Control device, control method, and control program product

Abstract

The invention provides a control device, a control method, and a control program product capable of improving operability of an information terminal to a moving operation of a moving body. A control device is provided with: a communication unit (55) that communicates with an information terminal (60) held by a user of a vehicle (10); a control unit (56) that performs movement control of the vehicle (10) on the basis of an instruction from the information terminal (60); and a movement state acquisition unit (57) that acquires the movement state of the vehicle (10). The instruction from the information terminal (60) is a movement instruction for moving the vehicle (10) or a stop instruction for stopping the vehicle (10), and the control unit (56) stops the vehicle (10) with a braking force corresponding to the moving state of the vehicle (10) when there is a stop instruction while moving the vehicle (10) on the basis of the movement instruction.

Description

Technical Field

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

[0002] In recent years, efforts to provide sustainable transportation systems that take into account vulnerable individuals, particularly those in traffic, have intensified. To achieve this goal, research and development related to autonomous driving technology is being pursued to further improve traffic safety and convenience.

[0003] Conventionally, there is known a remote parking system that uses a smartphone to remotely operate a vehicle to park the vehicle in a designated parking space or to move the vehicle out of the parking space.

[0004] For example, Patent Document 1 describes an automatic vehicle addressing system comprising: a remote control that transmits an emergency stop command via a wireless network; and a controller that controls the vehicle to stop in an emergency based on the emergency stop command transmitted from the remote control. Patent Document 2 describes a smart parking system with an emergency stop button that can apply vehicle brakes in an emergency based on driver input. Patent Document 3 describes an autonomous vehicle that receives user input selecting an emergency stop area from at least one available stopping area or recommended area and controls the vehicle to stop in the emergency stop area.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Chinese Patent Application Publication No. 112000089

[0008] Patent Document 2: Chinese Patent Application Publication No. 111016884

[0009] Patent Document 3: U.S. Patent Application Publication No. 2018 / 0147988 Summary of the Invention

[0010] Problems to be solved by the invention

[0011] However, in previous remote parking systems, when a stop operation is performed using a smartphone while the vehicle is moving, the vehicle is stopped at a constant deceleration regardless of the vehicle's current state of motion. This can result in differences in the distance from the time the stop operation is performed to the time the vehicle actually stops, or the time it takes to stop, depending on the vehicle's speed. Therefore, depending on the vehicle's state of motion, it is sometimes difficult to easily perform a stop operation performed by a smartphone user. Patent Documents 1 to 3 do not describe any countermeasures for this stop operation.

[0012] The present invention aims to provide a control device, a control method, and a control program product that can improve the operability of a mobile terminal in controlling a moving object, thereby contributing to the development of a sustainable transportation system.

[0013] Solutions to Problems

[0014] The present invention is a control device for a mobile object, comprising:

[0015] a communication unit that communicates with an information terminal held by a user of the mobile object;

[0016] a control unit that controls movement of the mobile body based on an instruction from the information terminal; and

[0017] a movement state acquiring unit for acquiring the movement state of the moving object,

[0018] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0019] The control unit stops the moving body with a braking force corresponding to the moving state when the stop instruction is issued while the moving body is moving based on the moving instruction.

[0020] The present invention is a method for controlling a mobile body, the mobile body comprising: a communication unit for communicating with an information terminal held by a user of the mobile body; a control unit for controlling the movement of the mobile body based on an instruction from the information terminal; and a movement state acquisition unit for acquiring the movement state of the mobile body.

[0021] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0022] The control method causes the control unit to perform the following processing:

[0023] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

[0024] The present invention is a control program product including a control program for a mobile body, wherein the mobile body comprises: a communication unit for communicating with an information terminal held by a user of the mobile body; a control unit for controlling movement of the mobile body based on instructions from the information terminal; and a movement state acquisition unit for acquiring the movement state of the mobile body.

[0025] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0026] The control program causes the control unit to execute the following processing:

[0027] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

[0028] Effects of the Invention

[0029] The present invention can provide a control device, a control method, and a control program product that can improve the operability of an information terminal's mobile operation on a mobile object. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a side view showing an example of a vehicle 10 equipped with the control device of the present invention.

[0031] Figure 2 yes Figure 1 A top view of vehicle 10 is shown.

[0032] Figure 3 Yes Figure 1 FIG. 1 is a block diagram showing an example of the internal structure of the vehicle 10 .

[0033] Figure 4 1 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10 .

[0034] Figure 5 This is a diagram showing an example of a call start state in which a user makes a vehicle call.

[0035] Figure 6 This is a diagram showing an example of a departure route of the host vehicle V1.

[0036] Figure 7 This is a diagram showing an example of a call completion state of the host vehicle V1.

[0037] Figure 8 This is a flowchart showing an example of processing of the information terminal 60 when calling the vehicle 10 .

[0038] Figure 9 1 is a diagram showing an example of an operation acceptance screen 67 displayed on the display screen 66 of the information terminal 60 .

[0039] Figure 10 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different moving speeds are stopped in the conventional stop process.

[0040] Figure 11 This is a flowchart showing an example of the stopping process of the vehicle 10 according to the present embodiment.

[0041] Figure 12 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different moving speeds are stopped in the stop process of the present embodiment.

[0042] Figure 13 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different weights are stopped in the conventional stop process.

[0043] Figure 14 This is a flowchart showing a first modified example of the stop process of the vehicle 10 according to the present embodiment.

[0044] Figure 15 This is a diagram showing the stop position of the vehicle 10 when the vehicles 10 having different weights are stopped in the stop process according to the first modified example of the present embodiment.

[0045] Figure 16 This is a flowchart showing a second modified example of the stop process of the vehicle 10 according to the present embodiment.

[0046] Figure 17 This is a flowchart showing a third modified example of the stop process of the vehicle 10 according to the present embodiment.

[0047] Description of Reference Numerals

[0048] 10 Vehicle (mobile object)

[0049] 20 Control ECU (control unit)

[0050] 55 Ministry of Communications

[0051] 56 Control Department

[0052] 57 Movement status acquisition unit

[0053] 60 Information terminals. DETAILED DESCRIPTION

[0054] Hereinafter, an embodiment of the control device, control method, and control program product of the present invention will be described based on the accompanying drawings. In addition, the accompanying drawings are viewed along the directions of the accompanying drawings. In addition, in this specification, etc., in order to make the description simple and clear, the directions of front and back, left and right, and up and down are as follows: Figure 1 and Figure 2 The directions are described based on the direction viewed from the driver of the illustrated vehicle 10. 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 top as U, and the bottom as D.

[0055] <Vehicle 10 Equipped with Control Device of the Present Invention>

[0056] Figure 1 It is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 yes Figure 1 FIG. 1 is a top view of a vehicle 10. The vehicle 10 is an example of a "mobile object" in the present invention.

[0057] 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 wheels. In the present embodiment, the vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and a pair of left and right rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. Alternatively, 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. Furthermore, the drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or four wheels comprising a pair of left and right front wheels and a pair of left and right rear wheels. The front wheels and the rear wheels may both be steerable wheels, or either one may be a steerable wheel.

[0058] The vehicle 10 also includes side mirrors 11L and 11R. These mirrors are located outside the front doors of the vehicle 10 and are used by the driver to check the rear and side areas (rearview mirrors). Each mirror 11L and 11R is fixed to the main body of the vehicle 10 via a vertically extending rotation axis and can be opened and closed by rotating about the rotation axis.

[0059] The vehicle 10 also includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) installed in front of the vehicle 10 and captures images of the front of the vehicle 10. The rear camera 12Rr is a digital camera installed in the rear of the vehicle 10 and captures images of the rear of the vehicle 10. The left camera 12L is a digital camera installed in the left rearview mirror 11L of the vehicle 10 and captures images of the left side of the vehicle 10. The right camera 12R is a digital camera installed in the right rearview mirror 11R of the vehicle 10 and captures images of the right side of the vehicle 10.

[0060] <Internal Structure of Vehicle 10>

[0061] Figure 3 Yes Figure 1 FIG. 1 is a block diagram showing an example of the internal structure of the vehicle 10. Figure 3 As shown, vehicle 10 includes a sensor group 16 , a navigation device 18 , an electronic control unit (ECU) 20 , an electric power steering (EPS) system 22 , and a communication interface 24 . Vehicle 10 also includes a driving force control system 26 and a braking force control system 28 .

[0062] The sensor group 16 acquires various detection values ​​used to control the ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left camera 12L, and a right camera 12R. Furthermore, the sensor group 16 includes a front sonar group 32a, a rear sonar group 32b, a left sonar group 32c, and a right sonar group 32d. Furthermore, the sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detector 38. The sensor group 16 also includes a weight sensor (not shown) that can detect the load of the vehicle 10.

[0063] The front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R capture images of the vehicle 10's surroundings, thereby acquiring external world recognition data (e.g., peripheral images) for identifying the outside world of the vehicle 10. The images of the vehicle 10's surroundings captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R are referred to as the front image, rear image, left image, and right image, respectively. An image composed of the left and right images may also be referred to as a side image. The image of the vehicle 10 and its surroundings, generated by synthesizing the images captured by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R, is referred to as a bird's-eye view image of the vehicle 10.

[0064] The front sonar group 32a, rear sonar group 32b, left sonar group 32c, and right sonar group 32d transmit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a, for example, includes four sonars. The sonars that make up the front sonar group 32a are located at the diagonally front left, front left, front right, and diagonally front right of the vehicle 10. The rear sonar group 32b, for example, includes four sonars. The sonars that make up the rear sonar group 32b are located at the diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10. The left sonar group 32c, for example, includes two sonars. The sonars that make up the left sonar group 32c are located at the front and rear left sides of the vehicle 10. The right sonar group 32d, for example, includes two sonars. The sonars that make up the right sonar group 32d are located at the front and rear right sides of the vehicle 10.

[0065] Wheel sensors 34a and 34b detect the rotation angles of the wheels of vehicle 10. Wheel sensors 34a and 34b can be configured as angle sensors or displacement sensors. Wheel sensors 34a and 34b output detection pulses each time the wheels rotate a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the wheel rotation angles and wheel rotation speeds. Based on the wheel rotation angles, the travel distance of vehicle 10 is calculated. For example, wheel sensor 34a detects the rotation angle θa of the left rear wheel. Wheel sensor 34b detects the rotation angle θb of the right rear wheel.

[0066] The vehicle speed sensor 36 detects the speed 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, for example, the rotation of the counter shaft of the transmission.

[0067] The operation detection unit 38 detects the content of a user's operation performed using the operation input unit 14 and outputs the detected content of the operation to the control ECU 20. The operation input unit 14 includes various user interfaces such as a side mirror switch for switching the open and closed states of the side mirrors 11L and 11R and a shift lever (selector).

[0068] The navigation device 18 detects the current location of the vehicle 10 using, for example, a GPS (Global Positioning System) and guides the user on a route to their destination. The navigation device 18 includes a storage device (not shown) that contains a map information database. The navigation device 18 also includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 via voice.

[0069] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to vehicle 10 maneuvering assistance via the touch panel 42. Maneuvering assistance includes parking assistance and exit assistance for the vehicle 10. Furthermore, the touch panel 42 is configured to display various screens related to the control contents of the control ECU 20. For example, screens related to vehicle 10 maneuvering assistance are displayed on the touch panel 42. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include a remote parking button for requesting parking assistance based on the automatic steering of the control ECU 20 and an assisted parking button for requesting parking assistance via user operation. The exit assistance buttons include a remote exit button for requesting exit assistance based on the automatic steering of the control ECU 20 and an assisted exit button for requesting exit assistance via user operation. Alternatively, components other than the touch panel 42, such as information terminals such as smartphones and tablets, may be used as input devices or display devices.

[0070] Furthermore, "parking" is synonymous with "parking." For example, "parking" refers to stopping for passengers to board or exit the vehicle, and does not include temporary stops at traffic signals, etc. Furthermore, a "parking position" refers to a position where a moving object (vehicle 10) is stopped, i.e., a parking position.

[0071] The control ECU 20 includes an input / output unit 50, a computing unit 52, and a storage unit 54. The computing unit 52 is comprised of, for example, a CPU (Central Processing Unit). The computing unit 52 controls various components based on programs stored in the storage unit 54, thereby performing various controls. Furthermore, the computing unit 52 inputs and outputs signals to and from various components connected to the control ECU 20 via the input / output unit 50. Furthermore, the storage unit 54 stores information related to remote movement (remote entry and exit) of the vehicle 10. The control ECU 20 is an example of a "control device" according to the present invention.

[0072] The calculation unit 52 includes a communication unit 55 that communicates with the outside of the vehicle 10 , a control unit 56 that performs control related to remote movement of the vehicle 10 , and a movement state acquisition unit 57 that acquires the movement state of the vehicle 10 .

[0073] The communication unit 55 wirelessly communicates with other communication devices 120 via the communication IF 24. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals 60 such as smartphones and tablets held by the user of vehicle 10. The communication unit 55 transmits and receives information related to the remote movement of vehicle 10 with the information terminals 60 via the communication IF 24. Furthermore, the communication unit 55 obtains the communication quality between vehicle 10 and the information terminals 60. This communication quality is detected based on, for example, the RSSI (Received Signal Strength Indicator) and the error rate during communication.

[0074] The control unit 56 performs remote parking assistance and remote exit assistance for the vehicle 10 using automatic steering. This automatic steering automatically operates the steering device 110 under the control of the control unit 56. During remote parking assistance and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated. Furthermore, the control unit 56 performs assisted parking assistance and assisted exit assistance when the user (driver) manually parks or exits the vehicle 10 by operating the accelerator pedal, brake pedal, and operation input unit 14. During remote parking assistance and remote exit assistance, the user can be either seated in the vehicle 10 or outside (not seated).

[0075] For example, the control unit 56 executes movement control to move the vehicle 10 based on the external recognition data 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 predetermined parking space designated by the user. Movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (parking position) and unparking control to remotely unpark the vehicle 10 from the parking space to a predetermined target location (unparking position). The target location includes, for example, a location where the user has called the vehicle 10.

[0076] The control unit 56 performs parking control and exit control of the vehicle 10 based on the instruction signal input via the input / output unit 50. The received instruction signal includes an instruction signal output from the information terminal 60 or the like held by the user of the vehicle 10 and transmitted via wireless communication. The instructions from the information terminal 60 or the like include a "movement instruction" for moving the vehicle 10 and a "stop instruction" for stopping the vehicle 10. The stop instructions include a first stop instruction and a second stop instruction. The second stop instruction is an instruction output when the urgency is higher than that of the first stop instruction. Hereinafter, the first stop instruction will also be referred to as a "normal parking instruction" and the second stop instruction will be referred to as an "emergency parking instruction."

[0077] The movement instruction is performed when the information terminal 60 receives the continuous first operation. Performing "movement instruction" means repeatedly sending the movement instruction signal. The "continuous first operation" is, for example, referring to Figure 4 A specific operation by the user on the display screen of the information terminal 60 (for example, a rotational swiping operation, etc.) will be described later.

[0078] The first stop instruction is performed when the ongoing first operation is interrupted. Performing the "first stop instruction" means stopping the sending of the movement instruction signal. The second stop instruction is performed when the information terminal 60 receives a second operation different from the ongoing first operation. Performing the "second stop instruction" means sending an emergency stop instruction signal. The "second operation" is, for example, an operation of pressing an emergency stop button, a voice input requesting an emergency, etc. While the first operation (specific operation) is being performed, the movement instruction signal is continuously sent, and if the first operation is interrupted, the sending of the movement instruction signal is stopped. In addition, the instruction from the information terminal 60 is whether to move the vehicle 10 or stop it, and cannot indicate the speed of the vehicle 10.

[0079] Specifically, when a stop instruction is issued while the vehicle 10 is moving based on a movement instruction, the control unit 56 stops the vehicle 10 with a braking force corresponding to the moving state of the vehicle 10. "When a stop instruction is issued" may mean not only when a stop instruction signal is transmitted from the information terminal 60 to the control unit 56, but also when a movement instruction signal is no longer transmitted from the information terminal 60 to the control unit 56.

[0080] Furthermore, if a stop instruction is issued while the vehicle 10 is moving based on a movement instruction, the control unit 56 increases the braking force as the vehicle 10 moves faster, thereby stopping the vehicle 10. For example, even if the vehicle 10 moves at different speeds, the control unit 56 controls the braking force so that the time and distance required to stop do not vary significantly.

[0081] Furthermore, when a stop instruction is issued while the vehicle 10 is moving based on a movement instruction, the control unit 56 increases the braking force to stop the vehicle 10 as the weight of the vehicle 10 increases. For example, even if the weight of the vehicle 10 varies, the control unit 56 controls the braking force so that the time and distance required to stop do not vary significantly.

[0082] Furthermore, when a stop instruction is issued while the vehicle 10 is moving based on a movement instruction, the control unit 56 stops the vehicle 10 with a braking force corresponding to the moving state of the vehicle 10 and the communication quality between the vehicle 10 and the information terminal 60. For example, when a stop instruction is issued while the vehicle 10 is moving based on a movement instruction, the control unit 56 stops the vehicle 10 by increasing the braking force as the communication quality between the vehicle 10 and the information terminal 60 decreases.

[0083] Furthermore, the control unit 56 obtains the delay time from when the information terminal 60 transmits the instruction signal to when movement control based on the instruction signal is started. If a stop instruction is issued while the vehicle 10 is moving based on the movement instruction, the control unit 56 stops the vehicle 10 with a braking force corresponding to the movement state of the vehicle 10 and the communication delay time. For example, if a stop instruction is issued while the vehicle 10 is moving based on the movement instruction, the control unit 56 increases the braking force to stop the vehicle 10 as the communication delay time increases.

[0084] The "command signal" is, for example, a signal that instructs vehicle 10 to move. Regarding the "delay time," for example, assuming that vehicle 10 and information terminal 60 are synchronized (or each acquires accurate time), information terminal 60 stores the transmission time of the command signal in the command signal and transmits it to vehicle 10. Upon receiving the command signal, vehicle 10 determines the "delay time" based on the transmission time. For example, the delay time is the time obtained by subtracting the transmission time of the command signal from the time when vehicle 10 control unit 56 begins movement control based on the command signal. Alternatively, the delay time may be the time obtained by subtracting the transmission time of the command signal from the time when vehicle 10 control unit 56 receives the command signal.

[0085] Furthermore, the control unit 56 pre-stores the communication delay time when the vehicle 10 is moved based on a movement instruction. When a stop instruction is issued while the vehicle 10 is moving based on the movement instruction, the control unit 56 stops the vehicle 10 with a braking force corresponding to the movement state of the vehicle 10 and the stored delay time. The "stored delay time" is the delay time stored during the immediately preceding movement, i.e., the delay time that best reflects the communication state at that time.

[0086] Furthermore, when the second stop instruction (emergency parking instruction) is issued, the control unit 56 may stop the vehicle 10 by increasing the braking force compared to when the first stop instruction (normal parking instruction) is issued.

[0087] Furthermore, when the vehicle 10 is not stopped based on an instruction from the information terminal 60, the control unit 56 stops the vehicle 10 with a higher braking force than when the vehicle 10 is stopped based on an instruction from the information terminal 60. The case where the vehicle 10 is not stopped based on an instruction from the information terminal 60 includes, for example, a case where the vehicle 10 detects an obstacle based on external recognition data or a case where a system failure of the vehicle 10 is detected.

[0088] The movement state acquisition unit 57 acquires the movement speed of the vehicle 10 as the movement state of the vehicle 10. The movement state acquisition unit 57 acquires the movement speed of the vehicle 10 based on, for example, the vehicle speed V of the vehicle 10 detected by the vehicle speed sensor 36. Furthermore, the movement state acquisition unit 57 acquires the weight of the vehicle 10. The weight can be acquired, for example, by a weight sensor, by capturing an image of the vehicle 10 by a camera of the information terminal 60 and acquiring the weight based on the image capture result (object recognition result), or by acquiring the weight based on the change in movement speed relative to the driving force. Furthermore, the weight can be acquired in advance before the movement control of the vehicle 10. The weight of the vehicle 10 can be, for example, the weight of the vehicle 10 being loaded, or by adding the weight of the vehicle 10 to the weight of the load.

[0089] 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 a steering angle θst of a steering device 110 . The torque sensor 102 detects a torque TQ applied to the steering device 110 .

[0090] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to the steering system 110, thereby assisting the occupant in steering the vehicle 110 and performing automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 includes an input / output unit (not shown), a computing unit (not shown), and a storage unit (not shown).

[0091] The communication IF 24 can perform wireless communication with other communication devices 120. For example, the communication IF 24 includes an UWB (Ultra Wide Band) interface that can perform UWB communication with the information terminal 60.

[0092] The driving force control system 26 includes a driving ECU 130 . The driving force control system 26 controls the driving force of the vehicle 10 . The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on user operation of an accelerator pedal (not shown).

[0093] 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 the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0094] <Hardware Configuration of User's Information Terminal 60>

[0095] Figure 4 1 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a 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 via a bus 65, for example.

[0096] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) responsible for overall control of the information terminal 60. Alternatively, the processor 61 may be implemented using other digital circuits, such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 61 may be implemented by combining multiple digital circuits.

[0097] 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 a work area for the processor 61 .

[0098] The auxiliary memory is 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.

[0099] Furthermore, the auxiliary memory may include a portable memory that is detachable from the information terminal 60. Portable memories include USB (Universal Serial Bus) flash drives, memory cards such as SD (Secure Digital) memory cards, and external hard disk drives.

[0100] The communication interface 63 is a communication interface for wireless communication with the outside of the information terminal 60 (eg, the communication IF 24 of the vehicle 10 ). For example, the communication interface 63 includes a UWB interface for UWB communication with the vehicle 10 . The communication interface 63 is controlled by the processor 61 .

[0101] The user interface 64 includes, for example, an input device for receiving user input and an output device for outputting information to the user. The input device can be implemented, for example, by a touch panel. The output device can be implemented, for example, by a display, a speaker, etc. The user interface 64 is controlled by the processor 61.

[0102] The processor 61 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement instruction control (including parking instruction control and unloading instruction control) for the vehicle 10 based on specific user operations on the display screen of the information terminal 60. Specific operations include, for example, tap operations for instructing parking and unloading (calling) the vehicle 10, and slide operations for moving the vehicle 10. Slide operations include continuous position indication operations (e.g., swipe operations) and rotation indication operations in a predetermined rotation direction (e.g., rotational swipe operations). Furthermore, the processor 61 controls the generation of a guidance image that urges the user to perform instruction operations on the display screen of the information terminal 60, and displays the generated guidance image on the display screen.

[0103] Processor 61 transmits a parking instruction for remote parking of vehicle 10 and a remote unloading instruction for remote unloading of vehicle 10 to vehicle 10 based on a specific operation performed on the display screen of information terminal 60. Information terminal 60 is installed with an application that can automatically move vehicle 10 (remote parking, remote unloading) by transmitting and receiving information related to the movement control of vehicle 10 with vehicle 10.

[0104] <Calls from vehicles in parking lots>

[0105] Next, refer to Figures 5 to 7 , the call to the vehicle in parking lot 70 is explained.

[0106] Figure 5 : is a diagram showing an example of a call start state in which a user makes a call for a vehicle. Figure 5 As shown, user U1 attempts to call their own vehicle V1, which is parked in parking lot 70, using their information terminal 60. In parking lot 70, in addition to user U1's own vehicle V1, several other vehicles V2 are parked. When an application for remote unloading of their own vehicle V1 is activated on information terminal 60, user U1's face is authenticated by the camera on information terminal 60, and remote unloading of their own vehicle V1 begins in response to their operation. Their own vehicle V1 is an example of a "mobile object" in the present invention.

[0107] Figure 6 This diagram shows an example of an exit path for vehicle V1. Upon receiving an exit movement instruction signal from information terminal 60, vehicle V1 generates an exit path 73 from its parking position 71 to the requested exit position 72 based on external recognition data acquired by a camera, etc., and controls the movement of vehicle V1 based on the generated exit path 73.

[0108] In the case of a large parking lot such as a public parking lot, parking lot 70 may require a vehicle to be unparked and called to a designated unparking location. Due to the long call distance, for example, it may take a long time for the vehicle to reach the unparking location, requiring the user who called the vehicle to perform remote operations for a long period of time. Therefore, depending on the surrounding environment from the vehicle's parking location to the unparking location, for example, if the unparking path is clear of obstacles and has good visibility, movement control may be performed to increase the vehicle's movement speed compared to the normal unparking movement speed.

[0109] Figure 7 This figure shows an example of a state where the call of the own vehicle V1 is completed. The own vehicle V1 changes the moving speed of the own vehicle V1 according to the distance between the own vehicle V1 and the information terminal 60 and the surrounding environment from the parking position 71 to the unloading position 72, and moves to the unloading position 72 called by the user U1 (see Figure 6 ).

[0110] <Processing by Information Terminal 60>

[0111] Figure 8 This is a flowchart showing an example of processing of the information terminal 60 when calling the vehicle 10 .

[0112] The information terminal 60 (processor 61) determines whether the user has called the vehicle 10 to the delivery location 72 (step S11). The call to the vehicle 10 is executed by activating an application for remote delivery of the vehicle 10 installed on the information terminal 60 and clicking an execution button.

[0113] If a call is not made in step S11 (step S11: No), the information terminal 60 repeats the determination process of step S11. If a call is made in step S11 (step S11: Yes), the information terminal 60 displays an operation reception screen for receiving a user's call operation on the display screen of the information terminal 60 (step S12).

[0114] Next, the information terminal 60 determines whether a rotational swiping operation (specific operation) on the operation reception screen by the user has been accepted (step S13 ).

[0115] If a rotational swipe operation has not been received in step S13 (step S13: No), the information terminal 60 repeats the determination process of step S13. If a rotational swipe operation has been received in step S13 (step S13: Yes), the information terminal 60 begins transmitting a movement instruction signal based on the rotational swipe operation (step S14).

[0116] Next, the information terminal 60 determines whether the rotational swiping operation on the operation reception screen is still continuing (step S15 ).

[0117] In step S15 , when the rotational swiping operation is still continuing (step S15 : Yes), the information terminal 60 determines whether the emergency stop button on the operation reception screen is pressed (step S16 ).

[0118] In step S16 , if the emergency stop button is not pressed (step S16 : No), the information terminal 60 determines whether the vehicle 10 has arrived at the calling position, which is the outbound position for calling the vehicle 10 (step S17 ).

[0119] In step S17 , if the call location has not been reached (step S17 : No), the information terminal 60 returns to step S15 and repeats the processes. In step S17 , if the call location has been reached (step S17 : Yes), the information terminal 60 ends the process.

[0120] On the other hand, in step S15 , if the rotational swiping operation is not continuing (step S15 : NO), the information terminal 60 stops transmitting the movement instruction signal (step S18 ), and then returns to step S13 to repeat the respective processes.

[0121] On the other hand, if the emergency stop button is pressed in step S16 (step S16: YES), the information terminal 60 transmits an emergency stop signal (step S19) instructing the vehicle 10 to urgently stop. The information terminal 60 then stops transmitting the movement instruction signal (step S20) and returns to step S13 to repeat the various processes.

[0122] <Display Screen of Information Terminal 60>

[0123] Figure 9 66 of the information terminal 60. The operation reception screen 67 is a diagram showing an example of the operation reception screen 67 displayed on the display screen 66 of the information terminal 60. Figure 8 This is an example of a screen displayed in step S12 of FIG. The user can call the vehicle 10 to the delivery position by performing a specific operation on the operation reception screen 67 .

[0124] like Figure 9 As shown, a message 67a, such as "Calling a vehicle," is displayed on the operation reception screen 67. Furthermore, a guidance message 67b is displayed on the operation reception screen 67, such as "Rotary swipe to move the vehicle. Release your finger to stop." Furthermore, a movement icon 67c is displayed on the operation reception screen 67, for example, which moves according to the user's touch position during the rotary swipe operation. Furthermore, an "Emergency Stop" button 67d for causing an emergency stop of the vehicle 10 is displayed on the operation reception screen 67.

[0125] <Conventional Stopping Process of Vehicle 10>

[0126] Figure 10 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different moving speeds are stopped in the conventional stop process.

[0127] In the conventional movement control of the vehicle 10, when the information terminal 60 stops sending the movement instruction signal and the continuous reception of the movement instruction signal in the vehicle 10 is interrupted, as shown in FIG. Figure 10 As shown, the vehicle 10 stops moving. That is, the vehicle 10 stops moving at a constant braking force regardless of the moving speed of the vehicle 10, starting from the position where the information terminal 60 stops sending the movement instruction signal, that is, the stop start position 81 where the vehicle 10 is instructed to stop. Therefore, the stopping position where the vehicle 10 stops and the time until the vehicle 10 stops will also vary depending on the moving speed of the vehicle 10. For example, in the case of Figure 10 When the moving speed is, for example, the first speed V01 as in the case of the vehicle 10 shown in the upper section, the stopping position of the vehicle 10 is the first stopping position 82. In contrast, when the moving speed is the second speed V02 which is faster than the first speed V01 as in the case of the vehicle 10 shown in the lower section, the stopping position of the vehicle 10 is the second stopping position 83. The faster the moving speed, the longer the distance to stop of the vehicle 10 and the longer the stopping time.

[0128] <Stop Process of Vehicle 10 in the Present Embodiment>

[0129] Figure 11 This is a flowchart showing an example of the stopping process of the vehicle 10 according to the present embodiment.

[0130] The vehicle 10 (control ECU 20 ) determines whether a movement instruction signal instructing movement of the vehicle 10 is received from the information terminal 60 (step S21 ).

[0131] If, in step S21, no movement instruction signal is received from the information terminal 60 (step S21: No), the vehicle 10 repeats the determination process of step S21. If, in step S21, a movement instruction signal is received from the information terminal 60 (step S21: Yes), the vehicle 10 begins moving in accordance with the movement instruction (rotary swiping operation) from the information terminal 60 (step S22).

[0132] Next, the vehicle 10 determines whether the movement instruction signal from the information terminal 60 continues to be received (step S23 ).

[0133] In step S23 , when the movement instruction signal continues to be received (step S23 : Yes), the vehicle 10 determines whether an emergency stop signal is received from the information terminal 60 (step S24 ).

[0134] In step S24 , when the emergency stop signal has not been received (step S24 : No), it is determined whether the vehicle 10 has arrived at the calling position (departure position) called by the information terminal 60 (step S25 ).

[0135] In step S25 , if the vehicle 10 has not reached the call location (step S25 : No), the vehicle 10 returns to step S23 and repeats the processes. In step S25 , if the vehicle 10 has reached the call location (step S25 : Yes), the vehicle 10 ends the process.

[0136] On the other hand, if the movement instruction signal is not continuously received in step S23 (step S23: No), vehicle 10 stops moving with a braking force corresponding to the moving speed of vehicle 10 (step S26). After stopping, vehicle 10 returns to step S21 and repeats the various processes. For example, the braking force corresponding to the moving speed means that the braking force increases as the moving speed increases.

[0137] On the other hand, if an emergency stop signal is received in step S24 (step S24: YES), the vehicle 10 stops moving with maximum braking force (step S27). After stopping moving, the vehicle 10 returns to step S21 to repeat the various processes.

[0138] Figure 12 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different moving speeds are stopped in the stop process of the present embodiment.

[0139] In the movement control of the vehicle 10 of this embodiment, when the information terminal 60 stops sending the movement instruction signal and the continuous reception of the movement instruction signal in the vehicle 10 is interrupted, as shown in FIG. Figure 12 As shown, the vehicle 10 stops moving. That is, starting from the position where the information terminal 60 stops sending the movement instruction signal, that is, the stop start position 81 where the vehicle 10 is instructed to stop, the movement of the vehicle 10 is stopped with a braking force corresponding to the moving speed of the vehicle 10. Therefore, even if the moving speed of the vehicle 10 is different, the vehicle 10 can be stopped in a manner that does not cause a large difference in the stopping position. For example, even if Figure 12Even when the moving speed of the vehicle 10 shown in the upper section is the first speed V01 and the moving speed of the vehicle 10 shown in the lower section is the second speed V02 which is faster than the first speed V01, the vehicle 10 in the lower section with a faster moving speed can be stopped with a large braking force, so that the vehicle 10 can be stopped at the stop position 84 which is approximately the same distance from the stop start position 81.

[0140] As described above, when the control device of this embodiment receives a stop instruction from the information terminal 60 while the vehicle 10 is moving based on a movement instruction from the information terminal 60, it stops the vehicle 10 with a braking force corresponding to the moving speed of the vehicle 10. Consequently, regardless of the moving speed of the vehicle 10, the vehicle 10 stops at a substantially constant distance after the user issues a stop instruction, making it easier to grasp the position where the vehicle 10 has stopped. This makes it easier to understand, for example, when to stop a specific operation (rotary swipe operation), thereby improving the operability of vehicle 10 movement operations performed using the information terminal 60.

[0141] <Conventional Stopping Process of Vehicle 10>

[0142] Figure 13 This is a diagram showing an example of the stop position of the vehicle 10 when the vehicles 10 having different weights are stopped in the conventional stop process.

[0143] In the conventional movement control of the vehicle 10, in the case where the continuous reception of the movement instruction signal in the vehicle 10 is interrupted, as shown in FIG. Figure 13 As shown, the vehicle 10 stops at the stop start position 91 where the stop instruction is issued, and the vehicle 10 stops with a constant braking force regardless of the weight of the vehicle 10. Therefore, the stop position where the vehicle 10 stops and the time until the stop are different depending on the weight of the vehicle 10. For example, in the case of Figure 13 When the weight is, for example, the first weight M1 as in the upper section of the vehicle 10, the stopping position of the vehicle 10 is the first stopping position 92. In contrast, when the weight is the second weight M2 which is larger than the first weight M1 as in the lower section of the vehicle 10, the stopping position of the vehicle 10 is the second stopping position 93. The greater the weight, the longer the distance until the vehicle 10 stops, and the longer the stopping time.

[0144] <Stop Process of Vehicle 10 in the Present Embodiment>

[0145] Figure 14 1 is a flowchart showing a first modified example of the stopping process of the vehicle 10 according to this embodiment. Figure 14 As shown, the processing of steps S21 to S25 and the processing of step S27 are the same as Figure 11The processing of steps S21 to S25 and the processing of step S27 are the same.

[0146] If the movement instruction signal is not continuously received in step S23 (step S23: No), vehicle 10 stops moving with a braking force corresponding to the weight of vehicle 10 (step S31). After stopping, vehicle 10 returns to step S21 and repeats the various processes. For example, the braking force corresponding to weight means that the braking force increases as the weight increases.

[0147] In the first modification, the vehicle 10 is stopped by a braking force corresponding only to the weight of the vehicle 10 , but the present invention is not limited thereto. For example, the vehicle 10 may be stopped by a braking force corresponding to the weight of the vehicle 10 and the moving speed.

[0148] Figure 15 This is a diagram showing the stop position of the vehicle 10 when the vehicles 10 having different weights are stopped in the stop process according to the first modified example of the present embodiment.

[0149] In the movement control of the vehicle 10 of the first modified example, when the continuous reception of the movement instruction signal in the vehicle 10 is interrupted, as shown in FIG. Figure 15 As shown, the vehicle 10 stops moving from the stop start position 91 where the stop instruction is issued with a braking force corresponding to the weight of the vehicle 10. Therefore, even when the weight of the vehicle 10 is different, the vehicle 10 can be stopped without causing a large difference in the stop position. For example, even when Figure 15 Even when the weight of the vehicle 10 shown in the upper section is a first weight M1 and the weight of the vehicle 10 shown in the lower section is a second weight M2 that is larger than the first weight M1, the vehicle 10 can be stopped at a stop position 94 that is approximately the same distance from the stop start position 91 by stopping the vehicle 10 in the lower section with a larger braking force.

[0150] As described above, the control device of the first modified example stops vehicle 10 with a braking force corresponding to the weight of vehicle 10 when a stop instruction is issued from information terminal 60 while vehicle 10 is moving based on a movement instruction from the information terminal 60. This allows the vehicle 10 to stop at a substantially constant distance after the user issues a stop instruction, regardless of the weight of the vehicle 10. This makes it easier to understand the position where vehicle 10 has stopped. This makes it easier to understand, for example, the timing to stop a specific operation (rotary swipe operation), thereby improving the operability of vehicle 10 movement operations performed using the information terminal 60.

[0151] <Stop Process of Vehicle 10 in the Present Embodiment>

[0152] Figure 161 is a flowchart showing a second modified example of the stop process of the vehicle 10 according to this embodiment. Figure 16 As shown, the processing of steps S21 to S25 and the processing of step S27 are the same as Figure 11 The processing of steps S21 to S25 and the processing of step S27 are the same.

[0153] In step S23, if the movement instruction signal is not continuously received (step S23: No), vehicle 10 stops moving with a braking force corresponding to the moving speed of vehicle 10 and a braking force corresponding to the communication quality with information terminal 60 (step S41). After stopping, vehicle 10 returns to step S21 and repeats the various processes. For example, the braking force corresponding to communication quality means increasing the lower the communication quality (RSSI, error rate). The braking force corresponding to the moving speed and communication quality is based on the braking force corresponding to the moving speed at a constant stopping position. In the case of low communication quality, the braking force is increased to reduce the risk of communication instability.

[0154] In the second modification, the vehicle 10 is stopped with a braking force corresponding to the moving speed and communication quality, but the present invention is not limited thereto. For example, the vehicle 10 may be stopped with a braking force corresponding to the weight of the vehicle 10 and the communication quality.

[0155] As described above, when a stop instruction is issued from information terminal 60 while vehicle 10 is moving based on a movement instruction from information terminal 60, the control device of the second modified example stops vehicle 10 with a braking force appropriate to the vehicle 10's movement state and the quality of communication with information terminal 60. Consequently, regardless of the vehicle 10's movement state or the quality of communication with information terminal 60, vehicle 10 stops at a substantially constant distance after the user issues a stop instruction, making it easier to grasp the position where vehicle 10 has stopped. This makes it easier to understand, for example, the timing to stop a specific operation (rotary swipe operation), thereby improving the operability of vehicle 10 movement operations performed using information terminal 60.

[0156] <Stop Process of Vehicle 10 in the Present Embodiment>

[0157] Figure 17 1 is a flowchart showing a third modified example of the stopping process of the vehicle 10 according to this embodiment. Figure 17 As shown, the processing of steps S21, S23, S24 to S25 and S27 is the same as Figure 11 The processing of steps S21, S23, S24 to S25 and S27 is the same.

[0158] In step S21, if a movement instruction signal is received from information terminal 60 (step S21: Yes), vehicle 10 begins moving in accordance with the movement instruction (rotary swipe operation) from information terminal 60, and acquires the communication delay with information terminal 60 (step S51). The communication delay is the time from when information terminal 60 transmits the movement instruction signal to when vehicle 10 movement control based on the movement instruction signal begins.

[0159] Next, the vehicle 10 determines whether the movement instruction signal from the information terminal 60 is continuously received (step S23 ). If the movement instruction signal is continuously received (step S23 : YES), the stored communication delay time is updated to the communication delay time acquired in step S51 (step S52 ).

[0160] On the other hand, if the movement instruction signal is not continuously received in step S23 (step S23: No), vehicle 10 stops moving with a braking force corresponding to the vehicle's moving speed and also stops moving with a braking force corresponding to the communication delay time stored during the most recent movement (step S53). After stopping, vehicle 10 returns to step S21 and repeats the various processes. For example, the braking force corresponding to the communication delay means increasing the braking force as the communication delay time increases.

[0161] In the third modification, the vehicle 10 is stopped with a braking force corresponding to the moving speed and communication delay, but the present invention is not limited thereto. For example, the vehicle 10 may be stopped with a braking force corresponding to the weight of the vehicle 10 and communication delay.

[0162] As described above, when a stop instruction is issued from information terminal 60 while vehicle 10 is moving based on a movement instruction from information terminal 60, the control device of the third modified example stops vehicle 10 with a braking force appropriate to the vehicle 10's movement state and communication delay time. Consequently, regardless of the vehicle 10's movement state or communication delay time, vehicle 10 stops at a substantially constant distance after the user issues a stop instruction, making it easier to grasp the position where vehicle 10 has stopped. This makes it easier to understand, for example, the timing to stop a specific operation (rotary swipe operation), thereby improving the operability of vehicle 10 movement operations performed using information terminal 60.

[0163] In addition, the control method described in the aforementioned embodiment can be implemented by executing a pre-prepared control program by a computer. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. In addition, this control program can be provided in the form of a non-temporary storage medium such as a flash memory, or can be provided via a network such as the Internet. The computer that executes this control program can be included in a control device, or can be included in an electronic device such as a smartphone, tablet terminal or personal computer that can communicate with the control device, or can be included in a server device that can communicate with these control devices and electronic devices.

[0164] As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, and it can make deformation|transformation, improvement, etc. as needed.

[0165] In the above embodiments, the mobile object is described as a vehicle (a four-wheeled automobile), but the present invention is not limited to this. For example, a two-wheeled vehicle, a Segway, or the like may also be used. Furthermore, the concept of the present invention is not limited to vehicles and can also be applied to robots, ships, aircraft, and the like that have a drive source and can be moved by the power of the drive source.

[0166] In addition, at least the following matters are described in this specification: Although corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0167] (1) A control device (control ECU 20 ) for a mobile object (vehicle 10 ), comprising:

[0168] a communication unit (communication unit 55 ) for communicating with an information terminal held by a user of the mobile object;

[0169] a control unit (control unit 56 ) that controls movement of the mobile body based on an instruction from the information terminal; and

[0170] A movement state acquisition unit (movement state acquisition unit 57) is configured to acquire the movement state of the moving object.

[0171] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0172] The control unit stops the moving body with a braking force corresponding to the moving state when the stop instruction is issued while the moving body is moving based on the moving instruction.

[0173] According to (1), when a stop instruction to stop a moving body is issued from the information terminal while the moving body is moving based on a movement instruction from the information terminal, the movement of the moving body is stopped with an appropriate braking force corresponding to the moving state of the moving body, thereby improving the operability of the moving operation of the information terminal.

[0174] (2) The control device according to (1), wherein:

[0175] The movement state acquisition unit acquires the movement speed of the moving object as the movement state.

[0176] When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the moving speed of the movable body increases to stop the movable body.

[0177] According to (2), the faster the moving speed of the moving body, the greater the braking force used to stop the moving body. Therefore, even if the moving speed of the moving body is different, the moving body can be stopped without causing significant differences in the time and distance until the stop.

[0178] (3) The control device according to (1) or (2), wherein:

[0179] The moving state acquisition unit acquires the weight of the moving object.

[0180] When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the weight increases to stop the movable body.

[0181] According to (3), the greater the weight of the moving body, the greater the braking force required to stop the moving body. Thus, even if the weight of the moving body is different, the moving body can be stopped without much difference in the time and distance until the stop.

[0182] (4) The control device according to any one of (1) to (3), wherein:

[0183] The communication unit obtains the communication quality between the mobile object and the information terminal,

[0184] The control unit stops the moving object with a braking force corresponding to the moving state and the communication quality when the stop instruction is issued while the moving object is moving based on the moving instruction.

[0185] According to (4), when a stop instruction to stop the moving body is issued from the information terminal while the moving body is moving based on a moving instruction from the information terminal, the movement of the moving body is stopped with an appropriate braking force corresponding to the moving state of the moving body and the communication quality between the moving body and the information terminal, thereby improving the operability of the moving operation of the information terminal.

[0186] (5) The control device according to (4), wherein:

[0187] The control unit increases the braking force as the communication quality decreases to stop the moving object when the stop instruction is issued while the moving object is moving based on the movement instruction.

[0188] According to (5), the lower the communication quality between the mobile body and the information terminal, the greater the braking force used to stop the movement of the mobile body. Thus, for example, even if the communication quality between the mobile body and the information terminal changes, the movement of the mobile body can be stopped without causing much difference in the time and distance until the stop.

[0189] (6) The control device according to any one of (1) to (5), wherein:

[0190] The control unit obtains a delay time from when the information terminal transmits an instruction signal to when the movement control based on the instruction signal starts.

[0191] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state and the delay time.

[0192] According to (6), when a stop instruction to stop the moving body is issued from the information terminal while the moving body is moving based on a moving instruction from the information terminal, the operability of the moving operation of the information terminal can be improved by stopping the movement of the moving body with an appropriate braking force corresponding to the moving state of the moving body and the delay time of the communication.

[0193] (7) The control device according to (6), wherein:

[0194] When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the delay time becomes longer to stop the movable body.

[0195] According to (7), the longer the communication delay time is, the greater the braking force is used to stop the movement of the moving body. Therefore, even if the delay time changes, the movement of the moving body can be stopped without causing a large difference in the time and distance until the stop.

[0196] (8) The control device according to (6) or (7), wherein:

[0197] The control unit stores the delay time when the moving object is moved based on the movement instruction.

[0198] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state and the stored delay time.

[0199] According to (8), by using the delay time stored in the most recent movement of the mobile body and stopping the movement of the mobile body with a braking force corresponding to the delay time, the operability of the movement operation of the information terminal can be improved.

[0200] (9) The control device according to any one of (1) to (8), wherein:

[0201] The stop instruction is a first stop instruction or a second stop instruction with a higher urgency than the first stop instruction,

[0202] When the second stop instruction is issued, the control unit increases the braking force compared to when the first stop instruction is issued to stop the moving object.

[0203] According to (9), when a second stop instruction with a higher urgency than the first stop instruction is issued, the movement of the mobile body is stopped with a braking force greater than that in the case where the first stop instruction is issued. This makes it possible to stop the movement of the mobile body with an appropriate braking force according to the moving state of the mobile body, thereby improving the operability of the mobile operation of the information terminal. In addition, when a stop instruction with a high urgency is issued, it is possible to achieve a stop within a short time and a short distance, thereby achieving an improvement in safety.

[0204] (10) The control device according to (9), wherein:

[0205] The movement instruction is performed when the information terminal receives a continuous first operation,

[0206] The first stop instruction is performed when the ongoing first operation is interrupted,

[0207] The second stop instruction is performed when the information terminal receives a second operation different from the continued first operation.

[0208] According to (10), by setting the second operation received by the second stop instruction to be an operation different from the first operation received by the first stop instruction, the operability of the movement operation of the information terminal can be improved.

[0209] (11) The control device according to (10), wherein:

[0210] The second operation is at least one of an operation of an emergency stop button and a voice input.

[0211] As described in (11), the second operation as the second stop instruction with high urgency is preferably, for example, operation of an emergency stop button or voice input by the user.

[0212] (12) The control device according to any one of (1) to (11), wherein:

[0213] When the movable body is not stopped based on the instruction from the information terminal, the control unit stops the movable body with a higher braking force than when the movable body is stopped based on the instruction from the information terminal.

[0214] According to (12), when the moving body is not stopped based on an instruction from the information terminal, the movement of the moving body is stopped with a braking force greater than that in the case of stopping based on an instruction, thereby being able to stop the movement of the moving body with an appropriate braking force according to the moving state of the moving body.

[0215] (13) A method for controlling a mobile body, the mobile body comprising: a communication unit for communicating with an information terminal held by a user of the mobile body; a control unit for controlling movement of the mobile body based on an instruction from the information terminal; and a movement state acquisition unit for acquiring a movement state of the mobile body.

[0216] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0217] The control method causes the control unit to perform the following processing:

[0218] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

[0219] According to (13), when a stop instruction to stop the moving body is issued from the information terminal while the moving body is moving based on a movement instruction from the information terminal, the operability of the moving operation of the information terminal can be improved by stopping the movement of the moving body with an appropriate braking force corresponding to the moving state of the moving body.

[0220] (14) A control program product comprising a control program for a mobile body, wherein the mobile body comprises: a communication unit for communicating with an information terminal held by a user of the mobile body; a control unit for controlling movement of the mobile body based on an instruction from the information terminal; and a movement state acquisition unit for acquiring a movement state of the mobile body.

[0221] The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body,

[0222] The control program causes the control unit to execute the following processing:

[0223] When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

[0224] According to (14), when a stop instruction to stop the moving body is issued from the information terminal while the moving body is moving based on a moving instruction from the information terminal, the operability of the moving operation of the information terminal can be improved by stopping the movement of the moving body with an appropriate braking force corresponding to the moving state of the moving body.

Claims

1. A control device, which is a control device for a mobile body, wherein: The control device comprises: a communication unit that communicates with an information terminal held by a user of the mobile object; a control unit that controls movement of the mobile body based on an instruction from the information terminal; as well as a movement state acquiring unit for acquiring the movement state of the moving object, The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body, The control unit stops the moving body with a braking force corresponding to the moving state when the stop instruction is issued while the moving body is moving based on the moving instruction.

2. The control device according to claim 1, wherein: The movement state acquisition unit acquires the movement speed of the moving object as the movement state. When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the moving speed of the movable body increases to stop the movable body.

3. The control device according to claim 1, wherein: The moving state acquisition unit acquires the weight of the moving object. When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the weight increases to stop the movable body.

4. The control device according to claim 1, wherein: The communication unit obtains the communication quality between the mobile object and the information terminal, The control unit stops the moving object with a braking force corresponding to the moving state and the communication quality when the stop instruction is issued while the moving object is moving based on the moving instruction.

5. The control device according to claim 4, wherein: The control unit increases the braking force as the communication quality decreases to stop the moving object when the stop instruction is issued while the moving object is moving based on the movement instruction.

6. The control device according to claim 1, wherein: The control unit obtains a delay time from when the information terminal transmits an instruction signal to when the movement control based on the instruction signal starts. The control unit stops the moving body with a braking force corresponding to the moving state and the delay time when the stop instruction is issued while the moving body is moving based on the moving instruction.

7. The control device according to claim 6, wherein: When the stop instruction is issued while the movable body is moving based on the movement instruction, the control unit increases the braking force as the delay time becomes longer to stop the movable body.

8. The control device according to claim 6, wherein: The control unit stores the delay time when the moving object is moved based on the movement instruction. The control unit stops the moving body with a braking force corresponding to the moving state and the stored delay time when the stop instruction is issued while the moving body is moving based on the moving instruction.

9. The control device according to claim 1, wherein: The stop instruction is a first stop instruction or a second stop instruction with a higher urgency than the first stop instruction, When the second stop instruction is issued, the control unit increases the braking force to stop the moving object compared to when the first stop instruction is issued.

10. The control device according to claim 9, wherein: The movement instruction is performed when the information terminal receives a continuous first operation, The first stop instruction is performed when the ongoing first operation is interrupted, The second stop instruction is performed when the information terminal receives a second operation different from the continued first operation.

11. The control device according to claim 10, wherein: The second operation is at least one of an operation of an emergency stop button and a voice input.

12. The control device according to any one of claims 1 to 11, wherein: When the movable body is not stopped based on an instruction from the information terminal, the control unit stops the movable body with a higher braking force than when the movable body is stopped based on an instruction from the information terminal.

13. A control method, which is a method for controlling a moving object, wherein: The mobile body includes: a communication unit that communicates with an information terminal held by a user of the mobile body; a control unit that controls movement of the mobile body based on an instruction from the information terminal; and a movement state acquisition unit that acquires a movement state of the mobile body. The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body, The control method causes the control unit to perform the following processing: When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

14. A control program product comprising a control program for a mobile object, wherein: The mobile body includes: a communication unit that communicates with an information terminal held by a user of the mobile body; a control unit that controls movement of the mobile body based on an instruction from the information terminal; and a movement state acquisition unit that acquires a movement state of the mobile body. The instruction from the information terminal is a movement instruction to move the mobile body, or a stop instruction to stop the mobile body, The control program causes the control unit to execute the following processing: When the stop instruction is issued while the movable body is moving based on the movement instruction, the movable body is stopped with a braking force corresponding to the movement state.

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