greater than the threshold value Tath, the non-approaching state continues for a predetermined time or more.

[0073] When the timer Ta is less than the threshold value Tath, the CPU determines "No" in step 340, and the process proceeds to step 320. On the other hand, when the timer Ta is equal to or greater than the threshold value Tath, the CPU determines "Yes" in step 340, and the process proceeds to step 345. In step 345, the CPU sets the value of the first warning flag Xa1 to "1", and the process proceeds to step 320.

[0074] When there is an approaching object when the process proceeds to step 325, the CPU determines "Yes" in step 325, and the process proceeds to step 350. In step 350, the CPU sets the value of the second warning flag Xa2 to "1". Then, the process proceeds to step 330.

[0075] When the value of the second warning flag Xa2 is "1" when the process proceeds to step 320, the CPU determines "No" in step 320, and the process proceeds to step 355. In step 355, the CPU determines whether there is an approaching object.

[0076] When there is an approaching object, the CPU determines "Yes" in step 355, and the process proceeds to step 330. When there is no approaching object, the CPU determines "No" in step 355, and the process proceeds to step 360. In step 360, the value of the second warning flag Xa2 is set to "0". Then, the process proceeds to step 330.

[0077] When the user is aboard the vehicle VA when the process enters step 330, the CPU determines "Yes" in step 330, and the process enters step 365. In step 365, the CPU sets the values of the suspension flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0". After that, the process enters step 395, and the CPU temporarily ends this routine.

[0078] <Suspension Notification Routine>

[0079] When the appropriate time arrives, the CPU starts processing from Figure 4 step 400, and determines in step 405 whether the value of the suspension flag Xst is "1".

[0080] When the value of the suspension flag Xst is "0", the CPU determines "No" in step 405, and the process enters step 495, and the CPU temporarily ends this routine. When the value of the suspension flag Xst is "1", the CPU determines "Yes" in step 405, and the process enters step 410.

[0081] In step 410, the CPU determines whether the value of the second warning flag Xa2 is "0". When the value of the second warning flag Xa2 is "0", the CPU determines "Yes" in step 410, and the process enters step 415. In step 415, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0082] When the value of the first warning flag Xa1 is "0", the CPU determines "Yes" in step 415, and the process enters step 420. In step 420, the CPU sends the first notification signal to the remote operation device 40. After that, the process enters step 495, and the CPU temporarily ends this routine. When the remote operation device 40 receives the first notification signal, it makes the first notification. Specifically, as Figure 5 shown, the remote operation device 40 causes the display 42 to display the first message. In addition, when the remote operation device 40 receives the first notification signal, it does not operate the speaker 46 and the vibration motor 48. Furthermore, when the CPU sends the first notification signal, it makes the first notification on the vehicle VA side. In this first notification, the CPU causes the in-vehicle speaker 30 of the vehicle VA to emit a warning sound of "thud", and causes the display 28 of the vehicle VA to display a suspension message of "Control has been suspended."

[0083] When the process enters Figure 4When the value of the first warning flag Xa1 is "1" at step 415 as shown, the CPU determines "No" in step 415, and the process proceeds to step 425. In step 425, the CPU sends a second notification signal to the remote operation device 40. Then, the process proceeds to step 495, and the CPU temporarily ends this routine. When the remote operation device 40 receives the second notification signal, it gives a second notification.

[0084] Specifically, as Figure 5 shown, the remote operation device 40 causes the display 42 to display a second message. Further, the remote operation device 40 causes the speaker 46 to emit a warning sound according to a first pronunciation mode. When the remote operation device 40 causes the speaker 46 to emit a warning sound, the remote operation device 40 repeats a predetermined pronunciation time during which the speaker 46 emits a warning sound (beep) and a non - pronunciation time Ts during which the speaker 46 does not emit any sound. In the first pronunciation mode, the non - pronunciation time Ts is set to a first time Ts1.

[0085] Further, the remote operation device 40 causes the vibration motor 48 to vibrate according to a first vibration mode. When the remote operation device 40 causes the vibration motor 48 to vibrate, it repeats a predetermined vibration time during which the vibration motor 48 operates and a non - vibration time Tv during which the vibration motor 48 does not operate. In the first vibration mode, the non - vibration time Tv is set to a first time Tv1.

[0086] When sending the second notification signal, the CPU gives a second notification on the vehicle VA side. In this second notification, the CPU controls the in - vehicle speaker 30 and the display 28 in the same way as the first notification, and causes the horn 32 to operate according to a first operation mode. Specifically, the CPU repeats a predetermined operation time during which the horn 32 operates and emits a warning sound (beep) and a non - operation time To during which the horn 32 does not operate. In the first operation mode, the non - operation time To is set to a first time To1.

[0087] When the process proceeds to Figure 4 step 410 as shown and the value of the second warning flag Xa2 is "1", the CPU proceeds to step 430. In step 430, the CPU sends a third notification signal to the remote operation device 40. Then, the process proceeds to step 495, and the CPU temporarily ends this routine. When the remote operation device 40 receives the third notification signal, it gives a third notification.

[0088] Specifically, as Figure 5 shown, the remote operation device 40 causes the display 42 to display a third message. The third message is "The summon control has been aborted. Since it may obstruct others from passing, please get in the vehicle immediately and move the vehicle."

[0089] Furthermore, the remote operation device 40 causes the speaker 46 to emit a warning sound in the second pronunciation mode. In the second pronunciation mode, the non - pronunciation time Ts is set to "a second time Ts2 shorter than the first time Ts1". Therefore, in the second pronunciation mode, the time between pronunciation times (non - pronunciation time Ts) becomes shorter than that in the first pronunciation mode. Generally speaking, if the time between pronunciation times becomes shorter, there is a tendency to more strongly attract people's attention. Thus, the second pronunciation mode is a way to attract the user's attention more than the first pronunciation mode.

[0090] Furthermore, the remote operation device 40 causes the vibration motor 48 to vibrate in the second vibration mode. In the second vibration mode, the non - vibration time Tv is set to "a second time Tv2 shorter than the first time Tv1". Therefore, the second vibration mode is a way to attract the user's attention more than the first vibration mode.

[0091] Thus, the third notification is carried out in a way that attracts the user's attention more than the first notification and the second notification. In addition, if the value of the second warning flag Xa2 is "1", regardless of whether the value of the first warning flag Xa1 is "0" or "1", the third notification is carried out. That is to say, the third notification is given priority over the second notification.

[0092] Moreover, when the CPU sends the third notification signal, the third notification on the vehicle VA side is carried out. In this third notification, the CPU controls the in - vehicle speaker 30 and the display 28 in the same way as in the first notification, and causes the horn 32 to operate in the second operation mode. In the second operation mode, the non - operation time To is set to "a second time To2 shorter than the first time To1". Therefore, the third notification on the vehicle VA side is carried out in a way that attracts the user's attention more than the second notification on the vehicle VA side.

[0093] Through the above, according to this embodiment, when the suspension condition is satisfied during the execution of the summon control, the remote operation device 40 is made to carry out the first notification. Then, when the user does not approach the vehicle VA, the remote operation device 40 is made to carry out a second notification in a different way from the first notification. Thus, the possibility that the user notices the need to board the vehicle VA can be increased.

[0094] Moreover, since the third notification is given priority over the second notification, it is possible to immediately notify the user that the user may cause trouble to others.

[0095] (Modification example)

[0096] In this modified example, when the non-boarding condition is satisfied, that is, the user does not board the vehicle VA after the suspension condition is satisfied (i.e., after the remote operation device 40 makes the first notification) and before the elapse of the predetermined boarding time, the first to third notifications are made in a manner that attracts the user's attention more than when the non-boarding condition is not satisfied. The notification made when the non-boarding condition is satisfied is referred to as an "emphatic notification".

[0097] Specifically, as Figure 5 shown, the remote operation device 40 causes the speaker 46 to emit a warning sound according to the third pronunciation mode. In the third pronunciation mode, the non-pronunciation time Ts is set to a "third time Ts3 shorter than the second time Ts2". Further, the remote operation device 40 causes the vibration motor 48 to vibrate according to the third vibration mode. In the third vibration mode, the non-vibration time Tv is set to a "third time Tv3 shorter than the second time Tv2". In addition, in the emphatic notification, the remote operation device 40 causes the display 42 to display a message displayed according to "any one of the first to third notifications corresponding to the user's proximity status and the presence status of the approaching target".

[0098] Furthermore, the vehicle control device 10 according to this modified example makes an emphatic notification on the vehicle VA side when the non-boarding condition is satisfied. As Figure 5 shown, in this emphatic notification, the CPU controls the in-vehicle speaker 30 and the display 28 in the same manner as in the first notification, and causes the horn 32 to operate according to the third operation mode. In the third operation mode, the non-operation time To is set to a "third time To3 shorter than the second time To2".

[0099] The CPU of the ECU 20 of the vehicle control device 10 according to this modified example executes Figure 2 and Figure 3 the routines shown, and executes Figure 6 the routine shown in place of Figure 4 the routine shown. In addition, in Figure 6 , the same processing as Figure 4 is denoted by the same reference numerals and the description thereof is omitted.

[0100] When the appropriate time arrives, the CPU starts processing from Figure 6 step 600. When the value of the suspension flag Xst is "1" ( Figure 6 step 405 "Yes" shown), and the value of the second warning flag Xa2 is "0" ( Figure 6 step 410 "Yes" shown), and the value of the first warning flag Xa1 is "0" ( Figure 6 step 415 "Yes" shown), the processing proceeds to step 605.

[0101] In step 605, the CPU determines whether the value of the emphasis flag Xem is "0". The value of the emphasis flag Xem is set to "1" when the above non-riding condition is satisfied, and is set to "0" when the user rides in the vehicle VA or when the next call control starts.

[0102] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 605, and Figure 6 in step 420 shown, sends the first notification signal to the remote operation device 40. Then, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0103] On the other hand, when the value of the emphasis flag Xem is "1", the CPU determines "No" in step 605, and the process proceeds to step 610. In step 610, the CPU sends the emphasized first notification signal to the remote operation device 40. Then, the process proceeds to step 695, and the CPU temporarily ends this routine. When the remote operation device 40 receives the emphasized first notification signal, it performs the emphasized first notification in which the first notification is emphasized. The emphasized first notification is one of the above-mentioned emphasized notifications, and the first message is displayed on the display 42, the warning sound is emitted from the speaker 46 in the third pronunciation mode, and the vibration motor 48 vibrates in the third vibration mode.

[0104] When the value of the abort flag Xst is "1" ( Figure 6 "Yes" in step 405 shown), and the value of the second warning flag Xa2 is "0" ( Figure 6 "Yes" in step 410 shown), and the value of the first warning flag Xa1 is "1" ( Figure 6 "No" in step 415 shown), the process proceeds to step 615. In step 615, the CPU determines whether the value of the emphasis flag Xem is "0".

[0105] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 615, and in step 425, sends the second notification signal to the remote operation device 40. Then, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0106] When emphasizing that the value of the flag Xem is "1", the CPU determines "No" in step 615, and the process proceeds to step 620. In step 620, the CPU sends the emphasized second notification signal to the remote operation device 40. After that, the process proceeds to step 695, and the CPU temporarily ends this routine. When the remote operation device 40 receives the emphasized second notification signal, it performs the emphasized second notification in which the second notification is emphasized. The emphasized second notification is a kind of the above-mentioned emphasized notification, and the second message is displayed on the display 42, the warning sound is emitted from the speaker 46 according to the third pronunciation mode, and the vibration motor 48 vibrates according to the third vibration mode.

[0107] When the value of the abort flag Xst is "1" ( Figure 6 "Yes" in step 405 shown), and the value of the second warning flag Xa2 is "1" ( Figure 6 "No" in step 410 shown), the process proceeds to step 625. In step 625, the CPU determines whether the value of the emphasis flag Xem is "0".

[0108] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 625, and in step 430, it sends the third notification signal to the remote operation device 40. After that, the process proceeds to step 695, and the CPU temporarily ends this routine.

[0109] When the value of the emphasis flag Xem is "1", the CPU determines "No" in step 625, and the process proceeds to step 630. In step 630, the CPU sends the emphasized third notification signal to the remote operation device 40. After that, the process proceeds to step 695, and the CPU temporarily ends this routine. When the remote operation device 40 receives the emphasized third notification signal, it performs the emphasized third notification in which the third notification is emphasized. The emphasized third notification is a kind of the above-mentioned emphasized notification, and the third message is displayed on the display 42, the warning sound is emitted from the speaker 46 according to the third pronunciation mode, and the vibration motor 48 vibrates according to the third vibration mode.

[0110] Through the above, according to this modified example, when the non-riding condition is satisfied, the first to third notifications are made in a manner that attracts the user's attention more than when the non-riding condition is not satisfied. Thus, when the user does not board the vehicle VA even after the boarding time has passed since the abort condition was satisfied, the possibility of the user hurrying to the vehicle VA can be increased.

[0111] In the above embodiment, the summons control is taken as an example for explanation. The present invention can be applied to the automatic driving control in which an external user operates the remote operation device 40 to automatically drive the vehicle VA to the target space.

[0112] The vehicle control device 10 can be applied to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles.

Claims

1. A vehicle control device that performs automatic driving control for causing a vehicle to automatically drive to a target space based on an instruction sent from a remote control device operated by a user outside the vehicle, The vehicle control device is configured as follows: When a predetermined stop condition is satisfied during the execution of the automatic driving control, the vehicle is stopped and the remote operation device is caused to make a first notification, If the user does not approach the vehicle after the first notification, the remote operation device is caused to make a second notification in a different form from the first notification.

2. The vehicle control device according to claim 1, wherein: The remote operation device is caused to make the second notification in a manner that attracts the user's attention more than the first notification.

3. The vehicle control device according to claim 1, wherein: When there is an object approaching the vehicle after the first notification, the remote operation device is caused to give priority to the second notification and to issue a third notification different from the first notification and the second notification.

4. The vehicle control device according to claim 3, wherein: When a non-boarding condition is satisfied that the user has not boarded the vehicle within a predetermined time after the first notification, the remote operating device performs the first to third notifications in a manner that attracts the user's attention more than when the non-boarding condition is not satisfied.

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