Control system and control method

Abstract

The invention provides a control system and a control method capable of appropriately determining execution authority of a user related to a target function of a vehicle. The present invention includes a calculation unit (52) provided in a vehicle (10) and an information terminal (60) held by a user of the vehicle. The calculation unit is provided with: a first movement control unit (55) that performs first movement control for moving the vehicle in a state in which the user is seated in the vehicle; and a second movement control unit (56) that performs second movement control for moving the vehicle in a state in which the user is not seated in the vehicle. When a request for execution of first movement control is accepted from a user, the first movement control unit performs a first determination process for determining an execution permission of the user related to the first movement control, executes the first movement control on the basis of the determination result, and performs a second determination process for execution permission of the user related to the second movement control on the basis of the determination result. The information terminal performs a second determination process for determining an execution permission of the user related to the second movement control, and causes the calculation unit to execute the second movement control on the basis of the determination result.

Description

Technical Field

[0001] The present invention relates to a control system and a control method. Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into account vulnerable people 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 are known remote parking systems that use smartphones to remotely control a vehicle, allowing it to park in a designated parking space or unpark from a parking space. Furthermore, there are known FOD (Function on Demand) systems that enable the use of target vehicle functions based on the user's contract status (payment management).

[0004] For example, Patent Document 1 describes a vehicle remote control system comprising: an electronic key pre-registered as a device capable of remotely controlling a vehicle; a portable communication device pre-registered as belonging to the vehicle user; an onboard authentication unit mounted on the vehicle that determines whether authentication of the electronic key and portable communication device has been successful; and a permission determination unit that permits autonomous driving control, based on a determination by the onboard authentication unit that authentication of the electronic key and portable communication device has been successful, to permit the vehicle to automatically travel to the user's location. Patent Document 2 describes a method for acquiring vehicle signals using a signal receiving unit built into a portable control unit. This method generates a visual or auditory signal at a predetermined location on the vehicle, and only when the visual or auditory signal is acquired by the signal receiving unit, and only after acquiring an authentication signal recognized as valid by the vehicle, remote control is executed for a predetermined period of time, thereby remotely controlling vehicle functions.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 6354541

[0008] Patent Document 2: Japanese Patent Application No. 2016-529767 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] However, in the FOD system, for example, the target function is opened by operating the navigation screen and performing personal authentication through the driver monitoring camera. Therefore, in a remote parking system that can remotely operate the vehicle using a smartphone, when the user starts remote operation from outside the vehicle, personal authentication inside the vehicle cannot be performed (which causes trouble). In this case, a method is considered to send information on the smartphone to the vehicle through communication and perform personal authentication on the vehicle side. However, in this method, since personal authentication is performed through communication between the smartphone and the vehicle, it takes time until personal authentication is completed, and there is a risk of information leakage due to the sending and receiving of personal information. Patent Documents 1 and 2 do not disclose user authentication when the user is inside the vehicle or outside the vehicle, and the opening of remote functions based on authentication.

[0011] An object of the present invention is to provide a control system and a control method that can appropriately determine a user's execution authority related to a target function of a vehicle, and thereby contribute to the development of a sustainable transportation system.

[0012] Means for solving problems

[0013] The present invention provides a control system comprising a control device provided by a mobile body and an information terminal held by a user of the mobile body, wherein:

[0014] The control device comprises:

[0015] a first movement control unit that performs a first movement control for moving the moving body in a state where the user is riding on the moving body; and

[0016] a second movement control unit for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body;

[0017] When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process.

[0018] When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

[0019] The present invention also provides a control method, which is a control method of a control system including a control device provided by a mobile body and an information terminal held by a user of the mobile body, wherein:

[0020] The control device comprises:

[0021] a first movement control unit that performs a first movement control for moving the moving body in a state where the user is riding on the moving body; and

[0022] a second movement control unit for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body;

[0023] When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process.

[0024] When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

[0025] Effects of the Invention

[0026] According to the present invention, a control system and a control method capable of appropriately determining a user's execution authority related to a target function of a vehicle can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] Figure 2 yes Figure 1 A top view of vehicle 10 is shown.

[0029] Figure 3 Yes Figure 1 A block diagram of an example of the internal structure of the vehicle 10 is shown.

[0030] Figure 4 FIG. 1 is a diagram showing an example of a control system 1 according to the present invention.

[0031] Figure 5 1 is a diagram showing an example of the hardware configuration of the information terminal 60 owned by the user U1 of the vehicle 10 .

[0032] Figure 6 1 is a sequence diagram showing an example of the first movement control for moving the vehicle 10 while the user U1 is riding in the vehicle 10 .

[0033] Figure 7 It means in Figure 6 1 is a sequence diagram showing a case where the user U1 does not have execution authority related to automatic parking in the first movement control.

[0034] Figure 8 FIG. 1 is a diagram showing an example of a message screen displayed during the first movement control.

[0035] Figure 9 1 is a diagram showing an example of a situation in which movement control of the vehicle 10 is performed using the information terminal 60 from outside the vehicle 10 .

[0036] Figure 10 1 is a sequence diagram showing an example of the second determination process in remote parking.

[0037] Figure 11 3 is a timing chart showing an example of remote parking control executed based on the result of the second determination process.

[0038] Figure 12 1 is a diagram showing an example of a disclaimer screen 72 displayed on the terminal screen 71 of the information terminal 60 .

[0039] Figure 13 1 is a diagram showing an example of a power startup screen 73 displayed on the terminal screen 71 of the information terminal 60 .

[0040] Figure 14 1 is a diagram showing an example of an execution instruction receiving screen 74 displayed on the terminal screen 71 of the information terminal 60 .

[0041] Figure 15 It means in Figure 10 This is a sequence diagram of a case where the user U1 does not have execution authority related to remote parking in the second determination process.

[0042] Figure 16 FIG. 1 is a diagram showing an example of a message screen displayed during the second movement control.

[0043] Description of Reference Numerals

[0044] 10 Vehicles (mobile objects)

[0045] 52 calculation unit (control device)

[0046] 55 first movement control unit

[0047] 56 Second movement control unit

[0048] 57First Department of Communications

[0049] 58 first input unit

[0050] 60 Information Terminal

[0051] 61 processor (second communication unit)

[0052] 62 memory (storage unit)

[0053] 63 communication interface (second communication department)

[0054] 71 terminal screen (second input unit). DETAILED DESCRIPTION

[0055] Hereinafter, an embodiment of the control system and control method 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.

[0056] <Structure of Vehicle 10>

[0057] Figure 1 1 is a side view showing an example of a vehicle 10 equipped with a control device included in the control system 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.

[0058] 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.

[0059] 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 of the side mirrors 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.

[0060] 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.

[0061] <Internal Structure of Vehicle 10>

[0062] 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, the vehicle 10 includes a sensor group 16 , a navigation device 18 , an electronic control unit (ECU) 20 , an EPS (Electric Power Steering) system 22 , and a communication interface 24 . The vehicle 10 also includes a driving force control system 26 and a braking force control system 28 .

[0063] 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 detection unit 38.

[0064] The front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R capture images of the vehicle 10's surroundings, acquiring recognition data (e.g., a surrounding image) 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. An 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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).

[0069] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System) and guides the user on a route to a destination. The navigation device 18 includes a storage device (not shown) having a map information database.

[0070] The navigation device 18 includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for controlling the ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 by voice.

[0071] 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 unloading 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 unloading assistance button for requesting unloading assistance. The parking assistance buttons include an automatic 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 through user operation. The unloading assistance buttons include an automatic unloading button for requesting unloading based on the automatic steering of the control ECU 20 and an assisted unloading button for requesting unloading assistance through user operation. Furthermore, components other than the touch panel 42, such as information terminals such as smartphones and tablet computers, may also be used as input devices or display devices.

[0072] 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.

[0073] The calculation unit 52 includes a first movement control unit 55, a second movement control unit 56, a first communication unit 57, and a first input unit 58. The calculation unit 52 is an example of a "control device" in the present invention.

[0074] The first movement control unit 55 performs a first movement control for moving the vehicle 10 while the user is riding in the vehicle 10. When receiving a first execution request from the user to execute the first movement control, the first movement control unit 55 performs a first determination process to determine the user's execution authority related to the first movement control. The first movement control unit 55 executes the first movement control based on the result of the first determination process. In this embodiment, "first movement control" refers to movement control of the vehicle 10 from the inside of the vehicle through the APS (Auto Parking System). "Determination process" refers to a process of authenticating the user (determining who the user is) and determining whether the user has the execution authority related to the function of the movement control, for example, communicating with an external server and querying the server.

[0075] The second movement control unit 56 performs second movement control that enables the vehicle 10 to move even when a user is not in the vehicle 10. In this embodiment, "second movement control" refers to movement control of the vehicle 10 from outside the vehicle using the RPS (Remote Parking System). The second movement control unit 56 communicates with an information terminal held by a user of the vehicle 10 via, for example, the communication interface 24, thereby receiving instructions to execute movement control from outside the vehicle 10.

[0076] The first communication unit 57 is a communication unit capable of communicating with an external device, for example, a first server. The first server is a server that manages the permission information of the vehicle 10. The first server may be a physical server or a virtual server.

[0077] The first input unit 58 is an input unit capable of receiving a first execution instruction for the first movement control. For example, the first input unit 58 may be the touch panel 42 of the navigation device 18, an onboard camera (driver monitoring camera) that captures images of a user in the vehicle, or an APS-SW. The SW may be a mechanical switch, such as a push-type or slide-type switch, or a capacitive switch or a button displayed on the touch panel.

[0078] Furthermore, if the first determination process determines that the execution authority of the user associated with the first movement control is valid, the first movement control unit 55 controls the state of the first input unit 58 to accept the execution instruction of the first movement control. If the first determination process does not determine that the execution authority of the user associated with the first movement control is valid, the first movement control unit 55 controls the state of the first input unit 58 to not accept the execution instruction of the first movement control. The first movement control unit 55 performs the first determination process by querying the first server via the first communication unit 57.

[0079] Furthermore, the first movement control unit 55 performs automatic parking support and automatic exit support for the vehicle 10, which is achieved by automatically steering the steering device 110 under control of the first movement control unit 55. During automatic parking support and automatic exit support, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated. Furthermore, the first movement control unit 55 performs assisted parking support and assisted exit support when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park or exit the vehicle 10.

[0080] For example, the first movement control unit 55 performs movement control to move the vehicle 10 based on recognition data of the outside world 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. This movement control includes parking control to automatically park the vehicle 10 in a predetermined parking space (target parking position) and unparking control to automatically unpark the vehicle 10 from the predetermined parking space to a location designated by the user (target unparking position).

[0081] Furthermore, the second movement control unit 56 performs remote parking assistance and remote exit assistance for the vehicle 10, which is achieved through automatic steering of the steering device 110, automatically controlled by the second movement 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 second movement 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 outside the vehicle 10 (not riding in the vehicle) or can be seated in the vehicle 10.

[0082] For example, the second movement control unit 56 performs movement control to move the vehicle 10 based on external recognition data of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left camera 12L, and right camera 12R, and a designated parking space designated by the user. Movement control includes parking control, which remotely parks the vehicle 10 in a designated parking space (target parking location), and unloading control, which remotely unloads the vehicle 10 from a designated parking space to a location requested by the user (target unloading location). The second movement control unit 56 can execute parking control and unloading control in response to execution instruction signals received externally via the communication interface 24. External input includes input via wireless communication from, for example, an information terminal 60 held by the user of the vehicle 10. Furthermore, the second movement control unit 56 can transmit information related to parking control and unloading control to the external information terminal 60 via the communication interface 24.

[0083] Furthermore, the first movement control unit 55 and the second movement control unit 56 register the predetermined parking space designated by the user as a designated parking space in the storage unit 54. Based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left camera 12L, and the right camera 12R, the first movement control unit 55 and the second movement control unit 56 register the feature points associated with the designated parking space in the storage unit 54. Based on the recognition data of the outside world of the vehicle 10 and the feature points of the designated parking space designated by the user, the first movement control unit 55 and the second movement control unit 56 perform parking control for parking the vehicle 10 in the designated parking space and exit control for exiting the vehicle 10 from the designated parking space.

[0084] 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 .

[0085] 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 110 operation 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).

[0086] Communication IF 24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, external servers, and information terminals such as smartphones and tablets owned by users of vehicle 10. For example, communication IF 24 includes an Ultra Wide Band (UWB) interface capable of UWB communication. In addition to UWB communication, wireless communication with information terminal 60 can also utilize technologies such as Bluetooth Low Energy (BLE) and Near Field Communication (NFC).

[0087] 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).

[0088] 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).

[0089] <Control System of the Present Invention>

[0090] Figure 4 FIG. 1 is a diagram showing an example of a control system 1 according to the present invention. Figure 4 As shown, the control system 1 includes a server 90 as an example of the "first server" and "second server" of the present invention, and a vehicle 10 and an information terminal 60 capable of communicating with the server 90. In this example, one vehicle 10 is shown, but the number of vehicles may be multiple.

[0091] Server 90 is an external server installed at a facility such as a management center. Server 90 manages and associates permission information related to the execution permissions of vehicle 10 obtained by user U1 when using vehicle 10 with user U1 (user ID). Software used to control the movement of vehicle 10 is managed by server 90. Use of this software is one form of permission information related to the execution permissions of vehicle 10. Users can download software from server 90. Control system 1 is, for example, a FoD (Function on Demand) system.

[0092] The server 90 controls the validity / invalidity (turning on / off) of functions provided by the vehicle 10 when a user utilizes the vehicle 10. Specifically, the server 90 controls the switching of the validity / invalidity of functions in the vehicle 10 by transmitting a function-on signal to enable the functions and a function-off signal to disable the functions to the vehicle 10.

[0093] The information terminal 60 is a device owned by a user, such as a smartphone or tablet. After purchasing the vehicle 10, the user purchases execution rights related to predetermined functions of the vehicle 10 online, for example, through the information terminal 60. The user transmits the execution rights ID obtained through the purchase from the information terminal 60 to the server 90, thereby enabling the user to use the purchased functions in the vehicle 10.

[0094] The vehicle 10 is a vehicle capable of so-called automatic driving or assisted driving. In addition, the control of the automatic driving includes the first movement control performed by the APS and the second movement control performed by the RPS. In addition, the vehicle 10 can be a vehicle with limited users, such as a vehicle owned by an individual, or it can be a vehicle with no limited users, such as a vehicle owned by a legal person. People who can use a vehicle owned by an individual include, for example, the vehicle owner, his family, relatives, friends, etc. Vehicles owned by a legal person include rental cars, shared cars, and other vehicles that can be used by an indefinite number of users who have signed a specified contract.

[0095] <Hardware Structure of Information Terminal 60>

[0096] Figure 5 1 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user U1 of a 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.

[0097] 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.

[0098] 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 .

[0099] 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.

[0100] 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.

[0101] 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 .

[0102] The user interface 64 includes, for example, an input device for receiving operation input from the user U1 and an output device for outputting information to the user U1. 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.

[0103] The processor 61 performs movement control for instructing the movement of the vehicle 10. For example, the processor 61 performs movement control based on the terminal screen 71 (see FIG. 1 ) of the information terminal 60 displayed by the user U1. Figure 4 ) to instruct the vehicle 10 to execute movement control (including parking control and unloading control). Specific operations include, for example, sliding operations to move the vehicle 10 and tapping operations to reserve parking and unloading schedules. Sliding operations include continuous position indication operations (e.g., sliding operations) and rotation indication operations in a predetermined direction (e.g., rotational sliding operations). Furthermore, the processor 61 controls the generation of a guidance image that prompts the user U1 to perform instructional operations on the terminal screen of the information terminal 60, and displays the generated guidance image on the terminal screen.

[0104] In addition, when the processor 61 receives the second execution request to execute the second movement control from the user U1, it performs a second determination process to determine the execution authority of the user U1 related to the second movement control. Based on the result of the second determination process, the processor 61 causes the second movement control unit 56 of the vehicle 10 to execute the second movement control. The "second determination process" is a determination process that is not executed via the second movement control unit 56 of the vehicle 10. That is, the second determination process is a determination process that is executed by the processor 61 of the information terminal 60 by communicating with the server 90 and inquiring about the execution authority of the user U1 without going through the computing unit 52 of the vehicle 10. "Causing the vehicle 10 to execute the second movement control" means, for example, sending a movement instruction signal to the vehicle 10 in response to the acceptance of the rotation and sliding operation performed on the terminal screen 71, thereby moving the vehicle 10.

[0105] Furthermore, if the second determination process determines that the execution permission of user U1 related to the second movement control is valid, processor 61 controls the state of the touch panel on terminal screen 71 to a state in which the execution instruction of the second movement control is accepted. If the second determination process does not determine that the execution permission of user U1 related to the second movement control is valid, processor 61 controls the state of the touch panel on terminal screen 71 to a state in which the execution instruction of the second movement control is not accepted. Terminal screen 71 of information terminal 60 is an input unit capable of accepting the second execution instruction of the second movement control and is an example of the "second input unit" of the present invention.

[0106] Furthermore, the processor 61 queries the server 90, which is an example of a second server, via the communication interface 63, thereby performing the second determination process. The processor 61 and the communication interface 63 are a communication unit capable of communicating with the second server and are an example of the "second communication unit" of the present invention. The second server can be the same as the first server or a different server. The second server can be a physical server or a virtual server. Furthermore, the processor 61 and the user interface 64 are a communication unit capable of communicating with the terminal screen 71 and are an example of the "second communication unit" of the present invention.

[0107] Furthermore, if communication with the second server is unsuccessful, processor 61 causes vehicle 10's second movement control unit 56 to execute second movement control based on past second determination processing results stored in memory 62. For example, in situations such as underground (outside the service area) where radio waves cannot reach server 90, personal authentication can be performed based on recent historical records stored in information terminal 60. Furthermore, an expiration date that allows use for personal authentication can be set for the "past second determination processing results" stored in memory 62. Memory 62 is an example of a "storage unit" in the present invention.

[0108] The processor 61 transmits a parking instruction for remote parking of the vehicle 10 and a remote unloading instruction for remote unloading of the vehicle 10 to the vehicle 10 based on a specific operation performed on the terminal screen 71 of the information terminal 60. The information terminal 60 is installed with an application that can control the movement of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 with the vehicle 10.

[0109] <Automatic Movement Control by Vehicle 10>

[0110] Figure 6 1 is a sequence diagram showing an example of the first movement control for moving the vehicle 10 while the user U1 is riding in the vehicle 10. The first movement control in this example is an example of parking control for automatically parking the vehicle 10.

[0111] First, if Figure 6 As shown, the vehicle 10 receives an activation operation for the automatic parking function (step S11). The activation operation for the automatic parking function is a first execution request for automatic parking (first movement control) from the user, for example, a click operation on the "parking support button" displayed on the touch panel 42 of the navigation device 18.

[0112] Next, the vehicle 10 authenticates the user U1 (step S12). User authentication can be accomplished by inputting the user ID into the touch panel 42 or by facial recognition captured by a camera. The vehicle 10 then transmits the user information collected through user authentication to the server 90 (the first server), along with a query regarding the user's execution authority related to the first mobility control (step S13).

[0113] Upon receiving a query regarding user U1's execution authority, server 90 obtains, for example, execution authority information associated with the user ID and managed (step S14). In this example, it is assumed that user U1 has execution authority related to automatic parking of vehicle 10. Server 90 transmits execution authority information ("Authorized") indicating that user U1 has execution authority related to automatic parking of vehicle 10 to vehicle 10 (step S15).

[0114] Upon receiving the execution authority information (authorized) from the server 90 in step S15, the vehicle 10 activates the "APS switch" for receiving an instruction to execute the first movement control using the APS, for example by lighting a button indicating the "APS switch" on the touch panel 42 (step S16). Furthermore, when the user U1 touches the "APS switch" button on the touch panel 42, the vehicle 10 accepts the operation of the APS switch (step S17).

[0115] Next, the vehicle 10 starts automatic parking based on the external recognition data acquired by the cameras and the designated parking space (step S18 ). When the automatic parking is completed (step S19 ), the vehicle 10 turns off the ignition switch (step S20 ).

[0116] Alternatively, the user authentication in step S12 may be performed in advance, for example, at the start of driving the vehicle 10. Furthermore, while the first movement control in this example describes the control for automatically parking the vehicle 10, the present invention is not limited thereto. For example, the first movement control may also be the control for automatically unloading the vehicle 10. In the case of automatic unloading, the ignition switch may not be turned off after the automatic unloading is completed.

[0117] Figure 7 It means in Figure 6 The timing diagram of the case where the user U1 does not have the execution authority related to automatic parking in the first movement control. Figure 7 As shown, the processing of steps S11 to S13 is the same as Figure 6 The processing of steps S11 to S13 described in is the same.

[0118] Upon receiving the query regarding user U1's execution authority in step S13, server 90 obtains the execution authority information associated with the user ID and managed (step S14). In this example, user U1 does not have execution authority related to automatic parking of vehicle 10 (no authority). Server 90 transmits execution authority information (no authority) indicating that user U1 does not have execution authority related to automatic parking of vehicle 10 to vehicle 10 (step S15).

[0119] When receiving the execution authority information (no authority) from the server 90 in step S15 , the vehicle 10 displays a message indicating that there is no execution authority on the touch panel 42 (step S21 ).

[0120] In addition, the first movement control is not limited to the control for automatically parking the vehicle 10 , and may also be the control for automatically leaving the vehicle 10 .

[0121] <Message during first movement control>

[0122] Figure 8 This is a diagram showing an example of a message screen displayed during the first movement control. Figure 7 The screen displayed on the touch panel 42 is displayed when the user U1 does not have the execution authority related to automatic parking in step S21 of the first movement control.

[0123] like Figure 8 As shown, the message screen 81 includes an execution permission message 81a, which states, "No execution permission for the APS function." Furthermore, the message screen 81 includes a "Buy" button 81b for purchasing the execution permission for the APS function online, and a "Close" button 81c for stopping the current operation of automatically parking the vehicle 10.

[0124] <Remote Mobile Control Using Information Terminal 60>

[0125] Next, refer to Figures 9 to 16 , remote movement control of the vehicle 10 using the information terminal 60 is described.

[0126] Figure 9This diagram illustrates an example of movement control of vehicle 10 using information terminal 60 from outside vehicle 10. While user U1 of vehicle 10 is not in vehicle 10, user U1 uses their information terminal 60 to issue a second movement control execution instruction (parking instruction) to remotely park vehicle 10 in parking space P. While this example illustrates remote parking, the same instruction applies to remote unparking of vehicle 10 from parking space P.

[0127] When receiving the second execution request of the second movement control from the user U1, the information terminal 60 and the server 90 perform a second determination process to determine whether the user U1 has the execution authority related to the second movement control, and based on the result of the second determination process, the vehicle 10 executes the second movement control.

[0128] Figure 10 : is a timing chart showing an example of the second determination process in remote parking. Figure 10 As shown, the information terminal 60 held by user U1 receives an activation operation for the remote parking function (step S31). The activation operation for the remote parking function is a second execution request for remote parking (second movement control) from user U1. For example, the activation operation involves launching an application for instructing the execution of movement control of vehicle 10 and clicking a "remote parking button."

[0129] Next, the information terminal 60 authenticates user U1 (step S32). This authentication can be accomplished by, for example, entering the user ID into the terminal screen 71 of the information terminal 60 or performing facial recognition based on a camera image. The information terminal 60 transmits the user information collected through authentication, along with a query regarding the user's execution authority for the second motion control, to the server 90 (the second server) (step S33).

[0130] Upon receiving a query regarding user U1's execution authority, server 90 obtains, for example, execution authority information associated with the user ID and managed (step S34). In this example, it is assumed that user U1 has execution authority related to remote parking of vehicle 10. Server 90 transmits execution authority information ("Authorized") indicating that user U1 has execution authority related to remote parking of vehicle 10 to information terminal 60 (step S35).

[0131] When the execution authority information (authorized) is received from the server 90 in step S35, the information terminal 60 activates the "RPS switch" for receiving the instruction to execute the second movement control by RPS, for example, by lighting the button indicating the "RPS switch" on the touch panel 42 (step S36). Then, when the user U1 touches the "RPS switch" button on the touch panel 42, the vehicle 10 accepts the operation of the RPS switch (step S37), and enters the state of the vehicle 10. Figure 11 processing steps.

[0132] Figure 11 : is a timing chart showing an example of remote parking control executed based on the result of the second determination process. Figure 10 As described above, when it is determined that the user U1 has the execution authority related to the remote parking of the vehicle 10 and accepts the operation of the RPS switch, the information terminal 60 displays a disclaimer (notes regarding remote parking regulations) on the terminal screen 71 and accepts the user U1's consent operation for the disclaimer (step S38). The disclaimer screen will refer to Figure 12 Described later.

[0133] Next, after receiving the disclaimer consent operation from the user U1, the information terminal 60 receives the power-on operation for starting the vehicle 10 (step S39). The screen for receiving the power-on operation will refer to Figure 13 The information terminal 60 transmits the power-on instruction received in step S39 and the disclaimer consent response information received in step S38 to the vehicle 10 (step S40 ).

[0134] Vehicle 10 selects information terminal 60, which has sent the consent response message, as the driver terminal of user U1 with execution authority (step S41). This enables information terminal 60 to instruct remote parking of vehicle 10 and establishes a communication connection with vehicle 10. Vehicle 10 then sends a display instruction to information terminal 60, selected as the driver terminal, to display an acceptance screen for accepting instructions for the parking location of vehicle 10 (step S42).

[0135] Upon receiving the display instruction from the vehicle 10, the information terminal 60 displays a parking position acceptance screen on the terminal screen 71, and receives the parking position instruction from the user U1 (step S43). Upon receiving the parking position instruction, the information terminal 60 transmits the received parking position instruction to the vehicle 10 (step S44).

[0136] Upon receiving the parking position instruction from the information terminal 60 , the vehicle 10 transmits a display instruction to the information terminal 60 to display a screen accepting the remote parking execution instruction (step S45 ).

[0137] When receiving the display instruction of the acceptance screen from the vehicle 10, the information terminal 60 displays the acceptance screen on the terminal screen 71 and accepts the execution instruction of the remote parking from the user U1 (step S46). Figure 14 This will be described later. Upon receiving a remote parking execution instruction from the user U1, the information terminal 60 transmits the received remote parking execution instruction to the vehicle 10 (step S47).

[0138] Upon receiving the remote parking execution instruction from the information terminal 60 , the vehicle 10 starts remote parking according to the execution instruction (step S48 ). When the remote parking is completed (step S49 ), the vehicle 10 turns off the ignition switch (step S50 ).

[0139] in addition, Figure 10 The user authentication in step S32 can also be performed in advance, for example, when the information terminal 60 is released from sleep mode. Furthermore, while the second movement control in this example describes remote parking of the vehicle 10, the present invention is not limited thereto. For example, the second movement control can also involve remote unparking of the vehicle 10. In the case of remote unparking, the ignition switch may not be turned off after the remote unparking is completed.

[0140] Figure 12 7 is a diagram showing an example of a disclaimer screen 72 displayed on the terminal screen 71 of the information terminal 60. The disclaimer screen 72 is displayed when it is determined that the user U1 has the execution authority related to the remote parking of the vehicle 10. The disclaimer screen 72 is displayed, for example, Figure 11 is displayed in step S38.

[0141] like Figure 12 As shown, the disclaimer screen 72 includes consent text 72a, such as "Note: This function does not include fully autonomous driving." Furthermore, the disclaimer screen 72 includes an consent button 72b, which the user U1 presses to agree to the precautions. Furthermore, the disclaimer screen 72 includes text such as "I agree to the precautions." that is displayed when the consent button 72b is pressed and the user U1 slides over the consent button 72b, indicating agreement to the precautions.

[0142] Figure 13 7 is a diagram showing an example of a power startup screen 73 displayed on the terminal screen 71 of the information terminal 60. The power startup screen 73 is a screen displayed when the user U1 accepts the disclaimer consent operation. Figure 11 is displayed in step S39.

[0143] like Figure 13As shown, the power startup screen 73 includes, for example, a vehicle image 73a of the vehicle 10 and a power startup button 73b for performing remote parking. Furthermore, the power startup screen 73 includes a close button 73c for closing the power startup screen 73 when canceling remote parking.

[0144] Figure 14 7 is a diagram showing an example of an execution instruction receiving screen 74 displayed on the terminal screen 71 of the information terminal 60. The execution instruction receiving screen 74 is a screen displayed when an instruction to display an acceptance screen for accepting a remote parking execution instruction is received from the vehicle 10. The execution instruction receiving screen 74 is displayed, for example, Figure 11 is displayed in step S46.

[0145] like Figure 14 As shown, the execution instruction acceptance screen 74 includes, for example, a movement icon 74a that moves in accordance with the touch position of the user U1 during the turn-slide operation. Furthermore, the execution instruction acceptance screen 74 includes a guidance message 74b, such as "Parking by turn-slide" or "Stop when finger released," for executing or temporarily pausing remote parking of the vehicle 10. The movement icon 74a and guidance message 74b are examples of guidance images that encourage the user U1 to execute the remote parking instruction. Furthermore, the execution instruction acceptance screen 74 includes an execution status image 74c above the area displaying the movement icon 74a, indicating the execution status of parking control for the vehicle 10 (the status of the vehicle's movement). Furthermore, the execution instruction acceptance screen 74 includes, for example, a warning message 74d, such as "Please check your surroundings," on the right side of the execution status image 74c, to call the attention of the user U1 who is instructing the operation. For example, the information terminal 60 transmits a remote parking movement instruction to move the vehicle 10 while accepting the rotation and sliding operation of the movement icon 74a, and transmits a remote parking stop instruction to stop the vehicle 10 when the rotation and sliding operation of the movement icon 74a is stopped.

[0146] Figure 15 It means in Figure 10 This is a sequence diagram showing a case where the user U1 does not have the execution authority related to remote parking in the second determination process. Figure 15 As shown, the processing of steps S31 to S33 is the same as Figure 10 The processing of steps S31 to S33 described in is the same.

[0147] Upon receiving a query regarding user U1's execution authority, server 90 obtains the execution authority information associated with the user ID and managed (step S34). In this example, user U1 does not have execution authority related to remote parking of vehicle 10 (no authority). Server 90 transmits execution authority information (no authority) indicating that user U1 does not have execution authority related to remote parking of vehicle 10 to information terminal 60 (step S35).

[0148] Upon receiving the execution authority information (no authority) from the server 90 in step S35 , the information terminal 60 displays a message indicating that there is no execution authority on the terminal screen 71 (step S41 ).

[0149] In addition, the case of this example is not limited to the control of remote parking of the vehicle 10, and may also be the control of remote exit of the vehicle 10.

[0150] <Message during Secondary Movement Control>

[0151] Figure 16 This is a diagram showing an example of a message screen displayed during the second movement control. Figure 15 The screen displayed on the terminal screen 71 of the information terminal 60 when the user U1 does not have the execution authority related to remote parking in step S41 of the process.

[0152] like Figure 16 As shown, the message screen 75 includes an execution permission message 75a notifying the user of the lack of execution permission, such as "No execution permission for the RPS function." Furthermore, the message screen 75 includes a "Buy" button 75b for purchasing the execution permission for the RPS function online and a "Close" button 75c for stopping the current operation of remote parking the vehicle 10.

[0153] As described above, in the control system 1 of this embodiment, with respect to the first movement control that causes the vehicle 10 to move while the user U1 is seated in the vehicle 10, the computing unit 52 of the vehicle 10 performs the first determination process to determine whether the user U1 has execution authority related to the first movement control. With respect to the second movement control that causes the vehicle 10 to move while the user U1 is not seated in the vehicle 10, the information terminal 60 in the possession of the user U1 performs the second determination process, not via the computing unit 52 of the vehicle 10. Therefore, even when the user U1 is not seated in the vehicle 10, the determination process to determine whether the user U1 has execution authority related to the vehicle 10 can be performed. This reduces the response time during the execution determination process and prevents the leakage of the user's personal information, compared to a configuration in which the information terminal 60 performs the execution authority determination process via the computing unit 52 of the vehicle 10. Consequently, the execution authority of the user U1 related to the target function of the vehicle 10 can be appropriately determined.

[0154] 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 being stored in 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 and an information terminal, or can be included in an electronic device such as a smartphone, a tablet terminal, or a personal computer that can communicate with the control device and the information terminal, or can be included in a server device that can communicate with these control devices, information terminals, and electronic devices.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] (1) A control system (control system 1) comprising a control device (calculation unit 52) ​​provided in a mobile object (vehicle 10) and an information terminal (information terminal 60) held by a user of the mobile object, wherein:

[0159] The control device comprises:

[0160] a first movement control unit (first movement control unit 55 ) for performing a first movement control for moving the moving body in a state where the user is riding on the moving body; and

[0161] a second movement control unit (second movement control unit 56 ) for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body,

[0162] When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process.

[0163] When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

[0164] According to (1), regarding the second movement control for moving the mobile body when the user is not on the mobile body, the information terminal held by the user performs the execution authority determination process without going through the control device of the mobile body. Thus, the execution authority determination process can be performed even when the user is not on the mobile body. Compared with a structure in which the information terminal performs the execution authority determination process via the control device of the mobile body, the response time can be shortened and the leakage of personal information can be prevented. As a result, the user's execution authority related to the target function of the mobile body can be appropriately determined.

[0165] (2) The control system according to (1), wherein:

[0166] The control device includes a first input unit (first input unit 58 ) capable of receiving an instruction to execute the first movement control.

[0167] When it is determined by the first determination process that the user's execution authority related to the first movement control is valid, the control device controls the first input unit to receive an instruction to execute the first movement control.

[0168] The information terminal includes a second input unit (terminal screen 71 ) capable of receiving an instruction to execute the second movement control.

[0169] When it is determined by the second determination process that the execution authority of the user related to the second movement control is valid, the information terminal is controlled so that the second input unit receives an instruction to execute the second movement control.

[0170] According to (2), when the user's execution authority related to the second mobile control is determined to be valid, the information terminal causes the second input unit to enter a state of accepting an execution instruction for the second mobile control without going through the control device of the mobile body. This allows the user to accept the execution authority even when the user is not riding in the mobile body. This shortens the response time and prevents the leakage of personal information compared to a configuration in which the information terminal accepts the execution authority via the control device of the mobile body. Thus, the user's execution authority related to the target function of the mobile body can be appropriately determined.

[0171] (3) The control system according to (2), wherein:

[0172] If the first determination process does not determine that the user's execution authority related to the first movement control is valid, the control device controls the first input unit so that it does not accept the execution instruction of the first movement control.

[0173] If the second determination process does not determine that the user's execution authority for the second movement control is valid, the information terminal is controlled so that the second input unit does not accept an instruction to execute the second movement control.

[0174] According to (3), when the user's execution authority related to the second mobile control is not determined to be valid, the information terminal causes the second input unit to enter a state in which the execution instruction of the second mobile control is not accepted. This allows the user to be identified as not accepting the execution authority even when the user is not riding in the mobile object. This shortens the response time and prevents the leakage of personal information compared to a structure in which the information terminal accepts the execution authority via the control device of the mobile object. Thus, the user's execution authority related to the target function of the mobile object can be appropriately determined.

[0175] (4) The control system according to any one of (1) to (3), wherein:

[0176] The control device includes a first communication unit (first communication unit 57) capable of communicating with a first server, and performs the first determination process by querying the first server via the first communication unit.

[0177] The information terminal includes a second communication unit (processor 61 and communication interface 63) capable of communicating with a second server that is the same as or different from the first server, and executes the second determination process by querying the second server via the second communication unit.

[0178] As described in (4), the information terminal performs the second determination process by querying the second server via the second communication unit, not via the control device of the mobile body. This allows the determination process of the execution authority to be performed even when the user is not riding in the mobile body. This shortens the response time and prevents the leakage of personal information compared to a configuration in which the information terminal performs the determination process of the execution authority via the control device of the mobile body. Thus, the user's execution authority related to the target function of the mobile body can be appropriately determined.

[0179] (5) The control system according to (4), wherein:

[0180] The information terminal includes a storage unit (memory 62) for storing the past results of the second determination process.

[0181] When communication with the second server is impossible, the information terminal causes the control device to execute the second movement control based on the result of the second determination process stored in the storage unit.

[0182] According to (5), when communication with the second server is impossible, the information terminal performs the execution authority determination process based on the result of the second determination process stored in the storage unit, not via the control device of the mobile body. This allows the execution authority determination process to be performed even when the user is not riding in the mobile body and in a poor communication environment. Compared with a configuration in which the information terminal performs the execution authority determination process via the control device of the mobile body, the response time can be shortened and the leakage of personal information can be prevented. Thus, the user's execution authority related to the target function of the mobile body can be appropriately determined.

[0183] (6) A control method comprising a control device provided in a mobile body and a control system of an information terminal held by a user of the mobile body, wherein:

[0184] The control device comprises:

[0185] a first movement control unit that performs a first movement control for moving the moving body in a state where the user is riding on the moving body; and

[0186] a second movement control unit for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body;

[0187] When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process.

[0188] When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

[0189] According to (6), regarding the second movement control for moving the mobile body when the user is not on the mobile body, the information terminal held by the user performs the execution authority determination process without going through the control device of the mobile body. Thus, the execution authority determination process can be performed even when the user is not on the mobile body. Compared with a structure in which the information terminal performs the execution authority determination process via the control device of the mobile body, the response time can be shortened and the leakage of personal information can be prevented. As a result, the user's execution authority related to the target function of the mobile body can be appropriately determined.

Claims

1. A control system comprising a control device provided on a mobile object and an information terminal held by a user of the mobile object, wherein: The control device comprises: a first movement control unit for performing a first movement control for moving the moving body while the user is riding on the moving body; as well as a second movement control unit for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body; When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process. When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

2. The control system according to claim 1, wherein: The control device includes a first input unit capable of receiving an instruction to execute the first movement control. When it is determined by the first determination process that the user's execution authority related to the first movement control is valid, the control device controls the first input unit to receive an instruction to execute the first movement control. The information terminal includes a second input unit capable of receiving an instruction to execute the second movement control. When it is determined by the second determination process that the execution authority of the user related to the second movement control is valid, the information terminal is controlled so that the second input unit receives an instruction to execute the second movement control.

3. The control system according to claim 2, wherein: If the first determination process does not determine that the user's execution authority related to the first movement control is valid, the control device controls the first input unit so that it does not accept the execution instruction of the first movement control. If the second determination process does not determine that the user's execution authority for the second movement control is valid, the information terminal is controlled so that the second input unit does not accept an instruction to execute the second movement control.

4. The control system according to any one of claims 1 to 3, wherein: The control device includes a first communication unit capable of communicating with a first server, and executes the first determination process by querying the first server via the first communication unit. The information terminal includes a second communication unit capable of communicating with a second server that is the same as or different from the first server, and executes the second determination process by querying the second server via the second communication unit.

5. The control system according to claim 4, wherein: The information terminal includes a storage unit for storing past results of the second determination process. When communication with the second server is impossible, the information terminal causes the control device to execute the second movement control based on the result of the second determination process stored in the storage unit.

6. A control method comprising a control device provided in a mobile body and a control system of an information terminal held by a user of the mobile body, wherein: The control device comprises: a first movement control unit for performing a first movement control for moving the moving body while the user is riding on the moving body; as well as a second movement control unit for performing a second movement control for moving the moving body in a state where the user is not riding on the moving body; When receiving a request from the user to execute the first movement control, the first movement control unit performs a first determination process to determine the user's execution authority related to the first movement control, and executes the first movement control based on a result of the first determination process. When receiving a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority related to the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process.

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