Control device, control method, and control program product

Abstract

The present invention provides a control device, a control method, and a control program product capable of appropriately notifying a user of an update of software pertaining to stop control of a moving body. A control ECU (20) for a vehicle (10) is provided with: a calculation unit (52) capable of performing stop control for stopping the vehicle (10) at a target position in a state in which a user of the vehicle (10) is not boarding; and a storage unit (54) that stores software for movement control of the vehicle (10). When the operation unit (52) executes the stop control in a state in which the software can be updated, the operation unit (52) determines an information terminal (60) that instructs the stop control, and then performs a first notification that the user can be notified that the software can be updated.

Description

Technical Field

[0001] The present invention relates to a control device, a control method, and a control program. Background Art

[0002] In recent years, efforts have been actively made to realize a sustainable transportation system that also takes into account people who are particularly vulnerable among traffic participants. For the realization of this goal, research and development related to autonomous driving technology are being carried out to further improve traffic safety and convenience.

[0003] Conventionally, a remote parking system is known in which a vehicle is remotely operated using a smartphone to park the vehicle in a designated parking space or to drive the vehicle out of the parking space. In addition, a method is known in which software related to remote parking is updated by a user responding to a data update proposal displayed on a vehicle navigation device.

[0004] For example, Patent Document 1 describes the following automatic parking system: when update information related to automatic parking is found after communicating with the cloud, the vehicle owner is notified of this situation, and if the owner selects to download the update information, the upgrade package is downloaded to the vehicle control unit to update the information.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Specification of Chinese Patent Application Publication No. 113823113 Summary of the Invention

[0008] Problems to be Solved by the Invention

[0009] However, in the method of updating software by a user responding to a data update proposal displayed on a navigation device in the vehicle, when the vehicle is remotely parked by the user outside the vehicle, it is impossible to respond to the data update proposal in the vehicle, so software update cannot be performed. In addition, it is also considered to notify a predetermined user at the stage of receiving an instruction for remote parking, but in this case, it may not be possible to notify the regular driver. In addition, Patent Document 1 does not disclose software update during such remote parking.

[0010] An object of the present invention is to provide a control device, a control method, and a control program that can appropriately notify a user that software related to stop control of a moving body can be updated.

[0011] Means for Solving the Problems

[0012] The present invention is a control device for a moving body, wherein,

[0013] The control device includes:

[0014] a control unit that can perform stop control to stop the mobile body at a target position in a state where the user of the mobile body is not on board; and

[0015] a storage unit that stores software for controlling the movement of the mobile body,

[0016] When the control unit executes the stop control in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is made.

[0017] The present invention is a control method for a control device of a mobile body, wherein

[0018] the control device includes: a control unit that can perform stop control to stop the mobile body at a target position in a state where the user of the mobile body is not on board; and a storage unit that stores software for controlling the movement of the mobile body,

[0019] The control method causes a processor of the control device to perform the following processing:

[0020] When the stop control is executed in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is made.

[0021] The present invention is a control program for a control device of a mobile body, wherein

[0022] the control device includes: a control unit that can perform stop control to stop the mobile body at a target position in a state where the user of the mobile body is not on board; and a storage unit that stores software for controlling the movement of the mobile body,

[0023] The control program causes a processor of the control device to execute the following processing:

[0024] When the stop control is executed in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is made.

[0025] Advantageous Effects of the Invention

[0026] The present invention can provide a control device, a control method, and a control program that can appropriately notify a user that software related to stop control of a mobile body can be updated. Description of the Drawings

[0027] Figure 1 FIG. 5 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention.

[0028] Figure 2 is Figure 1 a top view of the vehicle 10 shown in FIG.

[0029] Figure 3 FIG. 15 is Figure 1 a block diagram showing an example of the internal structure of the vehicle 10 shown in FIG.

[0030] Figure 4 FIG. 21 is a diagram showing an example of the structure of a FoD (Function on demand) system 1 including the control device of the present embodiment.

[0031] Figure 5 FIG. 25 is a diagram showing an example of the hardware structure of an information terminal 60 owned by a user of the vehicle 10.

[0032] Figure 6 FIG. 29 is a diagram showing an example of a situation where the vehicle 10 is remotely controlled using the information terminal 60 from outside the vehicle 10.

[0033] Figure 7 FIG. 33 is a timing chart (Part 1) showing a first operation example of the vehicle 10 and the information terminal 60.

[0034] Figure 8 FIG. 37 is a timing chart (Part 2) showing a first operation example of the vehicle 10 and the information terminal 60.

[0035] Figure 9 FIG. 41 is a diagram showing an example of a disclaimer screen 72 displayed on the information terminal 60.

[0036] Figure 10 FIG. 45 is a diagram showing an example of an update acceptance screen 73 displayed on the information terminal 60.

[0037] Figure 11 FIG. 49 is a diagram showing an example of an alighting guidance screen 74 displayed on the information terminal 60.

[0038] Figure 12 FIG. 53 is a diagram showing an example of an acceptance screen 75 displayed on the information terminal 60.

[0039] Figure 13 FIG. 57 is a timing chart showing a second operation example of the vehicle 10 and the information terminal 60.

[0040] Figure 14This is a diagram showing an example of the update completion screen 76 displayed on the information terminal 60.

[0041] Figure 15 This is a timing chart (part 1) showing the third operation example of the vehicle 10 and the information terminal 60.

[0042] Figure 16 This is a timing chart (part 2) showing the third operation example of the vehicle 10 and the information terminal 60.

[0043] Figure 17 This is a diagram showing an example of the updatable notification screen 77 displayed on the information terminal 60.

[0044] Figure 18 This is a diagram showing an example of the update acceptance or rejection screen 78 displayed on the information terminal 60.

[0045] Figure 19 This is a timing chart (part 1) showing the fourth operation example of the vehicle 10 and the information terminal 60.

[0046] Figure 20 This is a timing chart (part 2) showing the fourth operation example of the vehicle 10 and the information terminal 60.

[0047] Figure 21 This is a diagram showing an example of the power-on startup screen 79 displayed on the information terminal 60.

[0048] Figure 22 This is a diagram showing an example of the outbound direction acceptance screen 80 displayed on the information terminal 60.

[0049] Figure 23 This is a timing chart showing the fifth operation example of the vehicle 10 and the information terminal 60.

[0050] Figure 24 This is a timing chart showing the sixth operation example of the vehicle 10 and the information terminal 60.

[0051] Figure 25 This is a diagram showing an example of the non-remotely outboundable screen 81 displayed on the information terminal 60.

[0052] Explanation of reference numerals:

[0053] 10 Vehicle (mobile body)

[0054] 20 Control ECU (control device)

[0055] 52 Operation unit (control unit)

[0056] 54 Storage unit. Detailed implementation mode

[0057] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described based on the drawings. In addition, the drawings are viewed in the direction of the symbols. Further, in this specification and the like, for simplicity and clarity of the description, the front, rear, left, and right directions are described according to the direction observed from the driver of the vehicle 10 shown in Figure 1 and Figure 2 In the direction observed from the driver of the vehicle 10 shown. In the drawings, the front of the vehicle 10 is represented as Fr, the rear as Rr, the left as L, the right as R, the upper as U, and the lower as D.

[0058] <Vehicle 10 Equipped with the Control Device of the Present Invention>

[0059] Figure 1 is a side view showing an example of the vehicle 10 equipped with the control device of the present invention. Figure 2 is Figure 1 a plan view of the vehicle 10 shown. The vehicle 10 is an example of the "moving body" of the present invention.

[0060] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable steering wheels. In the present embodiment, the vehicle 10 is a four-wheel automobile having a left and right pair of front wheels and a left and right pair of rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. In addition, the drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle 10 may drive a left and right pair of front wheels, a left and right pair of rear wheels, or all four of the left and right pair of front wheels and the left and right pair of rear wheels. The front wheels and the rear wheels may both be steerable steering wheels, or either one may be a steerable steering wheel.

[0061] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front seat doors of the vehicle 10 for the driver to confirm the rear and the side rear. The side mirrors 11L and 11R are respectively fixed to the main body of the vehicle 10 by a rotation axis extending in the vertical direction and can be opened and closed by rotating about this rotation axis.

[0062] The vehicle 10 is also equipped with a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) that is disposed in front of the vehicle 10 and captures the front of the vehicle 10. The rear camera 12Rr is a digital camera that is disposed behind the vehicle 10 and captures the rear of the vehicle 10. The left-side camera 12L is a digital camera that is disposed at the left-side rearview mirror 11L of the vehicle 10 and captures the left side of the vehicle 10. The right-side camera 12R is a digital camera that is disposed at the right-side rearview mirror 11R of the vehicle 10 and captures the right side of the vehicle 10.

[0063] <Internal Structure of Vehicle 10>

[0064] Figure 3 represents Figure 1 a block diagram showing an example of the internal structure of the vehicle 10 shown. As Figure 3 shown, the vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 also includes a driving force control system 26 and a braking force control system 28.

[0065] The sensor group 16 obtains various detection values for controlling the control of the ECU 20. The sensor group 16 includes the front camera 12Fr, the rear camera 12Rr, the left-side camera 12L, and the right-side camera 12R. In addition, the sensor group 16 includes a front sonar group 32a, a rear sonar group 32b, a left-side sonar group 32c, and a right-side sonar group 32d. In addition, the sensor group 16 includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0066] The front camera 12Fr, the rear camera 12Rr, the left-side camera 12L, and the right-side camera 12R capture the periphery of the vehicle 10 to obtain identification data (e.g., a peripheral image) for identifying the outside of the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, the rear camera 12Rr, the left-side camera 12L, and the right-side camera 12R are respectively referred to as a front image, a rear image, a left-side image, and a right-side image. The image composed of the left-side image and the right-side image may also be referred to as a side image. The image of the vehicle 10 and the vehicle periphery generated by synthesizing the captured images of the front camera 12Fr, the rear camera 12Rr, the left-side camera 12L, and the right-side camera 12R is referred to as an overhead image of the vehicle 10.

[0067] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d emit sound waves to the periphery of the vehicle 10 and receive the reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars constituting the front sonar group 32a are respectively arranged at the left front obliquely, the left front, the right front, and the right front obliquely of the vehicle 10. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are respectively arranged at the left rear obliquely, the left rear, the right rear, and the right rear obliquely of the vehicle 10. The left sonar group 32c includes, for example, two sonars. The sonars constituting the left sonar group 32c are respectively arranged at the front of the left side part and the rear of the left side part of the vehicle 10. The right sonar group 32d includes, for example, two sonars. The sonars constituting the right sonar group 32d are respectively arranged at the front of the right side part and the rear of the right side part of the vehicle 10.

[0068] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b can be constituted by angle sensors or displacement sensors. The wheel sensors 34a, 34b output detection pulses every time the wheels rotate by a specified angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the rotation angle and rotation speed of the wheels. Based on the rotation angle of the wheels, the moving distance of the vehicle 10 is calculated. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0069] The vehicle speed sensor 36 detects the speed of the vehicle body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on the rotation of the countershaft of the transmission, for example.

[0070] The operation detection unit 38 detects the operation content of the user using the operation input unit 14 and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces such as a side mirror switch for switching the opening and closing states of the side mirrors 11L, 11R, a shift lever (selector), etc., for example.

[0071] The navigation device 18 detects the current position of the vehicle 10 using, for example, GPS (Global Positioning System), and guides the user to the destination path. The navigation device 18 has a storage device (not shown) having a map information database.

[0072] The navigation device 18 is provided with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device of the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 by voice.

[0073] The touch panel 42 is configured to be able to input various instructions to the control ECU 20. For example, the user can input instructions related to the movement support of the vehicle 10 via the touch panel 42. The movement support includes parking support and departure support of the vehicle 10. In addition, the touch panel 42 is configured to display various screens related to the control content of the control ECU 20. For example, a screen related to the movement support of the vehicle 10 is displayed on the touch panel 42. Specifically, on the touch panel 42, a parking support button for requesting parking support of the vehicle 10 and a departure support button for requesting departure support are displayed. The parking support button includes a remote parking button for requesting parking based on the automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by the user's operation. The departure support button includes a remote departure button for requesting departure based on the automatic steering of the control ECU 20 and an auxiliary departure button for requesting assistance when departing by the user's operation. In addition, components other than the touch panel 42, such as information terminals such as smartphones and tablets, can also be used as input devices or display devices.

[0074] The control ECU 20 has an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is constituted by, for example, a CPU (Central Processing Unit). The arithmetic unit 52 controls each unit based on the program stored in the storage unit 54, thereby performing various controls. In addition, the arithmetic unit 52 inputs and outputs signals between each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of the "control device" of the present invention. The arithmetic unit 52 is an example of the "control unit" of the present invention.

[0075] The arithmetic unit 52 has: a reception unit 55 that receives a movement control execution instruction issued from the outside of the vehicle 10 by the terminal of the user of the vehicle 10; a movement control unit 56 that performs movement control of the vehicle 10; a drive control unit 57 that performs driving of the vehicle 10 and stopping of the driving of the vehicle 10; and a notification unit 58.

[0076] The reception unit 55 receives a movement control execution instruction from the outside of the vehicle 10, for example, by communicating with the terminal of the user of the vehicle 10 via the communication unit 24.

[0077] The movement control unit 56 performs remote parking support and remote departure support for the vehicle 10 based on automatic steering, and the automatic steering automatically operates the steering device 110 under the control of the movement control unit 56. In the remote parking support and remote departure support, the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 are automatically operated. In addition, the movement control unit 56 performs auxiliary parking support and auxiliary departure support when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually depart the vehicle 10. Further, during remote parking support and remote departure support, the user can be in a state of riding in the vehicle 10 or in a state of getting out of the vehicle 10 and being located outside (not riding). Riding in the vehicle is an example of "boarding" in the present invention.

[0078] For example, the movement control unit 56 performs movement control for moving the vehicle 10 based on the recognition data of the outside of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R, and a specified parking space designated by the user. The movement control includes parking control for remotely parking the vehicle 10 in the specified parking space (target parking position) and departure control for remotely departing the vehicle 10 from the specified parking space to the target position (target movement position). The movement control unit 56 can execute the parking control and the departure control according to an instruction signal input from the outside via the input / output unit 50. The input from the outside includes a wireless communication-based input from an information terminal or the like that can be carried by the user of the vehicle 10. In addition, the movement control unit 56 can transmit information related to the parking control and the departure control to an external information terminal via the input / output unit 50.

[0079] Specifically, when the movement control unit 56 receives an operation for switching to remote parking control or remote departure control from the user of the vehicle 10, the movement control unit 56 transmits inquiry information required to identify the driver who performs the instruction operation for remote parking or remote departure to the information terminals around the vehicle 10. The movement control unit 56 transmits the inquiry information to the information terminals around the vehicle 10 in which an application for issuing an instruction to execute the movement control of the vehicle 10 is started by a user operation. In addition, the movement control unit 56 determines the driver terminal that issues the instruction to execute the movement control of the vehicle 10 based on a specified operation of the user on the held information terminal. The movement control unit 56 receives a specified response information to the inquiry information of the movement control unit 56, and determines the information terminal that is the transmission source of the first received response information as the driver terminal. The movement control unit 56 performs the movement control of the vehicle 10 based on the movement instruction information that is the instruction to execute the movement control from the driver terminal. The specified response information is, for example, information of an agreement response to a disclaimer. The driver terminal is an example of the "instruction terminal" in the present invention.

[0080] In addition, the movement control unit 56 registers a specified parking space designated by the user as the specified parking space in the storage unit 54. The movement control unit 56 registers feature points related to the specified parking space in the storage unit 54 based on the recognition data of the outside of the vehicle 10 obtained by the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R. The movement control unit 56 controls remote parking for parking the vehicle 10 in the specified parking space and remote departure for the vehicle 10 to depart from the specified parking space based on the recognition data of the outside of the vehicle 10 and the feature points of the specified parking space designated by the user.

[0081] The drive control unit 57 starts (e.g., turns on the ignition switch) and stops (e.g., turns off the ignition switch) the vehicle 10 according to a user operation (e.g., pressing the ignition button). In addition, the drive control unit 57 can set an automatic stop mode for automatically stopping the start of the vehicle 10 based on the end of movement control (e.g., the above-mentioned remote parking).

[0082] The notification unit 58 performs various notifications to the user of the vehicle 10, for example, by communicating with the information terminal of the user of the vehicle 10 via the communication unit 24. In addition, the notification unit 58 performs various notifications to the user of the vehicle 10, for example, by controlling the touch panel 42 and the speaker 44 of the navigation device 18.

[0083] Specifically, when the notification unit 58 executes stop control for stopping the vehicle 10 at the target position in a state where software for movement control (parking control, departure control) of the vehicle 10 can be updated, after determining the driver terminal that instructs the stop control, the notification unit 58 makes a first notification to the user notifying that software can be updated. Similarly, when the notification unit 58 executes stop control in a state where software can be updated, the first notification can be made after determining the driver terminal and before the start of the stop control. After determining the driver terminal means, for example, after agreeing to the disclaimer. Stop control refers to remote parking, and in this example, remote parking is remote parking. The state where software can be updated means, for example, a state where there is software in the server that is newer than the software currently installed in the vehicle 10 and can be downloaded. In addition, the state where software can be updated can also mean a state where new software has been downloaded to the storage unit 54 of the vehicle 10 but has not been updated yet. Update means using the software to make the vehicle 10 in a state where movement control can be performed.

[0084] The first notification performed by the notification unit 58 is, for example, a notification that software can be updated when the stop control for stopping the vehicle 10 at the target position is aborted and the vehicle 10 is powered off. Poweroff means turning off the ignition switch. The movement control unit 56 receives an instruction on whether to update the software for the first notification from the user's information terminal (driver terminal). When this instruction is an instruction to update the software, that is, when the stop control of the vehicle 10 is aborted and the vehicle 10 is powered off, the software update is executed.

[0085] The first notification performed by the notification unit 58 can also be a notification that software can be updated in response to a second notification that is made when the stop control for stopping the vehicle 10 at the target position is completed and the power of the vehicle 10 is turned off. The second notification is a notification that receives an instruction on whether to update the software. When the movement control unit 56 receives an instruction to update the software for the second notification, it executes the software update.

[0086] When the movement control unit 56 does not receive an instruction to update the software within a specified period from the notification that receives an instruction to update the software, it executes the software update. The specified period can be actual time (for example, 10 minutes, the period for a specified number of notifications), or it can be the cumulative time of the driving cycle. The movement control unit 56 updates the software even if it does not receive an instruction to update the software. For example, it updates the software when there is no update instruction 10 minutes after the notification that receives an instruction to update the software. In addition, the movement control unit 56 does not accept an instruction for moving the vehicle 10 from the user during the software update.

[0087] In addition, when the movement control unit 56 executes the out-of-storage control for moving the vehicle 10 from the stop position to the target position in a state where the software can be updated, even if this out-of-storage control is completed and the vehicle 10 is powered off, the software update is not executed. The stop position refers to the parking position of the vehicle 10.

[0088] Even when the notification unit 58 is in a state where the software can be updated and is performing the out-of-storage control for moving the vehicle 10 from the stop position to the target position, when the target position of the vehicle 10 is a specified position, and when the out-of-storage control is completed and the vehicle 10 is powered off, it also makes a third notification that the software can be updated. When the movement control unit 56 receives an instruction to update the software for the third notification, it executes the software update. The specified position is, for example, a charging position in the home for charging the vehicle 10, the position of a charging station set near the parking position where the vehicle 10 is parked, a car wash position in the home for washing the vehicle 10, etc. That is, the specified position refers to the moving position of the vehicle 10 that moves to that place for charging, etc., and is a position where it is assumed that the vehicle 10 does not start driving after this movement.

[0089] When the software is being updated, the notification unit 58 gives a fourth notification that the vehicle 10 cannot be controlled for departure when a departure control of the vehicle 10 is instructed from the information terminal held by the user. In this case, the movement control unit 56 does not perform the departure control of the vehicle 10 until the software update is completed.

[0090] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of the steering device 110. The torque sensor 102 detects the torque TQ applied to the steering device 110.

[0091] The EPS motor 104 can support the operation of the occupant on the steering device 110 and perform automatic steering during parking support by applying a driving force or a reaction force to the steering column 112 connected to the steering device 110. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 includes an input / output unit (not shown), an arithmetic unit (not shown), and a storage unit (not shown).

[0092] The communication unit 24 can perform wireless communication with other communication devices 120. The other communication devices 120 include a base station, a communication device of another vehicle, an information terminal such as a smartphone or a tablet computer that can be carried by the user of the vehicle 10, and the like. For example, the communication unit 24 includes a UWB interface capable of performing UWB (Ultra Wide Band: registered trademark) communication with the information terminal.

[0093] The driving force control system 26 includes a drive ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The drive ECU 130 controls an engine (not shown) and the like based on the operation of the accelerator pedal (not shown) by the user, thereby controlling the driving force of the vehicle 10.

[0094] The braking force control system 28 includes a brake ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The brake ECU 132 controls a braking mechanism (not shown) and the like based on the operation of the brake pedal (not shown) by the user, thereby controlling the braking force of the vehicle 10.

[0095] <Fod System including the Control Device of the Present Invention>

[0096] Figure 4 is a diagram showing an example of the structure of a Fod (Function on demand) system 1 including the control device of the present embodiment. As Figure 4As shown in the figure, the Fod system 1 includes a server 90, a vehicle 10, and an information terminal 60 that can communicate with the server 90. In this example, one vehicle 10 is shown, but the number of vehicles can also be multiple.

[0097] The server 90 is, for example, an external server set up in a facility such as a management center. The server 90 manages the permission information related to the execution permission of the vehicle obtained when a certain user uses the vehicle 10 in association with the user (user ID). The software for controlling the movement of the above-mentioned vehicle 10 is managed by the server 90. Using this software is one of the permission information related to the execution permission of the vehicle 10. The user can download updated software from the server 90.

[0098] The server 90 controls the validity / invalidity (on / off) of the functions of the vehicle 10 when the user uses the vehicle 10. Specifically, the server 90 controls to switch the validity / invalidity of the functions in the vehicle 10 by sending a function activation signal to activate the function and a function deactivation signal to deactivate the function to the vehicle 10.

[0099] The information terminal 60 is, for example, a smartphone or a tablet owned by the user. After purchasing the main body of the vehicle 10, the user purchases the execution permission related to the specified functions of the vehicle 10 online through the information terminal 60, for example. The user can use the purchased functions in the vehicle 10 by sending the execution permission ID obtained through the purchase from the information terminal 60 to the server 90.

[0100] The vehicle 10 is a vehicle that can perform so-called autonomous driving or assisted driving. In addition, the vehicle 10 can be a vehicle limited to users, such as a vehicle owned by an individual, or a vehicle not limited to users, such as a vehicle owned by a corporation. Those who can use a vehicle owned by an individual include, for example, the owner of the vehicle himself / herself, his / her family members, relatives, friends, etc. Vehicles owned by a corporation include rental cars, shared cars, etc. that can be used by an indefinite number of users who have signed a specified contract.

[0101] <Hardware Structure of the User's Information Terminal 60>

[0102] Figure 5 This is a diagram showing an example of the hardware structure of the information terminal 60 owned by the user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected by a bus 65, for example.

[0103] The processor 61 is a circuit that performs signal processing, such as a CPU (Central Processing Unit) responsible for the overall control of the information terminal 60. In addition, the processor 61 can also be implemented by other digital circuits such as FPGA (Field Programmable Gate Array) and DSP (Digital Signal Processor). Additionally, the processor 61 can be implemented by combining multiple digital circuits.

[0104] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a RAM (Random Access Memory). The main memory is used as the working area of the processor 61.

[0105] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. Various programs for operating the information terminal 60 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0106] In addition, the auxiliary memory can also include a portable memory that can be detached from the information terminal 60. The portable memory includes memory cards such as USB (Universal Serial Bus) flash drives, SD (Secure Digital) memory cards, and external hard disk drives.

[0107] The communication interface 63 is a communication interface that performs wireless communication with the outside of the information terminal 60 (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0108] The user interface 64 includes, for example, an input device that accepts operation inputs from the user, an output device that outputs information to the user, and the like. The input device can be implemented by, for example, a touch panel. The output device can be implemented by, for example, a display, a speaker, and the like. The user interface 64 is controlled by the processor 61.

[0109] The processor 61 performs movement control for instructing the movement of the vehicle 10. For example, the processor 61 performs movement control (including parking control and out-of-warehouse control) of the vehicle 10 based on a specific operation of the user on the terminal screen of the information terminal 60. The specific operation includes, for example, a swipe operation for moving the vehicle 10, a touch operation for scheduling parking and out-of-warehouse matters, etc. The swipe operation includes a continuous position indication operation (e.g., a flick operation), a rotation indication operation in a specified rotation direction (e.g., a rotation flick operation), etc. In addition, the processor 61 performs the following control: generating a guidance image that prompts the user to perform an indication operation on the terminal screen of the information terminal 60, and displaying the generated guidance image on the terminal screen.

[0110] Based on a specific operation on the terminal screen of the information terminal 60, the processor 61 sends a parking instruction for remotely parking the vehicle 10 and an out-of-warehouse instruction for remotely taking the vehicle 10 out of the warehouse to the vehicle 10. An application program capable of performing movement control of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 between the information terminal 60 and the vehicle 10 is installed in the information terminal 60.

[0111] <Control of Information Terminal 60>

[0112] Figure 6 It is a diagram showing an example of a situation where the vehicle 10 is moved and controlled using the information terminal 60 from outside the vehicle 10. The user M of the vehicle 10 performs an instruction for executing movement control to remotely park the vehicle 10 in the parking space P from outside the vehicle 10 using the information terminal 60 carried by the user M. The instruction for executing movement control includes, for example, a parking instruction for remotely parking the vehicle 10 in the parking space P and an out-of-warehouse instruction for remotely taking the vehicle 10 out of the parking space P. Figure 6 The example shown represents a situation where a parking instruction for the vehicle 10 is given.

[0113] When the user M performs a specific operation on the terminal screen 71 of the information terminal 60, the information terminal 60 wirelessly communicates with the vehicle 10 to send an instruction signal for remotely parking the vehicle 10. As the wireless communication with the vehicle 10, in addition to UWB communication, for example, BLE (Bluetooth Low Energy (registered trademark)), NFC (Near Field Communication (registered trademark)), etc. can also be used. The vehicle 10 receives the instruction signal sent from the information terminal 60 through the communication unit 24. The movement control unit 56 of the vehicle 10 controls the remote parking of the vehicle 10 according to the received instruction signal.

[0114] [First Action Example]

[0115] Figure 7 andFigure 8 This is a timing chart showing a first operation example of the vehicle 10 and the information terminal 60. In addition, each operation in the vehicle 10 is executed under the control of the control ECU 20.

[0116] First, in Figure 7 , the vehicle 10 receives an instruction operation for remote parking (step S11) from the user M to park the vehicle 10 in the parking space P by remote parking control. The instruction operation for remote parking refers to an operation for making the state of the vehicle 10 a state where it can be parked by remote parking control. This instruction operation is received by the user M touching a remote parking button (not shown) inside the vehicle 10. The remote parking button can be set, for example, as a touch button displayed on the touch panel 42 of the navigation device 18, or as a mechanical vehicle switch, etc.

[0117] Next, the vehicle 10 transitions to a waiting state (step S12) where it can receive an instruction signal from the information terminal 60. The vehicle 10 sends inquiry information related to the disclaimer of remote parking (step S13) to an information terminal located around the vehicle 10 (for example, the information terminal 60 carried by the user M). The information terminal 60 around the vehicle 10 refers to, for example, an information terminal in a state where the communication quality with the communication unit 24 of the vehicle 10 is above a certain level. Specifically, the information terminal 60 is a smartphone or the like carried by the user M within 5 m to 10 m of the vehicle 10. The inquiry information about the disclaimer is, for example, information asking whether the user M agrees to the precautions stipulated for remote parking.

[0118] The information terminal 60 receives a start operation (step S14) from the user M who starts an application for executing an instruction for vehicle 10 movement control. The information terminal 60 displays a disclaimer (precautions stipulated for remote parking) on the terminal screen 71 and receives an agreement operation (step S15) from the user M who agrees to the disclaimer. As a screen for the disclaimer, for example, reference can be made to Figure 9 the disclaimer screen 72 described later.

[0119] Next, the information terminal 60 sends the agreement response information based on the operation of the user M received in step S15 to the vehicle 10 (step S16). The agreement response information is, for example, information in response to agreeing to the precautions related to the remote parking inquired about.

[0120] Next, the vehicle 10 selects the information terminal that first sent the consent response message. In this example, the information terminal 60 is selected as the driver terminal (step S17). The driver terminal is an information terminal that permits control of the remote parking of the vehicle 10. Thus, the information terminal 60 becomes a driver terminal capable of instructing the remote parking of the vehicle 10 and enters a state of being communicatively connected to the vehicle 10.

[0121] Next, the vehicle 10 determines whether there is a software update (step S18). The existence of a software update means that the new software is within the server 90 and in a downloadable state, or the new software has been downloaded to the vehicle 10 but has not been updated. Here, it is assumed that there is a software update for the explanation. The vehicle 10 sends an update inquiry message asking whether to perform a software update to the information terminal 60 (step S19).

[0122] Next, the information terminal 60 displays on the terminal screen 71 the fact that software can be updated and notifies the user M of this, and accepts whether to update or not in response to this notification from the user M (step S20). Here, it is assumed that the user M does not perform a software update and continues with remote parking for the explanation. As a screen for accepting whether to update or not, for example, one can cite the update acceptance screen 73 described later. Figure 10 after referring to

[0123] Next, the information terminal 60 sends a non-update response message of the user M who did not perform a software update, which was accepted in step S20, to the vehicle 10 (step S21).

[0124] Next, the vehicle 10 that has received the non-update response message from the information terminal 60 sends a getting-off guidance message for prompting the user M to get off the vehicle to the information terminal 60 (step S22).

[0125] Next, the information terminal 60 displays a getting-off guidance screen for prompting the user M of the information terminal 60 to get off the vehicle on the terminal screen 71 (step S23). The user M of the information terminal 60 opens the door of the vehicle 10 and gets off according to the getting-off guidance screen, and then closes the door of the vehicle 10. As a getting-off guidance screen, for example, one can cite the getting-off guidance screen 74 described later. Figure 11 after referring to

[0126] In addition, in this example, a getting-off guidance message is sent in step S22 to prompt the user M to get off the vehicle, but it is not limited to this. For example, a getting-off guidance message may be sent at the moment of step S12 to prompt the user M to get off the vehicle, and if it is detected that the door of the vehicle 10 is opened, the process moves to step S13.

[0127] Next, in Figure 8In this case, the vehicle 10 detects that the door of the vehicle 10 is opened (step S24). The opening of the door here may be a case where the door of the vehicle 10 is opened, or may include a case where the door of the vehicle 10 is closed after the door of the vehicle 10 is opened. The opening and closing of the door of the vehicle 10 is performed, for example, by the operation of the user M. In this case, the detection of the door opening is performed using a sensor or the like that detects the opening and closing of the door. In addition, the opening and closing of the door of the vehicle 10 may also be automatically performed using an actuator provided in the vehicle 10. In this case, the detection of the door opening is performed by determining whether the automatic opening and closing of the door of the vehicle 10 has been executed.

[0128] Next, the vehicle 10 sends a display instruction for the reception screen of the movement control execution instruction to the information terminal 60 (step S25).

[0129] The information terminal 60 displays the reception screen of the movement control execution instruction on the terminal screen 71 and receives the execution instruction of the movement control from the user M (step S26). As a screen for receiving the execution instruction of the movement control, for example, the reception screen 75 described later can be cited. Figure 12 The reception screen 75 described later.

[0130] Next, the information terminal 60 sends a movement control execution instruction to the vehicle 10 according to the operation of the user M on the reception screen 75 (step S27). For example, when the information terminal 60 receives a specific operation (rotation and sweep operation) of the reception screen 75, it sends a movement control execution instruction for instructing the movement of the vehicle 10, and when the rotation and sweep operation of the reception screen 75 stops, it sends a movement control execution instruction for instructing the stop of the vehicle 10.

[0131] The vehicle 10 starts movement control (remote parking) according to the movement control execution instruction sent from the information terminal 60 (step S28). If the movement control is completed (step S29), the vehicle 10 turns off the ignition switch (stop of starting) (step S30).

[0132] In this way, in the case where the information terminal 60 responds by not performing software update for the update or not inquiry information for inquiring whether to perform software update and continuing remote parking, the vehicle 10 performs remote parking according to the movement control execution instruction from the information terminal 60, and software update is not performed in this remote parking of the vehicle 10.

[0133] In addition, for the update inquiry information in step S19 described above, for example, when there is no response from the user regarding update or not within 10 minutes (prescribed period) in step S20, the vehicle 10 may also temporarily suspend acceptance of remote parking and perform software update. Additionally, for example, when the remote parking of the vehicle 10 described above is executed multiple times and the user repeatedly responds not to update the software (within the prescribed period) for the update inquiry information in step S19, the vehicle 10 may temporarily suspend acceptance of remote parking and perform software update.

[0134] Figure 9 FIG. is an example of a disclaimer screen 72 displayed on the information terminal 60. The disclaimer screen 72 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received inquiry information regarding the disclaimer related to remote parking. The disclaimer screen 72 is displayed, for example, in Figure 7 step S15.

[0135] As Figure 9 shown, the disclaimer screen 72 includes consent text 72a indicating the content of consent, such as "Caution: This function is not fully autonomous driving.". Additionally, the disclaimer screen 72 includes a consent button 72b that the user M operates when consenting to the precautions. Furthermore, the disclaimer screen 72 includes text such as "Precautions have been consented to." indicating that the precautions have been consented to, which is displayed when the consent button 72b is swiped (specific operation).

[0136] Figure 10 FIG. is an example of an update acceptance screen 73 displayed on the information terminal 60. The update acceptance screen 73 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received inquiry information regarding whether to update the software. The update acceptance screen 73 is displayed, for example, in Figure 7 step S20.

[0137] As Figure 10As shown, the update acceptance screen 73 includes an update text 73a indicating update requirements, such as "Software updates can be performed. Software updates will not be executed after parking based on remote parking. To update the software, it is necessary to abort remote parking and power off." In addition, the update acceptance screen 73 displays an inquiry text such as "Do you want to continue remote parking?", a continue button 73b operated by the user M when continuing remote parking, and a text prompting the handling after continuing remote parking, such as "Please perform the software update the next time you get out of the vehicle." In addition, the update acceptance screen 73 also includes an abort button 73c operated by the user M when aborting remote parking and a text indicating the handling after aborting remote parking, such as "Perform the software update now." The notification from the update acceptance screen 73 is an example of the "first notification" of the present invention.

[0138] Figure 11 FIG. is an example of a getting-off guidance screen 74 displayed on the information terminal 60. The getting-off guidance screen 74 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received the getting-off guidance information prompting getting off the vehicle 10. The getting-off guidance screen 74 is displayed, for example, in Figure 7 step S23.

[0139] As Figure 11 shown, the getting-off guidance screen 74 includes a getting-off urging message such as "Please get off the vehicle."

[0140] Figure 12 FIG. is an example of an acceptance screen 75 displayed on the information terminal 60. The acceptance screen 75 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received the display instruction of the acceptance screen, and this acceptance screen is a screen for accepting the mobile control execution instruction. The acceptance screen 75 is displayed, for example, in Figure 8 step S26.

[0141] As Figure 12As shown, the reception screen 75 includes, for example, a moving icon 75a that moves following the touch position of the user M based on a rotational swipe operation. In addition, the reception screen 75 includes, for example, guidance messages 75b such as "Park by rotational swipe" and "Stop when you release your finger" for performing remote parking of the vehicle 10 or temporarily stopping the remote parking of the vehicle 10. The moving icon 75a and the guidance messages 75b are an example of a notification (guidance image) that prompts the user M to give an instruction to execute movement control. In addition, the reception screen 75 includes, above the area where the moving icon 75a is displayed, an execution status image 75c indicating the execution status (the movement situation of the vehicle) of the parking control for the vehicle 10. And the reception screen 75 includes, for example, on the right side of the execution status image 75c, an attention message 75d such as "Please directly check the surroundings" to draw the attention of the user M who performs the instruction operation. For example, when the information terminal 60 receives a rotational swipe operation of the moving icon 75a, it sends a movement control execution instruction indicating the movement of the vehicle 10, and when the rotational swipe operation of the moving icon 75a stops, it sends a movement control execution instruction indicating the stop of the vehicle 10.

[0142] [Second operation example]

[0143] Figure 13 is a timing chart showing a second operation example of the vehicle 10 and the information terminal 60. As Figure 13 shown, the processes of each of steps S11 to S20 are the same as the processes of each of steps S11 to S20 of the first operation example described with reference to Figure 7 the description.

[0144] In this second operation example, it is assumed that in step S20, the response of the user M to the software update is to abort remote parking and perform the "update" of the software. As a screen for accepting whether to update or not, it is the same as the update acceptance screen 73 shown above Figure 10 shown.

[0145] Next, the information terminal 60 sends to the vehicle 10 the update response information of the user M who wants to perform the software update received in step S20 (step S31).

[0146] Then, after the vehicle 10 turns off the ignition switch (stops starting) of the vehicle 10 (step S32), it performs the software update (step S33). If the software update is completed, the vehicle 10 sends an update completion notification notifying that the update has been completed to the information terminal 60 (step S34).

[0147] When the information terminal 60 receives a notification of the completion of an update from the vehicle 10, it displays an update completion screen indicating this on the terminal screen 71, notifying the user that the update of the M software has been completed (step S35). As a screen indicating the completion of the software update, for example, one can cite referring to Figure 14 the update completion screen 76 described later.

[0148] In this way, when the information terminal 60 responds to the update inquiry message asking whether to perform a software update by aborting the remote parking and performing a software update, the vehicle 10 turns off the ignition switch and performs a software update.

[0149] In addition, for the update inquiry message in step S19 above, for example, when there is no response from the user regarding the update within 10 minutes (a specified period) in step S20, the vehicle 10 can also temporarily abort the reception of the remote parking and execute a software update.

[0150] Figure 14 FIG. is an example of the update completion screen 76 displayed on the information terminal 60. The update completion screen 76 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received a notification of the completion of the software update. The update completion screen 76 is displayed, for example, in Figure 13 step S35.

[0151] As Figure 14 shown, the update completion screen 76 includes an update text 76a indicating the completion of the update and the content of the update, such as "Software update completed. Update content: ……". In addition, the update completion screen 76 includes an OK button 76b for the user M to operate after confirming the update content.

[0152] According to the above first operation example and second operation example, after the vehicle 10 determines the information terminal 60 that allows the issuance of a remote parking instruction, it causes the information terminal 60 to display an update acceptance screen 73, thereby being able to notify the user M that a software update can be performed by aborting the remote parking of the vehicle 10 and powering off the vehicle 10. Thus, when there is an update of the software related to remote parking, the vehicle 10 can notify the legitimate user M of the existence of the update at an appropriate time.

[0153] [Third operation example]

[0154] Figure 15 and Figure 16 are timing diagrams showing the third operation example of the vehicle 10 and the information terminal 60. As Figure 15 shown, the processes of each of steps S41 to S48 are the same as the processes of each of steps S11 to S18 of the first operation example described with reference to Figure 7 explanation.

[0155] In this third operation example, when there is software update in step S48, the vehicle 10 sends update notification information indicating that software update is available to the information terminal 60 (step S49).

[0156] If the information terminal 60 receives the update notification information from the vehicle 10, it displays on the terminal screen 71 the fact that the software can be updated after remote parking and notifies the user M of this fact (step S50). As a screen for notifying that update can be performed after remote parking, for example, reference can be made to Figure 17 the update notification screen 77 described later.

[0157] After the information terminal 60 notifies that update can be performed after remote parking, it displays on the terminal screen 71 a getting-off guidance screen for prompting the user M of the information terminal 60 to get off the vehicle (step S51). The user M of the information terminal 60 gets off the vehicle by opening the door of the vehicle 10 according to the getting-off guidance screen, and then closes the door of the vehicle 10. The getting-off guidance screen is the same as the Figure 11 getting-off guidance screen 74 shown above.

[0158] In addition, in this example, a getting-off guidance screen is displayed in step S51 to prompt the user M to get off the vehicle, but it is not limited to this. For example, getting-off guidance information can be sent from the vehicle 10 to the information terminal 60 at the moment of step S42 to prompt the user M to get off the vehicle, and if it is detected that the door of the vehicle 10 is opened, it moves to step S43.

[0159] Next, in Figure 16 this, the processes from step S52 to step S58 are the same as the processes from step S24 to step S30 in the first operation example described with reference to Figure 8 the description.

[0160] In this third operation example, after the ignition switch is turned off in step S58, the vehicle 10 sends update inquiry information asking whether to perform software update to the information terminal 60 (step S59).

[0161] The information terminal 60 receives the update decision made by the user M in response to the update inquiry received from the vehicle 10 (step S60). As a screen for receiving the decision on whether to perform software update, for example, reference can be made to Figure 18 the update decision acceptance screen 78 described later. Here, it is assumed that the user M responds to perform software update for explanation.

[0162] Next, the information terminal 60 sends to the vehicle 10 the update response information of the user M who wants to perform software update received in step S60 (step S61).

[0163] If the vehicle 10 receives the update response information from the information terminal 60, the vehicle 10 performs the software update (step S62). If the software update is completed, the vehicle 10 sends an update completion notice notifying the information terminal 60 that the update has been completed (step S63).

[0164] If the information terminal 60 receives the update completion notice from the vehicle 10, the information terminal 60 displays an update completion screen indicating this on the terminal screen 71 and notifies the user M that the software update has been completed (step S64). As the screen indicating that the software update has been completed, it is the same as the update completion screen 76 shown above Figure 14 shown.

[0165] In this way, the vehicle 10 notifies the user M in advance that software updates can be performed after remote parking. After the remote parking is completed, the vehicle 10 asks the user M whether to perform the software update. If the response is to perform the update, the software update is executed.

[0166] In addition, for the update inquiry information in step S59 above, for example, if there is no response from the user regarding the update inquiry within 10 minutes (a specified period) in step S60, the vehicle 10 can also temporarily suspend accepting remote parking and execute the software update. Also, in step S60 above, it was assumed that the user M responded to perform the software update for explanation, but for example, it can also be responded that the software update is not to be performed. After that, when the remote parking of the vehicle 10 is executed multiple times and the situation where the user M responds not to perform the software update each time recurs, the vehicle 10 temporarily suspends accepting remote parking and executes the software update.

[0167] Figure 17 is a diagram showing an example of the update available notice screen 77 displayed on the information terminal 60. The update available notice screen 77 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received the notice that software updates can be performed after remote parking. The update available notice screen 77 is displayed, for example, in Figure 15 step S50.

[0168] As Figure 17 shown, the update available notice screen 77 includes an update text 77a indicating the update requirements, such as "Software can be updated. After remote parking is completed, the software update can be implemented by responding to the inquiry." In addition, the update available notice screen 77 includes an OK button 77b for the user M to operate after confirming the update content. The notice from the update available notice screen 77 is an example of the "first notice" of the present invention.

[0169] Figure 18FIG. 0 is a diagram showing an example of an update acceptance screen 78 displayed on the information terminal 60. The update acceptance screen 78 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received an inquiry message regarding whether to update the software. The update acceptance screen 78 is displayed, for example, in Figure 16 step S60.

[0170] As Figure 18 shown, the update acceptance screen 78 includes an update confirmation text 78a indicating update confirmation, such as "Do you want to perform a software update?". In addition, the update acceptance screen 78 includes an execute button 78b operated by the user M in the case of performing an update and a non-execute button 78c operated by the user M in the case of not performing an update. The notification from the update acceptance screen 78 is an example of the "second notification" of the present invention.

[0171] According to the above third operation example, after the vehicle 10 determines the information terminal 60 that permits the issuance of a remote parking instruction, the vehicle 10 causes the information terminal 60 to display an update available notification screen 77, thereby enabling the vehicle 10 to notify the user M that software can be updated after the remote parking of the vehicle 10 is completed. Thus, it is possible to notify the legitimate user M at an appropriate time that there is an update to the software related to remote parking.

[0172] [Fourth operation example]

[0173] Figure 19 And Figure 20 FIG. 19 is a timing chart showing a fourth operation example of the vehicle 10 and the information terminal 60. The fourth operation example is an operation example of the remote departure of the vehicle 10.

[0174] First, as Figure 19 shown, the information terminal 60 receives a start operation (step S71) of the user M who starts an application for executing an instruction for moving control of the vehicle 10. The information terminal 60 displays a disclaimer (precautions stipulated for remote departure) on the terminal screen 71 and receives an agreement operation (step S72) of the user M who agrees to the disclaimer. The screen of the disclaimer is the same as the disclaimer screen 72 shown above Figure 9 .

[0175] Next, after the information terminal 60 receives the disclaimer agreement operation of the user M, the information terminal 60 receives a power-on operation for starting the vehicle 10 (step S73). As a screen for receiving the power-on operation, for example, reference can be made to the power-on start screen 79 Figure 21 described later. The information terminal 60 transmits the power-on operation received in step S73 and the disclaimer agreement response information received in step S72 to the vehicle 10 (step S74).

[0176] Vehicle 10 selects the information terminal that first sent the consent response message. In this example, information terminal 60 is selected as the driver terminal (step S75). Thus, information terminal 60 becomes the driver terminal capable of instructing the remote departure of vehicle 10 and enters a state of being communicatively connected to vehicle 10. Vehicle 10 sends a display instruction for an acceptance screen for receiving an instruction on the departure direction of vehicle 10 to information terminal 60 selected as the driver terminal (step S76).

[0177] Upon receiving the display instruction for the acceptance screen from vehicle 10, information terminal 60 displays an acceptance screen for the departure direction instruction on terminal screen 71 and receives an instruction on the departure direction from user M (step S77). As a screen for receiving an instruction on the departure direction, for example, reference can be made to Figure 22 the departure direction acceptance screen 80 described later. Information terminal 60 sends an instruction on the departure direction to vehicle 10 based on the operation of user M on departure direction acceptance screen 80 (step S78).

[0178] Next, vehicle 10 sends a display instruction for an acceptance screen for receiving a mobile control execution instruction to information terminal 60 (step S79).

[0179] Upon receiving the display instruction for the acceptance screen from vehicle 10, information terminal 60 displays the acceptance screen on terminal screen 71 and receives a mobile control execution instruction from user M (step S80). As a screen for receiving a mobile control execution instruction, it is the same as the acceptance screen 75 Figure 12 shown above.

[0180] Next, information terminal 60 sends a mobile control execution instruction to vehicle 10 based on the operation of user M on acceptance screen 75 (step S81).

[0181] Vehicle 10 starts mobile control (remote departure) based on the mobile control execution instruction sent from information terminal 60 (step S82). If the mobile control is completed (step S83), vehicle 10 turns off the ignition switch (stops the startup) (step S84).

[0182] Next, in Figure 20 Vehicle 10 determines whether there is a software update (step S85). Here, it is assumed that there is a software update for explanation. Vehicle 10 determines whether the current stop position of vehicle 10 that has completed the remote departure, that is, the target position where user M wants vehicle 10 to depart, is a predetermined specified position (step S86). As described above, the specified position refers to a charging position or the like to which vehicle 10 moves for charging vehicle 10. Here, it is assumed that the stop position of vehicle 10 is not the specified position. Since the stop position of vehicle 10 is not the specified position, in the mobile control (remote departure) of vehicle 10 at this time, vehicle 10 does not perform a software update and ends the process.

[0183] In this way, when the remote departure of the vehicle 10 is performed, the vehicle 10 determines whether the location where the vehicle 10 departs is a specified location such as the location where the vehicle 10 is charged. If it is determined that it is not the specified location, it is determined that the remote departure of the vehicle 10 is for traveling while riding in the vehicle 10, and the software is not updated.

[0184] Figure 21 FIG. is an example of a power-on startup screen 79 displayed on the information terminal 60. The power-on startup screen 79 is displayed, for example, on the terminal screen 71 of the information terminal 60 where the user M performs an operation to consent to the disclaimer during remote departure. The power-on startup screen 79 is displayed, for example, Figure 19 in step S73.

[0185] As Figure 21 shown, the power-on startup screen 79 includes, for example, a vehicle image 79a of the vehicle 10 and a power-on startup button 79b for performing remote departure. In addition, the power-on startup screen 79 includes a close button 79c for closing the power-on startup screen 79 in the case of aborting the remote departure.

[0186] Figure 22 FIG. is an example of a departure direction acceptance screen 80 displayed on the information terminal 60. The departure direction acceptance screen 80 is displayed, for example, on the terminal screen 71 of the information terminal 60 that receives a display instruction for the acceptance screen of the departure direction instruction. The departure direction acceptance screen 80 is displayed, for example, Figure 19 in step S77.

[0187] As Figure 22 shown, the departure direction acceptance screen 80 includes, for example, a guidance message 80a that urges the selection of the departure direction, such as "Please select the departure direction". In addition, the departure direction acceptance screen 80 includes, for example: a forward departure 80b that stops after driving forward and exiting the parking space; a forward left departure 80c that stops after driving forward and turning left and exiting the parking space; a forward right departure 80d that stops after driving forward and turning right and exiting the parking space; a reverse departure 80e that stops after reversing and exiting the parking space; a reverse left departure 80f that stops after reversing and turning left and exiting the parking space; and a reverse right departure 80g that stops after reversing and turning right and exiting the parking space. In this departure direction acceptance screen 80, the user M performs a touch operation on the departure direction (80b to 80g) that the user M wants to use to depart the vehicle 10 to make a selection.

[0188] [Fifth operation example]

[0189] Figure 23It is a timing chart showing a fifth operation example of the vehicle 10 and the information terminal 60. The fifth operation example is an operation example in the case where, in the above-described fourth operation example, the vehicle 10 is remotely taken out of the warehouse and the stop position of the vehicle 10 is a predetermined specified position.

[0190] First, in the case of the fifth operation example, similar to steps S71 to S86 of the fourth operation example described with reference to Figure 19 and Figure 20 after the ignition switch is turned off after the remote exit of the vehicle 10 is completed, it is determined whether the current stop position of the vehicle 10 is the specified position.

[0191] Next, in Figure 23 in the case of the fifth operation example, it is assumed that the stop position determined in step S86A is the specified position, for example, a charging position for charging the vehicle 10. In this case, the vehicle 10 sends an update inquiry message (step S91) to the information terminal 60 asking whether to update the software.

[0192] The information terminal 60 receives the update yes / no (step S92) from the user M in response to the update yes / no inquiry received from the vehicle 10. As the screen for accepting whether to update the software, it is the same as the update yes / no acceptance screen 78 shown in the above Figure 18 . The notification of the update yes / no acceptance screen 78 in the fifth operation example is an example of the "third notification" of the present invention. Here, it is assumed that the user M responds to update the software for explanation.

[0193] Next, the information terminal 60 sends the update response message of the user M who wants to update the software received in step S92 to the vehicle 10 (step S93).

[0194] If the update response message is received from the information terminal 60, the vehicle 10 updates the software (step S94). If the software update is completed, the vehicle 10 sends an update completion notification (step S95) to the information terminal 60 notifying that the update is completed.

[0195] If the update completion notification is received from the vehicle 10, the information terminal 60 displays an update completion screen indicating this on the terminal screen 71 and notifies the user M that the software update is completed (step S96). As the screen indicating that the software update is completed, it is the same as the update completion screen 76 shown in the above Figure 14 .

[0196] Thus, when the stop position of the vehicle 10 for remote departure is, for example, a charging position (prescribed position) for charging the vehicle 10, the vehicle 10 does not start moving until the charging is completed. Therefore, the vehicle 10 asks the information terminal 60 (driver terminal) whether to perform a software update. If the driver responds to perform the update, the software update is executed. Thereby, it is possible to notify the legitimate user M at an appropriate time that there is a software update related to remote parking.

[0197] [Sixth operation example]

[0198] Figure 24 FIG. is a timing chart showing a sixth operation example of the vehicle 10 and the information terminal 60. The sixth operation example is an operation example in the above fourth operation example where, when the information terminal 60 issues an instruction to remotely depart the vehicle 10, the vehicle 10 is in a situation where the software is being updated.

[0199] First, the vehicle 10 starts updating the software that is in an updatable state (step S100).

[0200] The information terminal 60 starts the preparation process for remote departure. The processes of steps S101 to S104 in the preparation process for remote departure are the same as the processes of steps S71 to S74 in the fourth operation example described in Figure 19 The description.

[0201] If a power-on operation and a consent response message are received from the information terminal 60, the vehicle 10 sends a non-remote-departure notification (step S105) to the information terminal 60 notifying that the software is currently being updated and thus the vehicle 10 cannot be remotely departed.

[0202] Next, the information terminal 60 displays on the terminal screen 71 the fact that remote departure cannot be performed due to the software being updated, and notifies the user M of this situation (step S106). As a screen for notifying that remote departure cannot be performed, for example, the non-remote-departure screen 81 described later can be cited. Figure 25 The non-remote-departure screen 81 described later.

[0203] The vehicle 10 completes the update of the software started in step S100 (step S107). In addition, after the software update is completed, if the vehicle 10, for example, sends a display instruction for an acceptance screen for receiving an instruction on the departure direction of the vehicle 10 to the information terminal 60, remote departure can be performed.

[0204] Figure 25 FIG. is an example of the non-remote-departure screen 81 displayed on the information terminal 60. The non-remote-departure screen 81 is, for example, displayed on the terminal screen 71 of the information terminal 60 that has received a non-remote-departure notification indicating that remote departure cannot be performed. The non-remote-departure screen 81 is, for example, inFigure 24 shown in step S106 of

[0205] As Figure 25 shown, the non-remote-outbound screen 81 includes a non-outbound message 81a notifying that remote outbound is not possible, such as "Remote outbound is not possible because the software is being updated. End remote outbound." In addition, the non-remote-outbound screen 81 includes an OK button 81b operated by the user M who has confirmed the end of remote outbound. The notification from the non-remote-outbound screen 81 is an example of the "fourth notification" of the present invention.

[0206] In this way, when an instruction for remote outbound of the vehicle 10 is issued from the information terminal 60 while the software is being updated, the vehicle 10 can notify the user M that remote outbound of the vehicle 10 is not possible by causing the information terminal 60 to display the non-remote-outbound screen 81.

[0207] In addition, the control method described in the foregoing embodiment can be implemented by a computer executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is executed by being read out from the storage medium. In addition, this control program may be provided in a form stored in a non-temporary storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes this control program may be included in the control device, may be included in an electronic device such as a smartphone, a tablet terminal, or a personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0208] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and can be appropriately modified, improved, etc.

[0209] In the above embodiment, an example in which the moving body is a vehicle (a four-wheeled automobile) is described, but it is not limited thereto. For example, it may also be a two-wheeled vehicle, a Segway, or the like. And the idea of the present invention is not limited to vehicles, and can also be applied to robots, ships, airplanes, etc. that have a drive source and can move by the power of the drive source.

[0210] In addition, at least the following matters are described in this specification. In addition, although the corresponding components, etc. in the above embodiment are shown in parentheses, the present invention is not limited thereto.

[0211] (1) A control device (control ECU 20), which is a control device of a moving body (vehicle 10), wherein

[0212] the control device includes:

[0213] A control unit (operation unit 52) capable of performing stop control to stop the mobile body at a target position in a state where the user of the mobile body is not on board; and

[0214] A storage unit (storage unit 54) that stores software for controlling the movement of the mobile body,

[0215] When the control unit executes the stop control in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is made.

[0216] According to (1), in a state where the software for controlling the movement of the mobile body can be updated, when executing stop control to stop the mobile body without the user on board at a target position, after determining the instruction terminal for instructing the stop control of the mobile body, the fact that the software can be updated can be notified to the legitimate user of the mobile body. Thus, it is possible to appropriately notify the user that an update of the software related to the stop control of the mobile body is available.

[0217] (2) The control device according to (1), wherein

[0218] When the control unit executes the stop control in a state where the software can be updated, after determining the instruction terminal and before starting the stop control, the first notification is made.

[0219] According to (2), by setting the timing of notifying the user to after determining the instruction terminal and before starting the stop control, it is possible to more appropriately notify the user that there is software to be updated.

[0220] (3) The control device according to (1) or (2), wherein

[0221] The control unit determines the instruction terminal based on an operation of the user on the information terminal held.

[0222] According to (3), since the instruction terminal for instructing the stop control of the mobile body is determined by the user operating the information terminal, it is possible to more appropriately notify the user of the mobile body that there is software to be updated.

[0223] (4) The control device according to any one of (1) to (3), wherein

[0224] The control unit executes the stop control based on a movement instruction from the instruction terminal.

[0225] According to (4), it is preferable that the stop control of the mobile body is executed based on a movement instruction from the instruction terminal.

[0226] (5)The control device according to any one of (1) to (4), wherein

[0227] the control unit sends inquiry information related to the decision of the instruction terminal to the information terminal around the moving body, receives prescribed response information for the inquiry information, and determines the information terminal that is the source of the response information received first as the instruction terminal.

[0228] According to (5), since the information terminal that first sends the response information for the inquiry information from the moving body is determined as the instruction terminal, it is possible to more appropriately notify the user of the moving body that there is software to be updated.

[0229] (6)The control device according to any one of (1) to (5), wherein

[0230] the first notification is a notification that enables the update of the software when the stop control is aborted and the moving body is powered off.

[0231] As described in (6), in order to update the software, it is preferable to, for example, abort the stop control of the moving body and power off the moving body.

[0232] (7)The control device according to (6), wherein

[0233] the first notification accepts an instruction to update the software,

[0234] when the control unit receives an instruction to update the software in response to the first notification, the control unit executes the update of the software.

[0235] As described in (7), when executing the update of the software, it is preferable to accept the instruction of the user in response to the notification of the requirements for updating the software.

[0236] (8)The control device according to any one of (1) to (5), wherein

[0237] the control unit makes a second notification when the stop control is completed and the moving body is powered off,

[0238] the first notification is a notification that enables the update of the software based on the response to the second notification.

[0239] As described in (8), in order to update the software, for example, it is preferable to make the response of the user to the notification issued when the stop control of the moving body is completed and the moving body is powered off a requirement.

[0240] (9)The control device according to (8), wherein

[0241] the second notification accepts an instruction to update the software,

[0242] When the control unit receives an instruction to update the software in response to the second notification, it performs the update of the software.

[0243] As described in (9), when performing the update of the software, it is preferable to receive an instruction from the user in response to a notification of the requirements for updating the software.

[0244] (10) The control device according to any one of (1) to (9), wherein,

[0245] When the control unit does not receive an instruction to update the software within a specified period starting from the notification for receiving the instruction to update the software, it performs the update of the software.

[0246] As described in (10), when, even though a notification for receiving an instruction to update the software has been made, there is no instruction from the user in response to this notification within the specified period, it is preferable to perform the update of the software.

[0247] (11) The control device according to any one of (1) to (10), wherein,

[0248] The control unit is capable of performing movement control to move the moving body from a stop position to a target position,

[0249] When the control unit performs the movement control in a state where the software can be updated, even if the movement control is completed and the moving body is powered off, it does not perform the update of the software.

[0250] As described in (11), when performing movement control to move the moving body from a stop position to a target position, it can be predicted that the moving body will further start moving after this movement control, so it is preferable not to perform the update of the software.

[0251] (12) The control device according to (11), wherein,

[0252] In a state where the software can be updated and the target position is a specified position, after the movement control is completed and the moving body is powered off, the control unit issues a third notification indicating that the software can be updated, and performs the update of the software according to the response to the third notification.

[0253] As described in (12), when the target position for moving the moving body from a stop position to a target position is a specified position, it can be predicted that the moving body will not start moving after this movement control, so it is preferable to perform the update of the software.

[0254] (13) The control device according to any one of (1) to (12), wherein,

[0255] The control unit can perform movement control to move the moving body from a stop position to a target position.

[0256] When the software is being updated, if the movement control is instructed from the information terminal held by the user, the control unit does not perform the movement control and issues a fourth notice notifying that the movement control cannot be performed.

[0257] As described in (13), when there is an instruction for movement control to move the moving body from a stop position to a target position during the software update process, it is preferable to notify that the moving body cannot be moved.

[0258] (14) A control method, which is a control method of a control device of a moving body, wherein the control device includes: a control unit that can perform stop control to stop the moving body at a target position in a state where the user of the moving body is not on board; and a storage unit that stores software for movement control of the moving body.

[0259] The control method causes the processor of the control device to perform the following processing:

[0260] When performing the stop control in a state where the software can be updated, after determining the instruction terminal for instructing the stop control, a first notice is issued to notify the user that the software can be updated.

[0261] According to (14), in a state where the software for movement control of the moving body can be updated, when performing stop control to stop the moving body without the user on board at a target position, after determining the instruction terminal for instructing the stop control of the moving body, the fact that the software can be updated can be notified to the legitimate user of the moving body. Thus, the user can be appropriately notified that the software related to the stop control of the moving body can be updated.

[0262] (15) A control program product, which includes a control program of a control device of a moving body, wherein

[0263] The control device includes: a control unit that can perform stop control to stop the moving body at a target position in a state where the user of the moving body is not on board; and a storage unit that stores software for movement control of the moving body.

[0264] The control program causes the processor of the control device to execute the following processing:

[0265] When the stop control is executed in a state where the software can be updated, after determining the instruction terminal that instructs the stop control, a first notification is made to the user to notify that the software can be updated.

[0266] According to (15), in a state where the software for controlling the movement of the moving body can be updated, when executing the stop control to stop the moving body without a user on board at the target position, after determining the instruction terminal that instructs the stop control of the moving body, it is possible to notify the legitimate user of the moving body that the software can be updated. Thus, it is possible to appropriately notify the user that the software related to the stop control of the moving body can be updated.

Claims

1. A control device, which is a control device of a moving body, wherein, the control device includes: a control unit that can perform stop control to stop the moving body at a target position in a state where the user of the moving body is not on board; and a storage unit that stores software for moving control of the moving body, when the control unit executes the stop control in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is made.

2. The control device according to claim 1, wherein, when the control unit executes the stop control in a state where the software can be updated, after determining the instruction terminal and before starting the stop control, the first notification is made.

3. The control device according to claim 1, wherein, the control unit determines the instruction terminal based on an operation of the user on the information terminal held.

4. The control device according to claim 1, wherein, the control unit executes the stop control based on a movement instruction from the instruction terminal.

5. The control device according to claim 1, wherein, the control unit sends inquiry information related to the determination of the instruction terminal to information terminals around the moving body, receives specified response information for the inquiry information, and determines the information terminal that is the source of the first received response information as the instruction terminal.

6. The control device according to claim 1, wherein, the first notification is a notification that the software can be updated when the stop control is aborted and the moving body is powered off.

7. The control device according to claim 6, wherein, the first notification accepts an instruction to update the software, when the control unit receives an instruction to update the software for the first notification, the control unit executes the software update.

8. The control device according to claim 1, wherein, the control unit makes a second notification when the stop control is completed and the moving body is powered off, the first notification is a notification that the software can be updated according to a response to the second notification.

9. The control device according to claim 8, wherein, the second notification accepts an instruction to update the software, when the control unit receives an instruction to update the software for the second notification, the control unit executes the software update.

10. The control device according to claim 1, wherein, when the control unit does not receive an instruction to update the software within a specified period from the notification of accepting an instruction to update the software, the control unit executes the software update.

11. The control device according to claim 1, wherein, the control unit can perform movement control to move the moving body from a stop position to a target position, when the control unit executes the movement control in a state where the software can be updated, even if the movement control is completed and the moving body is powered off, the control unit does not execute the software update.

12. The control device according to claim 11, wherein in a state where the software can be updated and when the target position is a specified position, after the movement control is completed and the moving body is powered off, the control unit gives a third notification indicating that the software can be updated, and executes the software update according to the response to the third notification.

13. The control device according to any one of claims 1 to 12, wherein the control unit is capable of performing movement control for moving the moving body from a stop position to a target position, when the software is being updated, the control unit does not perform the movement control and gives a fourth notification indicating that the movement control cannot be performed when the movement control is instructed from the information terminal held by the user.

14. A control method, which is a control method of a control device of a moving body, wherein the control device includes: a control unit capable of performing stop control for stopping the moving body at a target position in a state where the user of the moving body is not on board; and a storage unit storing software for movement control of the moving body, the control method causes a processor of the control device to execute the following processing: when performing the stop control in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is given.

15. A control program product, which includes a control program of a control device of a moving body, wherein the control device includes: a control unit capable of performing stop control for stopping the moving body at a target position in a state where the user of the moving body is not on board; and a storage unit storing software for movement control of the moving body, the control program causes a processor of the control device to execute the following processing: when performing the stop control in a state where the software can be updated, after determining an instruction terminal for instructing the stop control, a first notification for notifying the user that the software can be updated is given.

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