Control device, control method, and computer program product

Abstract

Provided are a control device, a control method, and a computer program product with which it is possible to prevent a user from feeling disordered when executing a function of a moving body. A control device for a vehicle (30) is provided with an acquisition unit (2) that acquires authority information relating to an execution authority for a predetermined function that can be executed in the vehicle (30), and an automatic driving control unit (100) that executes the predetermined function on the basis of the authority information. When the execution permission is valid, the automatic driving control unit (100) executes: a first notification for notifying that the execution permission is valid; stopping the first notification when the acquisition of the permission information is abnormal in a state in which the predetermined function is not selected; and stopping the first notification after the selection of the predetermined function is cancelled when an abnormality has occurred in the acquisition of the permission information in a state in which the predetermined function has been selected.

Description

Technical Field

[0001] This invention relates to a control device, a control method, and a computer program product. Background Technology

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into account vulnerable groups among traffic participants have become increasingly active. To achieve this goal, research and development efforts are focused on further improving the safety and convenience of transportation through the development of preventative safety technologies.

[0003] Previously, a license management system was known in which a user obtains license data for enabling vehicle functions, and this license data is managed externally along with management data associated with the vehicle. The vehicle then retrieves this management data from the external source, thereby enabling the functions within the vehicle. In this license management system, the user is sometimes notified that a specified function is available, for example, by illuminating an indicator. Additionally, when a specified function is executed, an image related to the execution of that function is sometimes displayed on the vehicle's screen to notify the user.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-59278

[0007] Patent Document 2: Japanese Patent Application Publication No. 2023-68389

[0008] Patent Document 3: Japanese Patent Application Publication No. 2021-62683 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] However, when both indicator-based and image-based notifications are being sent, and the vehicle is unable to obtain management data from the outside due to adverse conditions, thus compromising the functionality, it is necessary to change the content of the indicator-based and image-based notifications. However, depending on the timing of these changes, the notification content can sometimes be difficult for the user to understand.

[0011] Patent document 1 describes a display control device in which devices related to the display control of a vehicle are connected via a communication bus such as a CAN (Controller Area Network) bus. In the event that CAN data cannot be obtained, the device displays an abnormality image on the display area to alert the occupants to the abnormality of the vehicle's onboard equipment.

[0012] Patent Document 2 describes a vehicle notification system in which the vehicle's movement is detected based on information collected from various sensors, and it is determined whether the driver needs to be handed over to the driver. If the driver needs to be handed over, the system displays the handover to the driver on a display unit.

[0013] Patent document 3 describes a parking assist device in which the parking assist ECU (Electronic Control Unit) and the drive ECU transmit and receive signals via CAN. In the event of a communication abnormality between the parking assist ECU and the drive ECU, the driving force restriction is terminated even if the conditions for terminating parking assist control are not met, thereby enabling the vehicle to move according to the driving force requested by the driver.

[0014] However, Patent Documents 1 through 3 do not explicitly specify the timing of changes to indicator-based and image-display-based notifications. Therefore, there is room for improvement in vehicle motion control methods that utilize multiple types of user notifications, such as those based on indicators and image displays.

[0015] The purpose of this invention is to provide a control device, control method, and computer program product that can suppress user confusion regarding the execution of functions of a mobile device. This, in turn, contributes to the development of sustainable transportation systems.

[0016] Solution for solving the problem

[0017] This invention relates to a control device, specifically a control device for a moving body, wherein...

[0018] The control device includes:

[0019] The acquisition unit acquires permission information related to the execution permission of a specified function that can be performed in the mobile body; and

[0020] The control unit executes the prescribed functions based on the aforementioned permission information.

[0021] If the execution permission is valid, the control unit performs the following processing:

[0022] Send a first notification that the execution permission is valid;

[0023] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0024] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0025] This invention relates to a control method performed by a control device for a mobile body. The control device includes: an acquisition unit that acquires permission information related to the execution permission of a predetermined function that can be executed in the mobile body; and a processor that executes the predetermined function based on the permission information.

[0026] If the execution permission is valid, the processor performs the following processing:

[0027] Send a first notification that the execution permission is valid;

[0028] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0029] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0030] This invention relates to a computer program product comprising a control program for a control device of a mobile body. The control device includes: an acquisition unit that acquires permission information related to the execution permission of a predetermined function executable in the mobile body; and a processor that executes the predetermined function based on the permission information.

[0031] The control program causes the processor to perform the following processing when the execution permission is valid:

[0032] Send a first notification that the execution permission is valid;

[0033] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0034] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0035] Invention Effects

[0036] According to the present invention, a control device, control method, and computer program product can be provided that can suppress the user's perception of confusion regarding the execution of the functions of a mobile body. Attached Figure Description

[0037] Figure 1 This is a diagram showing an example of the structure of the FoD system 1, which includes the control device of this embodiment.

[0038] Figure 2This is a block diagram illustrating the function of the control device in this embodiment.

[0039] Figure 3 This figure shows an example of a control device mounted on a vehicle.

[0040] Figure 4 This is a flowchart illustrating an example of the control of the display screen when a vehicle is automatically parked.

[0041] Figure 5 This is a flowchart illustrating an example of the control of an SW / indicator that shows the presence or absence of execution permissions related to automatic parking.

[0042] Figure 6 This is a diagram illustrating an example of a typical image displayed on a monitor of an input / output device.

[0043] Figure 7 This is an example of an image displayed when the Auto Parking SW / Indicator, which is used to initiate the vehicle's auto parking function, is pressed.

[0044] Figure 8 This is an example of an image displayed when the remote parking button, used to initiate the vehicle's automatic parking function, is pressed.

[0045] Figure 9 This is an example of an image displayed when the parking frame for automatically parking the vehicle is selected.

[0046] Figure 10 This is an example of an image displayed when the vehicle's parking position is selected in remote parking.

[0047] Figure 11 This is an example of an image displayed when the parking position selection screen has not selected a parking box.

[0048] Figure 12 This is an example of an image displayed during the stage when the parking position selection screen in remote parking is not selected.

[0049] Figure 13 This is an example of an image displayed during the automatic parking maneuver in APS.

[0050] Figure 14 This is an example of an image displayed during the automatic parking process of RPS.

[0051] Explanation of reference numerals in the attached figures:

[0052] 30: Vehicles (moving objects)

[0053] 31: Camera (External Information Acquisition Department)

[0054] 38: Communications Department (Acquisition Department)

[0055] 100: Automated driving control unit (control unit). Detailed Implementation

[0056] Hereinafter, an embodiment of the control device of the present invention will be described with reference to the accompanying drawings. Furthermore, in the following description of the embodiment, a vehicle 30, such as an automobile, will be used as an example of the moving body in the present invention.

[0057] Figure 1 This is a diagram illustrating an example of the structure of a FoD (Function on demand) system 1, which includes the control device of this embodiment. (See diagram for details.) Figure 1 As shown, FoD system 1 includes a server 20, vehicles 30 capable of communicating with the server 20, and an information terminal 10. One vehicle 30 is shown in this example, but there could be multiple vehicles.

[0058] Server 20 is, for example, an external server located in a management center or similar facility. Server 20 associates the permission information related to the execution permissions of a vehicle obtained by a user when using vehicle 30 with the user (user ID) for management purposes.

[0059] Server 20 controls the activation / deactivation (on / off) of the functions of vehicle 30 when the user uses vehicle 30. Specifically, server 20 controls the activation / deactivation of functions in vehicle 30 by sending a function activation signal to enable the function and a function deactivation signal to disable the function.

[0060] Information terminal 10 is an information terminal owned by the user, such as a smartphone. After purchasing the main body of vehicle 30, the user can purchase, for example, online through information terminal 10, the execution rights related to the specified functions of vehicle 30. By sending the execution right ID obtained through purchase from information terminal 10 to server 20, the user can use the purchased functions in vehicle 30.

[0061] Vehicle 30 is a vehicle capable of so-called autonomous or assisted driving. Furthermore, vehicle 30 can be a vehicle with a defined user, such as a privately owned vehicle, or it can be a vehicle without a defined user, such as a vehicle owned by a corporation. Those who can use a privately owned vehicle include, for example, the vehicle owner, their family members, relatives, and friends. Vehicles owned by corporations include rental cars, car-sharing vehicles, and other vehicles that can be used by an indefinite number of users with a defined contract. The control device in this embodiment is a control device installed in vehicle 30, capable of controlling the autonomous or assisted driving of vehicle 30.

[0062] Figure 2 This is a block diagram illustrating the function of the control device in this embodiment. For example... Figure 2 As shown, the control device 300 includes an acquisition unit 2 that obtains permission information of the vehicle 30 from an external source, and an automatic driving control unit 100 that performs controls related to the automatic parking of the vehicle 30 based on the permission information obtained by the acquisition unit 2. Furthermore, the control device 300 includes a first notification unit 3 and a second notification unit 4 that operate based on notification instructions from the automatic driving control unit 100. Each unit is connected, for example, via a CAN (Controller Area Network) communication network.

[0063] The acquisition unit 2 obtains, for example, permission information related to the execution permission of a specified function that can be performed in the vehicle 30 from the server 20. The specified function refers to a function related to the movement control of the vehicle 30. Specified functions include, for example, the vehicle 30's automatic parking system (APS; RPS: Remote Parking System, etc.). Furthermore, specified functions may also include the vehicle 30's automatic exit from parking spaces, lane changing (ALC), parking assistance displaying images for assisted parking, etc.

[0064] Based on the permission information obtained by the acquisition unit 2, the autonomous driving control unit 100 executes the prescribed functions that the vehicle 30 can perform. For example, if the execution permission for the prescribed function based on the permission information is valid, the autonomous driving control unit 100 issues a first notification that the execution permission is valid. Valid execution permission for the prescribed function means that the function can be executed in the vehicle 30. The first notification means, for example, if the prescribed function is related to the automatic parking function of the vehicle 30, illuminating an indicator that indicates the automatic parking function is enabled.

[0065] Furthermore, if an anomaly occurs in the acquisition of permission information while the specified function has not been selected, the automatic driving control unit 100 will stop the first notification. The state of not selecting a specified function refers to the state where the user has not selected any function available on the vehicle 30. For example, if the specified function is related to the automatic parking function of the vehicle 30, the state of not selecting a specified function means that the automatic parking button to start automatic parking has not been pressed. An anomaly in the acquisition of permission information refers to a state where permission information cannot be obtained normally due to, for example, an anomaly in the communication unit (acquisition unit 2), an anomaly in the communication range between the server 20 and the communication unit (e.g., a communication anomaly caused by a large obstruction, radio wave interference, etc.), or an anomaly in the server 20.

[0066] Furthermore, if an anomaly occurs in obtaining permission information while the specified function is selected, the automatic driving control unit 100 stops the first notification after deselecting the specified function. The state of selecting a specified function refers to the state where the specified function has been selected from the various functions possessed by the vehicle 30 through a user selection operation. For example, if the specified function is related to the automatic parking function of the vehicle 30, the state of selecting the specified function means that the automatic parking button has been pressed. In other words, it refers to the state of preparing for or executing the specified function, i.e., the state where the user intends to execute the specified function. Deselecting the specified function means restoring the state transitioned to through function selection. For example, if the specified function is related to the automatic parking function of the vehicle 30, when the automatic parking execution screen is displayed based on the pressing of the automatic parking button, the system returns to the normal screen displayed when the automatic parking button is not pressed. The normal screen includes, for example, external information about the vehicle 30's surroundings.

[0067] Furthermore, when a specified function is selected, the autonomous driving control unit 100 issues a second notification related to the execution of that function. This second notification, for example, if the specified function is related to the automatic parking function of the vehicle 30, displays an automatic parking execution screen indicating the movement status of the automatic parking system. The autonomous driving control unit 100 continues to execute the first notification while executing the second notification. That is, the autonomous driving control unit 100 does not stop the first notification while executing the second notification, and stops the first notification only after stopping the second notification.

[0068] The first notification unit 3 issues a first notification based on the notification instruction from the automatic driving control unit 100. For example, if the specified function is related to the automatic parking function of the vehicle 30, the first notification unit 3 illuminates an indicator indicating that automatic parking is enabled. The second notification unit 4 issues a second notification based on the notification instruction from the automatic driving control unit 100. For example, if the specified function is related to the automatic parking function of the vehicle 30, the second notification unit 4 displays an automatic parking execution screen indicating the status of automatic parking.

[0069] Furthermore, if, when the execution permission for a specified function is valid and the specified function is selected, an anomaly occurs in obtaining permission information before the execution of the selected specified function, the autonomous driving control unit 100 stops the first notification after issuing a third notification that the specified function cannot be executed. The third notification refers to, for example, a notification that automatic parking cannot be executed if the selected specified function is related to the automatic parking function of the vehicle 30. Furthermore, if, when the execution permission for a specified function is valid and the specified function is selected, an anomaly occurs in obtaining permission information during the execution of the selected specified function, the autonomous driving control unit 100 stops the first notification after issuing a fourth notification to suspend the execution of the specified function and suspending the execution of the specified function. The fourth notification refers to, for example, a notification to suspend the execution of automatic parking if the selected specified function is related to the automatic parking function of the vehicle 30.

[0070] Furthermore, if an anomaly occurs in the acquisition of permission information while a second notification related to the execution of a specified function is being performed, the automatic driving control unit 100 switches from the display screen of the second notification related to the execution of the specified function to the normal screen displayed when the specified function is not selected, and then stops the first notification. The second notification is an example of the "first screen display" of the present invention. The normal screen is an example of the "second screen display" of the present invention.

[0071] Furthermore, the autonomous driving control unit 100 determines whether an abnormality has occurred in the acquisition of authorization information, for example, based on an anomaly in the CAN communication between the acquisition unit 2 and the autonomous driving control unit 100. The autonomous driving control unit 100 determines whether an abnormality has occurred in the communication between the acquisition unit 2 and the autonomous driving control unit 100 based on the period during which there is no response from the acquisition unit 2. For example, if the period during which there is no response from the acquisition unit 2 lasts for 2000 ms, the autonomous driving control unit 100 determines that a timeout error has occurred.

[0072] Figure 3 This diagram shows an example of a control device 300 mounted on a vehicle 30. (See diagram for example.) Figure 3As shown, the control unit 300 includes a camera 31, a radar device 32, a detector 33, a vehicle sensor 34, an input / output device 36, a communication unit 38, an automatic parking SW / indicator 39, and a navigation device 40. Furthermore, the control unit 300 includes a driver operating unit 50, an automatic driving control unit 100, a driving force output device 200, a braking device 210, a steering device 220, and a communication unit 230. These devices are connected to each other via a wired or wireless communication network. For example, a CAN network can be used to connect these devices.

[0073] Camera 31 is a digital camera that captures images of the surroundings of vehicle 30 (e.g., in front of vehicle 30) and outputs the captured external information (image data) to the autonomous driving control unit 100. Radar device 32 is, for example, a radar device using millimeter-wave radio waves, that detects the positions of objects located around vehicle 30 (e.g., in front, behind, and to the sides of vehicle 30) and outputs the detection results to the autonomous driving control unit 100.

[0074] Detector 33, for example, is a LIDAR (Laser Imaging Detection and Ranging) device that uses a specified laser to measure the distance to the position of objects located around the vehicle 30 (e.g., in front of, behind, and to the side of the vehicle 30), and outputs the measurement results to the autonomous driving control unit 100. Camera 31, radar device 32, and detector 33 are examples of the "external information acquisition unit" of this invention.

[0075] Vehicle sensors 34 include, for example, a vehicle speed sensor to detect the speed of vehicle 30, an acceleration sensor to detect the acceleration of vehicle 30, an angular velocity sensor to detect the angular velocity of vehicle 30 about its vertical axis, and an orientation sensor to detect the orientation of vehicle 30. Furthermore, vehicle sensors 34 include an electromagnetic field strength sensor to detect the intensity of electromagnetic waves used by the communication unit 38 in communication (i.e., the communication environment). Additionally, vehicle sensors 34 include a facial recognition device for recognizing the driver's face, a fingerprint sensor for detecting the driver's fingerprint, and a voiceprint sensor for detecting the driver's voiceprint. Vehicle sensors 34 output the detection results from each sensor to the autonomous driving control unit 100.

[0076] The input / output device 36 includes output devices that output various information to the user of the vehicle 30 (hereinafter, also simply referred to as the user), and input devices that receive various input operations from the user. The output devices of the input / output device 36 may be, for example, a display that shows the processing results based on the automatic driving control unit 100. The output device may also be a speaker, a buzzer, an indicator light, etc.

[0077] Furthermore, the input devices of the input / output device 36 may be, for example, touch panels or operation buttons (keys, switches, etc.) that output operation signals corresponding to input operations received from the user to the autonomous driving control unit 100. The input devices of the input / output device 36 may input, for example, identification information for identifying the user, and functional information of the vehicle 30 that the user wishes to obtain. Identification information input from the input devices may include, for example, the user's name, address, credit card number, and phone number. Functional information of the vehicle 30 input from the input devices may include functional information related to autonomous driving and assisted driving. Furthermore, functional information may include, for example, functional information related to the safety of the vehicle 30, and functional information related to comfort, etc.

[0078] The communication unit 38 is a communication interface that connects wirelessly to the base station 5 and communicates with the server 20 via the base station 5. The communication unit 38 transmits the user's access rights information for the vehicle 30 and identification information that identifies the user to the server 20 via the base station 5. Furthermore, the communication unit 38 receives access rights information related to the execution rights of specified functions that can be performed in the vehicle 30 from the server 20 via the base station 5. This access rights information includes the user's contract information for the vehicle 30.

[0079] The communication unit 38 is an example of the "acquisition unit 2" of the present invention. The communication unit 38 can, for example, be configured as a telematics control unit (TCU) capable of bidirectional communication. Furthermore, the communication unit 38 can also utilize cellular networks, Wi-Fi networks, Bluetooth, DSRC (Dedicated Short Range Communication), etc. Additionally, the communication unit 38 can also receive permission information from the user's information terminal 10 via, for example, BLE (Bluetooth Low Energy).

[0080] The Auto Parking SW / Indicator 39 is a button for starting or ending the auto parking function of the vehicle 30, and a display for indicating whether the auto parking function of the vehicle 30 can be executed (execution permission). For example, the Auto Parking SW / Indicator 39 can execute auto parking when it is illuminated, and cannot execute auto parking when it is off. By pressing the Auto Parking SW / Indicator 39 when it is illuminated, the auto parking function can be started or ended. That is, the execution permission for auto parking is valid when the Auto Parking SW / Indicator 39 is illuminated.

[0081] The navigation device 40 includes a GNSS (Global Navigation Satellite System) receiver 41 and an input / output device 42. Furthermore, the navigation device 40 includes a storage device (not shown) such as a hard disk drive (hereinafter also referred to as HDD) or flash memory, in which first map information 43 is stored. The first map information 43, for example, represents the shape of a road by indicating road segments and nodes connecting these segments. Additionally, the first map information 43 may include information indicating the curvature of the road and POI (Point of Interest) information.

[0082] The GNSS receiver 41 determines the latitude and longitude of the vehicle 30's location based on signals received from GNSS satellites. Furthermore, the navigation device 40 can determine or correct the vehicle 30's position using the INS (Inertial Navigation System) output from the vehicle's sensors 34.

[0083] Input / output device 42 includes output devices that output various information to the user and input devices that receive various input operations from the user. The output devices of input / output device 42 may be, for example, a display that shows the processing results of navigation device 40 (e.g., a path on a map described later). Furthermore, the input devices of input / output device 42 may be, for example, a touch panel, operation buttons (keys, switches, etc.) that output operation signals corresponding to input operations received from the user to navigation device 40. Input / output device 42 may also be shared with input / output device 36.

[0084] Although detailed descriptions are omitted, the navigation device 40, for example, refers to the first map information 43 to determine the path (hereinafter also referred to as the map path) from the position of the vehicle 30 determined by the GNSS receiver 41 to the destination input by the user. The navigation device 40 guides the user along the determined map path via the input / output device 42. Furthermore, the navigation device 40 is configured to output information indicating the determined position of the vehicle 30 and the determined map path to the automatic driving control unit 100.

[0085] The driving control unit 50 includes various control components such as the accelerator pedal, brake pedal, gear shift lever, steering wheel, irregularly shaped steering wheel, and joystick. The driving control unit 50 is equipped with sensors that detect the amount of operation or the presence or absence of operation on the driving control unit 50. The detection results from the sensors of the driving control unit 50 are output to some or all of the following: the automatic driving control unit 100, the driving force output device 200, the braking device 210, and the steering device 220.

[0086] The driving force output device 200 outputs driving force (torque) for the vehicle 30 to drive the drive wheels. The driving force output device 200 may include, for example, an electric motor and an electric motor ECU (Electronic Control Unit) for controlling the electric motor. The electric motor ECU controls the electric motor based on sensor detection results from the driving control element 50 (e.g., the accelerator pedal) and control information from the automatic driving control unit 100. Furthermore, if the vehicle 30 has an internal combustion engine and a transmission as a drive source, the driving force output device 200 may include the internal combustion engine, the transmission, and the ECU that controls them.

[0087] The braking device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a braking ECU. The braking ECU controls the electric motor of the braking device 210 based on the detection results of the sensors of the driving control unit 50 (e.g., the brake pedal) and control information from the automatic driving control unit 100, and outputs the braking torque corresponding to the braking operation to each wheel.

[0088] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor of the steering system 220 applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor of the steering system 220 to change the direction (i.e., steering angle) of the steering wheels based on the detection results of the sensors on the driving control element 50 (e.g., the steering wheel) and the control information from the automatic driving control unit 100.

[0089] Communication unit 230 is a communication interface that directly communicates with information terminal 10. Information terminal 10 wirelessly transmits remote instruction signals to vehicle 30 from the outside to enable automatic parking or automatic exit from a parking space. Information terminal 10 has an application program installed that can automatically control vehicle 30 by sending and receiving information related to the remote instructions to vehicle 30. Vehicle 30 receives the remote instruction signals sent from information terminal 10 via communication unit 230. Automatic driving control unit 100 of vehicle 30 controls automatic parking or automatic exit from a parking space according to the remote instruction signals received via communication unit 230. For example, BLE is used for wireless communication.

[0090] The autonomous driving control unit 100 includes an environment recognition unit 110, a high-precision location recognition unit 120, an action plan generation unit 130, an action control unit 140, and an access control unit 150. Furthermore, the autonomous driving control unit 100 includes a storage device (not shown) implemented with flash memory or similar means, accessible to the various functional units of the autonomous driving control unit 100 (e.g., the high-precision location recognition unit 120), which stores second map information 160.

[0091] The environmental recognition unit 110 performs sensor fusion processing on some or all of the information acquired by the camera 31, radar device 32, and detector 33 to identify objects around the vehicle 30 and determine their positions. The environmental recognition unit 110 identifies, for example, obstacles, road shapes, traffic lights, guardrails, utility poles, surrounding vehicles (including speed, acceleration, and parking status), lane markings, pedestrians, etc., and determines their positions. The environmental recognition unit 110 is an example of the "external information acquisition unit" of the present invention.

[0092] The high-precision position recognition unit 120 identifies the detailed position and attitude of the vehicle 30 by referring to the position of the vehicle 30 determined by the navigation device 40, the detection results of the vehicle sensor 34, the image captured by the camera 31, the second map information 160, etc. For example, the high-precision position recognition unit 120 identifies the driving lane that the vehicle 30 is traveling in, or identifies the relative position and attitude of the vehicle relative to the driving lane.

[0093] The action plan generation unit 130 generates an action plan for the vehicle 30. Specifically, the action plan generation unit 130 generates the target track that the vehicle 30 will travel on as the action plan for the vehicle 30. The target track is, for example, information that arranges the locations (track points) that the vehicle 30 should reach at intervals of a predetermined travel distance (e.g., approximately several meters). In addition, the target track may include information on speed elements such as the target speed and target acceleration of the vehicle 30 at each predetermined time or at each track point.

[0094] The action control unit 140 controls the vehicle 30 to move according to the action plan generated by the action plan generation unit 130. Specifically, the action control unit 140 controls the driving force output device 200, the braking device 210, and the steering device 220 to make the vehicle 30 pass through the target track generated by the action plan generation unit 130 at a predetermined time. The action control unit 140 controls the driving force output device 200 and the braking device 210, for example, based on the speed element associated with the target track, or controls the steering device 220 based on the curvature of the target track.

[0095] The permission management unit 150 manages permission information received from the server 20 via the communication unit 38 from the automatic driving control unit 100, which relates to the execution permissions of specified functions that can be performed in the vehicle 30.

[0096] The second map information 160 is high-precision map information with higher accuracy than the first map information 43. The second map information 160 may include, for example, information indicating the center of a lane, information indicating lane boundaries (e.g., road markings), etc. Furthermore, the second map information 160 may also include road information, traffic control information, residential information, facility information, telephone number information, etc. The second map information 160 can be updated at any time. For example, the second map information 160 may be updated based on some or all of the information obtained by the camera 31, radar device 32, and detector 33.

[0097] It should be noted that the various functional units of the autonomous driving control unit 100 are implemented, for example, by the CPU executing a prescribed program (software). Furthermore, some or all of the functional units of the autonomous driving control unit 100 can also be implemented using hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA, or GPU (Graphics Processing Unit). For example, the storage device storing the second map information 160 and the high-precision position recognition unit 120 can also be implemented using MPU (Map Positioning Unit). Moreover, some or all of the functional units of the autonomous driving control unit 100 can be implemented through the cooperation of software and hardware.

[0098] The vehicle 30 equipped with such a control device 300 is a vehicle capable of autonomous driving based on automated driving control. The level of automated driving is, for example, based on SEAJ 3016 established by SAE International, and is classified into levels 0 to 5 according to the degree of automation. A high degree of automation means, for example, a low degree of control of the vehicle based on the driver's (user's) operation of the vehicle 30, i.e., requiring less driver monitoring of the vehicle's surroundings.

[0099] Specifically, Level 0 is a driving level without automation. At Level 0, the driver performs all driving operations. Level 1 is a driving level where the vehicle 30 performs any one of the operations of acceleration, steering, and braking (driving assistance). At Level 1, under specific conditions, the vehicle 30 controls any one of the accelerator, brake, or steering wheel operations according to the surrounding conditions, and the driver of the vehicle 30 performs all other driving operations. Level 2 is a driving level where the vehicle 30 performs multiple operations of acceleration, steering, and braking simultaneously (partial driving automation). At Level 2, the driver of the vehicle 30 has the obligation to monitor the surroundings. Level 3 is a driving level where the control unit 300 performs all operations of acceleration, steering, and braking, and the driver only responds when requested by the control unit 300 (conditional automatic driving). At Level 3, the control unit 300 monitors the surroundings, and the driver of the vehicle 30 has no obligation to monitor the surroundings. Level 4 is a driving level where the vehicle 30 performs all driving operations under specific conditions and the driver of the vehicle 30 does not need to be replaced even if the control unit 300 cannot continue driving (advanced automatic driving). Level 5 is the driving level (fully automated driving) in which the control device 300 performs automatic driving under all conditions. Therefore, in Levels 4 and 5, the control device 300 will respond even in emergencies.

[0100] Furthermore, taking the driving conditions for levels 0 to 5 as an example, as long as the level of automation of vehicle 30 decreases from high to low in the order of level 5, level 4, level 3, level 2, level 1, and level 0, that is, the driver's tasks increase from few to many, these conditions can be arbitrarily set. For example, some or all of levels 1 to 5 can be in an autonomous driving state, or some or all of levels 1 to 5 can be in a driving assistance state instead of an autonomous driving state. In addition, the number of driving levels is not limited to 6.

[0101] The functions possessed by vehicle 30 are those related to the autonomous driving and assisted driving of vehicle 30. The functions possessed by vehicle 30 can include all functions related to the autonomous driving and assisted driving of vehicle 30. For example, the driving levels 1 to 5 of vehicle 30 can be mapped to functions A to E respectively. Furthermore, for example, functions such as Adaptive Cruise Control System, Lane Keeping Assist System, cruise control, lane changing, lane takeover, lane splitting, and merging can be set as functions possessed by vehicle 30.

[0102] Next, refer to Figure 4 and Figure 5An example of the control device 300 for automatic parking of vehicle 30 will be explained. Figure 4 This is a flowchart illustrating an example of the control of the display screen when vehicle 30 is automatically parked.

[0103] First, the control device 300 displays the normal screen that would be displayed when the automatic parking mode is not selected on the display of the input / output device 42 in the navigation device 40 of the vehicle 30 (step S11). The normal screen is, for example, a top-down view and a three-dimensional image of the vehicle 30 (e.g., a reference image). Figure 6 ).

[0104] Next, the control device 300 determines whether the automatic parking execution permission in the vehicle 30 is valid (step S12). Valid automatic parking execution permission means that the permission information indicating the validity of the automatic parking execution permission can be obtained normally. Being able to obtain the permission information normally means that the permission information has been obtained recently, for example, no incident has occurred. Figure 5 The permission information was obtained through the "timeout error" and other methods mentioned later.

[0105] In step S12, if the automatic parking function is not authorized (step S12: No), the control device 300 repeats step S12. If the automatic parking function is authorized in step S12 (step S12: Yes), the control device 300 determines whether the automatic parking function of the vehicle 30 has been selected (step S13). Selecting the automatic parking function means, for example, that the user has pressed the automatic parking SW / indicator 39 of the vehicle 30.

[0106] If the automatic parking function is not selected in step S13 (step S13: No), the control device 300 returns to step S12 and repeats each process. If the automatic parking function is selected in step S13 (step S13: Yes), the control device 300 displays the automatic parking execution pre-execution screen on the display of the input / output device 42 (step S14). The automatic parking execution pre-execution screen refers, for example, a screen displaying a top-down image and a three-dimensional image of the vehicle 30, as well as the parking frame (target position) for parking the vehicle 30 (e.g., refer to...). Figure 7 or Figure 8 The screen displayed before automatic parking is an example of the "second notification" of this invention.

[0107] Next, the control device 300 determines whether it has received an execution instruction for automatic parking (step S15). Receiving an execution instruction for automatic parking means, for example, that the user has selected a parking frame in the overhead view and three-dimensional image of the vehicle 30 and the parking frame (target position) for parking the vehicle 30 displayed in step S14.

[0108] In step S15, if no instruction to automatically park is received (step S15: No), the control device 300 determines whether there is an abnormality in obtaining the permission information (step S16). An abnormality in obtaining the permission information means that the permission information indicating the validity of the automatic parking permission for the vehicle 30 cannot be obtained normally. Specifically, it means that an abnormality has occurred. Figure 5 The "timeout error" mentioned later.

[0109] If there is no abnormality in obtaining the permission information in step S16 (step S16: No), the control device 300 returns to step S15 and repeats each process. If there is an abnormality in obtaining the permission information in step S16 (step S16: Yes), the control device 300 displays an unexecutable notification screen on the display of the input / output device 42 (step S17). After displaying the unexecutable notification screen, the control device 300 returns to step S11, displays a normal screen, and repeats the subsequent processes.

[0110] The "Unexecutable Notification Screen" is a screen that notifies the user that the automatic parking function of vehicle 30 cannot be executed (e.g., see reference). Figure 11 or Figure 12 The non-executable notification screen may be displayed on the display of the input / output device 42, for example, together with the auto-parking pre-execution screen displayed in step S14, or it may be displayed on the display of the input / output device 42 in place of the auto-parking pre-execution screen. Returning to step S11 and displaying the normal screen means returning the non-executable notification screen, which was transferred through the selection of the auto-parking function, to the normal screen (selection of the release function). The non-executable notification screen is an example of the "third notification" of the present invention.

[0111] On the other hand, if an automatic parking instruction is received in step S15, that is, if the user selects a parking frame (step S15: Yes), the control device 300 starts to execute the automatic parking of the vehicle 30 towards the selected parking frame (step S18).

[0112] Next, the control device 300 displays the automatic parking assist execution screen on the display of the input / output device 42 (step S19). The automatic parking assist execution screen is a screen that informs the user that the vehicle 30 is moving toward the parking frame selected by the user (e.g., see reference). Figure 9 or Figure 10 The automatic parking assist screen can be displayed on the input / output device 42's display, for example, together with the screen showing the vehicle 30 moving toward the parking frame in the automatic parking assist pre-assistance screen displayed in step S14, or it can simply display the automatic parking assist assist screen. The automatic parking assist screen is an example of the "second notification" of the present invention.

[0113] Next, the control device 300 determines whether the automatic parking of the vehicle 30 has ended (step S20).

[0114] If automatic parking ends in step S20 (Step S20: Yes), the control device 300 returns to step S11 and repeats each process. If automatic parking does not end in step S20 (Step S20: No), the control device 300 determines whether there is an abnormality in obtaining the permission information (Step S21). Regarding the abnormality in obtaining the permission information, the situation is the same as described in step S16.

[0115] If there is no abnormality in obtaining the permission information in step S21 (step S21: No), the control device 300 returns to step S20 and repeats each process. If there is an abnormality in obtaining the permission information in step S21 (step S21: Yes), the control device 300 performs a stop control to stop the automatic parking of the vehicle 30 (step S22). Stopping the automatic parking means stopping the execution of the automatic parking of the vehicle 30, but for example, if the vehicle 30 is in motion, the execution of the automatic parking is stopped after the in-motion vehicle 30 is brought to a stop.

[0116] Next, the control device 300 displays an execution stop notification screen on the display of the input / output device 42 (step S23). After displaying the execution stop notification screen, the control device 300 returns to step S20, determines whether the automatic parking has ended (in this case, whether the vehicle has stopped), and repeats the subsequent processes.

[0117] The execution stop notification screen is a screen that notifies the user that the automatic parking function of vehicle 30 has been stopped (for example, refer to...). Figure 13 or Figure 14 The execution stop notification screen may be displayed on the display of the input / output device 42 together with the automatic parking execution screen displayed in step S19, or it may be displayed on the display of the input / output device 42 in place of the automatic parking execution screen. The execution stop notification screen is an example of the "fourth notification" of the present invention.

[0118] Figure 5 This is a flowchart illustrating an example of the control of an SW / indicator that signals the presence or absence of execution permissions related to automatic parking. The control device 300 is related to the above... Figure 4 The control processing described herein is performed in parallel with the control processing of the display screen.

[0119] The control device 300 determines whether it is the right time to obtain permission information (step S31). The right time to obtain permission information is set to a fixed period, for example. The control device 300 repeatedly obtains permission information from the server 20 at regular intervals via the communication unit 38.

[0120] If the opportunity to acquire is not found in step S31 (step S31: No), the control device 300 repeats the process of step S31 until the opportunity to acquire is found. If the opportunity to acquire is found in step S31 (step S31: Yes), the control device 300 performs the acquisition process of sending a request signal for sending permission information to the server 20 via the communication unit (step S32).

[0121] Next, the control device 300 determines whether the automatic driving control unit 100 can obtain the permission information sent from the server 20 from the communication unit 38 via CAN communication (step S33).

[0122] If the permission information can be obtained in step S33 (step S33: Yes), the control device 300 determines whether the automatic parking execution permission in the obtained permission information is valid (step S34).

[0123] If the automatic parking execution permission is valid in step S34 (step S34: Yes), the control device 300 will notify the automatic parking SW / indicator 39 with valid permission to illuminate (step S35). The illumination of the automatic parking SW / indicator 39 is an example of the "first notification" of the present invention. After illuminating the automatic parking SW / indicator 39, the control device 300 returns to step S31 and repeats each process.

[0124] On the other hand, if the authorization information cannot be obtained in step S33 (step S33: No), the control device 300 determines whether a timeout error has occurred (step S36). A timeout error refers to an error that occurs when authorization information is not sent from the communication unit 38 to the automatic driving control unit 100 within a specified period.

[0125] If no timeout error occurs in step S36 (step S36: No), the control device 300 returns to step S31 and repeats each process.

[0126] If a timeout error occurs in step S36 (step S36: Yes), the control device 300 determines whether a normal screen is being displayed on the display of the input / output device 42 (see reference). Figure 6 (Step S37).

[0127] If the normal screen is not displayed in step S37 (step S37: No), the control device 300 repeats the process of step S37 and remains in standby mode until the normal screen is displayed. The normal screen being displayed means that, for example... Figure 4As explained, for example, after the processing of steps S17, S19, and S23, the screen transitioned from the non-executable notification screen, the automatic parking execution screen, and the execution stop notification screen through the selection of the automatic parking function returns to the normal screen (selection of the release function).

[0128] If the normal screen is displayed in step S37 (step S37: Yes), the control device 300 will turn off the automatic parking SW / indicator 39, notifying that the authorization to perform automatic parking of the vehicle 30 is invalid (step S38). That is, the control device 300 notifies that automatic parking of the vehicle 30 cannot be performed by turning off the automatic parking SW / indicator 39. Furthermore, the control device 300 does not turn off the automatic parking SW / indicator 39 before displaying the normal screen. After turning off the automatic parking SW / indicator 39, the control device 300 returns to step S31 and repeats each process.

[0129] On the other hand, if the automatic parking execution permission is invalid in step S34 (step S34: no), the control device 300 enters step S37 and performs the processing in step S37 and thereafter.

[0130] Next, refer to Figures 6 to 14 The image displayed on the screen of the input / output device 42 in the navigation device 40 of the vehicle 30 will be described.

[0131] Figure 6 This is a diagram illustrating an example of an image of a typical screen displayed on the display of the input / output device 42. For example... Figure 6 As shown, when the specified functions that vehicle 30 can perform are not selected (e.g., automatic parking, automatic exit from parking space, automatic lane changing, etc.), images such as a top-down view 60A and a 3D image 60B of vehicle 30 are displayed on the display of input / output device 42 as images in a normal screen. In this example, the top-down view 60A and the 3D image 60B, which include external information about the surroundings of vehicle 30, are shown as images in a normal screen, but this is not limited to these; for example, they could also be navigation images, menu images, entertainment images, etc.

[0132] Figure 7 This is an example of an image displayed when the automatic parking SW / indicator 39 for starting the automatic parking of vehicle 30 is pressed. For example, in Figure 6 When the normal screen image is displayed as shown, if the Auto Hold SW / Indicator 39 is pressed, as shown... Figure 7 As shown, the image displays a parking position selection screen, which shows an overhead view 60A and a three-dimensional image 60B of the vehicle 30, as well as parking frames 71, 72, and 73 for the vehicle 30 to park.

[0133] Additionally, the overhead view 60A of the parking position selection screen displays a fine-tuning button 61 that can zoom in on the 3D image 60B, and a confirmation button 62 for touch operation after selecting the parking frame representing the parking position of vehicle 30. Furthermore, the 3D image 60B of the parking position selection screen displays messages to the user such as "Please select a parking position" 63 and "Please directly check the surroundings" 64. The parking position selection screen is equivalent to... Figure 4 The screen shown before the automatic parking is executed, as described in step S14.

[0134] Figure 8 This diagram illustrates an example of the image displayed when the remote parking button for initiating automatic parking of vehicle 30 is pressed. Remote parking refers to RPS-based automatic parking, where the user uses information terminal 10, for example, from outside the vehicle 30, to automatically park the vehicle 30. The remote parking button (illustration omitted) may, for example, be a button separately from the automatic parking SW / indicator 39.

[0135] For example in Figure 6 When the remote parking button is pressed, the image shown is displayed as is in the normal screen state. Figure 8 As shown, the display of the input / output device 42 shows an image of a remote parking preparation screen, which displays messages such as "Please set the gear to P, get out of the car, and launch the smartphone application" 81.

[0136] In addition, a stop button 82 is displayed on the remote parking preparation screen to stop the remote parking of vehicle 30. When the application is launched, the parking position of vehicle 30 can be selected through the screen operation of information terminal 10. However, when the user selects the parking position for remote parking from inside vehicle 30, it can be displayed on the display of input / output device 42. Figure 7 Use the parking position selection screen shown to make your choice. The remote parking preparation screen is equivalent to... Figure 4 The screen shown before the automatic parking is executed, as described in step S14.

[0137] Figure 9 This is an example of the image displayed when the parking brake for the automatic parking function of vehicle 30 is selected. For example, in Figure 7 When the parking position selection screen shown is displayed, and any one of the parking frames 71-73 for automatic parking of vehicle 30 is selected, as shown... Figure 9 As shown, the display of the input / output device 42 shows an image of the APS execution screen, which displays messages such as "Performing APS-based automatic parking" 83.

[0138] In addition, the execution screen displays a stop button 84 that can abort the automatic parking function of vehicle 30. The execution screen of APS is equivalent to... Figure 4 The screen shown in step S19 is the screen during automatic parking.

[0139] Figure 10 This is an example of an image displayed when the parking position of vehicle 30 is selected in remote parking. For example, when the remote parking button is pressed and Figure 7 When the parking position selection screen shown is displayed, and any one of the parking frames 71-73 for automatic parking of vehicle 30 is selected, as shown... Figure 10 As shown, the display of the input / output device 42 shows an image of the RPS execution screen, which displays a message such as "Executing RPS-based auto hold" 85.

[0140] Furthermore, the execution screen displays a stop button 86 that can abort the automatic parking function of vehicle 30. Additionally, the images of the parking position selection screen and the execution screen of RPS can be displayed on the display of the input / output device 42 in the navigation device 40, or on the display screen of the information terminal 10. The execution screen of RPS is equivalent to... Figure 4 The screen shown in step S19 is the screen during automatic parking.

[0141] Figure 11 It is shown in Figure 7 This is an example of an image displayed during a stage in the parking position selection screen where the parking box is not selected. For example, in... Figure 7 The image of the parking position selection screen shown is displayed, but the parking positions 71-73 for automatic parking of vehicle 30 have not yet been selected. For example, if an error occurs in obtaining authorization information from the communication unit 38 to the automatic driving control unit 100, such as... Figure 11 As shown, the display of the input / output device 42 shows an image of an APS non-executable notification screen, which displays a message such as "Unable to perform APS-based automatic parking" 87.

[0142] In addition, the non-executable notification screen displays a stop button 88 that can abort the automatic parking function of vehicle 30. The APS non-executable notification screen is equivalent to... Figure 4 The non-executable notification screen described in step S17.

[0143] Figure 12 This is an example of an image displayed during the stage in remote parking where the parking position selection screen has not selected a parking box. In remote parking, for example, in... Figure 7The image of the parking position selection screen shown is displayed, but the parking frames 71-73 for automatic parking of vehicle 30 have not yet been selected. For example, if an error occurs in obtaining permission information from the communication unit 38 to the automatic driving control unit 100, such as... Figure 12 As shown, an image of an RPS non-executable notification screen is displayed on the display of input / output device 42, which displays a message such as "Unable to perform RPS-based auto hold" 89.

[0144] Furthermore, the non-executable notification screen displays a stop button 90 that can abort the automatic parking function of vehicle 30. Additionally, the image of the RPS non-executable notification screen can be displayed on the display screen of information terminal 10. The RPS non-executable notification screen is equivalent to... Figure 4 The non-executable notification screen described in step S17.

[0145] Figure 13 It is shown in Figure 9 This is an example of an image displayed during the automatic parking maneuver of the APS as described in the diagram. For example, in... Figure 9 When the image of the APS execution screen is displayed as shown, that is, during the automatic parking operation of the APS, for example, when an abnormality occurs in obtaining permission information from the communication unit 38 to the automatic driving control unit 100, such as... Figure 13 As shown, the display of the input / output device 42 shows an image of the APS execution abort notification screen, which displays a message such as "Abort APS-based Auto Parking" 91. Furthermore, the execution abort notification screen displays an abort button 92 that can stop the auto parking of the vehicle 30. The APS execution abort notification screen is equivalent to... Figure 4 The execution stop notification screen described in step S23.

[0146] Figure 14 It is shown in Figure 10 The image shown is an example of the image displayed during the automatic parking execution of RPS as described in the diagram. In remote parking, for example in... Figure 10 When the image of the RPS execution screen is displayed as shown, that is, during the automatic parking execution of the RPS, for example, when an abnormality occurs in obtaining permission information from the communication unit 38 to the automatic driving control unit 100, such as... Figure 14 As shown, the display of the input / output device 42 shows an image of the RPS execution abort notification screen, which displays a message such as "Abort RPS-based auto hold" 93.

[0147] Furthermore, the execution abort notification screen displays an abort button 94 that can stop the automatic parking function of vehicle 30. Additionally, the image of the RPS execution abort notification screen can be displayed on the display screen of information terminal 10. The RPS execution abort notification screen is equivalent to... Figure 4 The execution stop notification screen described in step S23.

[0148] As described above, when the automatic parking function is authorized, the control device 300 will notify the valid automatic parking SW / indicator 39 to light up. When the automatic parking function is selected, the automatic parking execution screen related to the execution of automatic parking will be displayed on the display of the input / output device 42.

[0149] Furthermore, if the acquisition of permission information is abnormal when the automatic parking function is not selected, the control device 300 will immediately turn off the automatic parking SW / indicator 39. If the acquisition of permission information is abnormal when the automatic parking function is selected, the control device 300 will turn off the automatic parking SW / indicator 39 after returning the displayed automatic parking execution screen to the normal screen displayed when the automatic parking function is not selected.

[0150] According to this structure, it is possible to prevent a situation where the notification content of the automatic parking function selection state notified by the display image of the input / output device 42 is not linked to the notification content of the effective / invalid status of the automatic parking execution permission notified by the automatic parking SW / indicator 39. For example, it is possible to avoid a situation where, although the image of the automatic parking execution screen is displayed on the display of the input / output device 42, the automatic parking SW / indicator 39 is off, indicating that the automatic parking execution permission is invalid. As a result, it is possible to easily identify multiple different notification contents in the automatic parking control of the vehicle 30.

[0151] Furthermore, if an error occurs in obtaining permission information when the user has not selected a parking frame while the Auto Parking SW / Indicator 39 is pressed and the Auto Parking Execution Preview is displayed on the input / output device 42, the control device 300 will turn off the Auto Parking SW / Indicator 39 after displaying an "Auto Parking Execution Cannot Be Performed" notification screen. If an error occurs in obtaining permission information when the user has selected a parking frame in the Auto Parking Execution Preview and the Auto Parking Execution In-Process View is displayed, the control device 300 will turn off the Auto Parking SW / Indicator 39 after displaying an "Execution Stop" notification screen and stopping the Auto Parking Execution.

[0152] This structure also prevents a situation where the selection status of the auto-parking function, indicated by the display image of the input / output device 42, is not linked to the notification content of the effective / invalid status of the auto-parking execution permission, indicated by the auto-parking SW / indicator 39. Furthermore, by displaying an unexecutable notification screen and an execution abort notification screen, the control status of the vehicle 30's auto-parking can be accurately and easily communicated to the user.

[0153] Furthermore, the control method described in the foregoing embodiments can be implemented by a computer executing a pre-prepared control program. This control program is recorded in a computer-readable storage medium and is executed by reading it from the storage medium. Furthermore, this control program may be provided in the form of storage on a non-transitory storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer executing this control program may be included in a control device, or in an electronic device such as a smartphone, tablet computer, or personal computer capable of communicating with the control device, or in a server device capable of communicating with these control devices and electronic devices.

[0154] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments and can be appropriately modified or improved.

[0155] For example, in the above embodiment, the case of automatic parking (APS, RPS) of vehicle 30 towards the parking space (target parking position) has been described, but it is not limited to this. For example, the control device of the present invention can also be applied when vehicle 30 automatically leaves the parking space and performs lane changing (ALC).

[0156] Furthermore, while the above embodiments illustrate the use of a vehicle as the moving body, the invention is not limited to this. The concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, and the like that possess a drive source and are capable of movement powered by that drive source.

[0157] Furthermore, at least the following matters are described in this specification. Also, although the corresponding components and the like are shown in parentheses in the above embodiments, the present invention is not limited thereto.

[0158] (1) A control device for a moving body (vehicle 30), wherein,

[0159] The control device includes:

[0160] The acquisition unit (communication unit 38) acquires permission information related to the execution permission of a specified function that can be performed in the mobile unit; and

[0161] The control unit (autonomous driving control unit 100) executes the prescribed functions based on the aforementioned authorization information.

[0162] If the execution permission is valid, the control unit performs the following processing:

[0163] Send a first notification that the execution permission is valid;

[0164] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0165] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0166] According to (1), if an abnormality occurs in the acquisition of permission information while the specified function is selected, the selected function state is deactivated before the first notification of the validity of the execution permission of the specified function is stopped. Therefore, it is possible to prevent the selected function state from becoming disconnected from the notification content of the first notification. Thus, it is possible to easily identify multiple different notification contents in the movement control of the mobile body. (2) According to the control device described in (1), wherein,

[0167] When the specified function is selected, the control unit sends a second notification related to the execution of the specified function.

[0168] According to (2), by making a second notification related to the execution of the specified function, it is easy to identify that the specified function has been selected.

[0169] (3) The control device according to (2), wherein,

[0170] The control unit continues to issue the first notification while executing the second notification.

[0171] According to (3), the first notification continues rather than is stopped during the execution of the second notification, thus preventing a situation where the content of the second notification is not linked to the content of the first notification.

[0172] (4) The control device according to any one of (1) to (3), wherein,

[0173] The control unit performs the following processing when the execution permission is valid and the specified function is selected:

[0174] If an abnormality occurs in obtaining the permission information before the execution of the specified function, the first notification is stopped after a third notification indicating that the specified function cannot be executed; and

[0175] If an abnormality occurs in the acquisition of the permission information during the execution of the specified function, the first notification is stopped after a fourth notification indicating the suspension of the execution of the specified function is issued and the execution of the specified function is suspended.

[0176] According to (4), if an anomaly occurs in the acquisition of permission information while the specified function is selected, a third notification indicating that the specified function cannot be executed is issued before the first notification to stop, and a fourth notification indicating that the execution of the specified function is suspended is issued before the first notification to stop, thus preventing a situation where the selected state of the specified function is not linked to the notification content of the first notification. Furthermore, by displaying the third and fourth notifications, the control status of automatic parking can be accurately and easily communicated to the user.

[0177] (5) The control device according to any one of (1) to (4), wherein,

[0178] The control unit is capable of displaying a first screen when the specified function is selected, and a second screen when the specified function is not selected.

[0179] When the control unit is displaying the first screen while the specified function is selected, and then switches from the first screen display to the second screen display due to an abnormality in the acquisition of the permission information, it stops the first notification.

[0180] According to (5), if an abnormality occurs in the acquisition of permission information when the specified function is selected, the display of the first screen in the selected function state is switched to the display of the second screen in the unselected function state before the first notification is stopped. Therefore, it can prevent the selected function state from becoming unlinked with the notification content of the first notification.

[0181] (6) The control device according to (5), wherein,

[0182] The specified functions include functions related to the movement of the moving body.

[0183] The first screen displays a screen showing the execution of functions related to the movement.

[0184] According to (6), as the first screen display when the specified function is selected, the screen displaying the execution screen of the function related to the movement of the moving body is displayed, thereby making it easy to identify that the specified function has been selected.

[0185] (7) The control device according to (5) or (6), wherein,

[0186] The control device also includes an external information acquisition unit (such as a camera 31) for acquiring external information about the surrounding environment of the moving body.

[0187] The second screen displays the external information.

[0188] As in (7), the content displayed on the second screen when the specified function is not selected is preferably external information about the surroundings of the moving body.

[0189] (8) The control device according to any one of (1) to (7), wherein,

[0190] The acquisition unit is a communication unit that obtains the permission information through communication with the server.

[0191] As in (8), in order to obtain permission information related to the execution permission of the specified function, it is preferable to use the communication unit that communicates with the server.

[0192] (9) The control device according to (8), wherein,

[0193] The communication unit receives the user's contract information from the server as the permission information.

[0194] As in (9), the contract information of the user of the mobile body is preferably included as permission information related to the execution permission of the specified function.

[0195] (10) The control device according to (8) or (9), wherein,

[0196] The control unit determines whether an anomaly has occurred in the acquisition of the permission information based on an anomaly in the communication between the communication unit and the control unit.

[0197] As in (10), in order to detect any abnormalities that occur when obtaining permission information, it is preferable to determine whether there is a communication abnormality between the communication unit and the control unit.

[0198] (11) The control device according to any one of (1) to (10), wherein,

[0199] The control unit determines whether an anomaly has occurred in the communication between the communication unit and the control unit based on the period during which there is no response from the communication unit.

[0200] As in (11), when determining whether an abnormality has occurred in the communication between the communication unit and the control unit, it is preferable to detect the period during which there is no response from the communication unit.

[0201] (12) A control method performed by a control device for a mobile body, the control device comprising: an acquisition unit that acquires permission information related to execution permission of a predetermined function executable in the mobile body; and a processor that executes the predetermined function based on the permission information, wherein...

[0202] If the execution permission is valid, the processor performs the following processing:

[0203] Send a first notification that the execution permission is valid;

[0204] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0205] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0206] According to (12), if an anomaly occurs in the acquisition of permission information while the specified function is selected, the selected function state is deactivated before the first notification that the execution permission of the specified function is valid is stopped. Therefore, it is possible to prevent the selected function state from becoming disconnected from the notification content of the first notification. As a result, it is possible to easily identify multiple different notification contents in the movement control of the mobile body.

[0207] (13) A computer program product comprising a control program for a control device of a mobile body, the control device comprising: an acquisition unit that acquires permission information related to execution permission of a predetermined function executable in the mobile body; and a processor that executes the predetermined function based on the permission information, wherein...

[0208] The control program causes the processor to perform the following processing when the execution permission is valid:

[0209] Send a first notification that the execution permission is valid;

[0210] If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped; and

[0211] If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

[0212] According to (13), if an anomaly occurs in the acquisition of permission information while the specified function is selected, the selected function state is deactivated before the first notification that the execution permission of the specified function is valid is stopped. Therefore, it is possible to prevent the selected function state from becoming disconnected from the notification content of the first notification. As a result, it is possible to easily identify multiple different notification contents in the movement control of the mobile body.

Claims

1. A control device for a moving body, wherein, The control device includes: The acquisition unit acquires permission information related to the execution permission of a specified function that can be performed in the mobile body; and The control unit executes the prescribed functions based on the aforementioned permission information. If the execution permission is valid, the control unit performs the following processing: Send a first notification that the execution permission is valid; If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped. as well as If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

2. The control device according to claim 1, wherein, When the specified function is selected, the control unit sends a second notification related to the execution of the specified function.

3. The control device according to claim 2, wherein, The control unit continues to issue the first notification while executing the second notification.

4. The control device according to claim 1, wherein, The control unit performs the following processing when the execution permission is valid and the specified function is selected: If an abnormality occurs in the acquisition of the permission information before the execution of the specified function, the first notification is stopped after a third notification indicating that the specified function cannot be executed. as well as If an abnormality occurs in the acquisition of the permission information during the execution of the specified function, the first notification is stopped after a fourth notification indicating the suspension of the execution of the specified function is issued and the execution of the specified function is suspended.

5. The control device according to claim 1, wherein, The control unit is capable of displaying a first screen when the specified function is selected, and a second screen when the specified function is not selected. When the control unit is displaying the first screen while the specified function is selected, and then switches from the first screen display to the second screen display due to an abnormality in the acquisition of the permission information, it stops the first notification.

6. The control device according to claim 5, wherein, The specified functions include functions related to the movement of the moving body. The first screen displays a screen showing the execution of functions related to the movement.

7. The control device according to claim 5, wherein, The control device also includes an external information acquisition unit that acquires external information about the surrounding environment of the moving body. The second screen displays the external information.

8. The control device according to claim 1, wherein, The acquisition unit is a communication unit that obtains the permission information through communication with the server.

9. The control device according to claim 8, wherein, The communication unit receives the user's contract information from the server as the permission information.

10. The control device according to claim 8, wherein, The control unit determines whether an anomaly has occurred in the acquisition of the permission information based on an anomaly in the communication between the communication unit and the control unit.

11. The control device according to any one of claims 8 to 10, wherein, The control unit determines whether an anomaly has occurred in the communication between the communication unit and the control unit based on the period during which there is no response from the communication unit.

12. A control method performed by a control device for a mobile body, the control device comprising: an acquisition unit that acquires permission information related to execution permission of a predetermined function executable in the mobile body; and a processor that executes the predetermined function based on the permission information, wherein... If the execution permission is valid, the processor performs the following processing: Send a first notification that the execution permission is valid; If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped. as well as If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

13. A computer program product comprising a control program for a control device of a mobile body, the control device comprising: an acquisition unit that acquires permission information related to execution permission of a predetermined function executable in the mobile body; and a processor that executes the predetermined function based on the permission information, wherein... The control program causes the processor to perform the following processing when the execution permission is valid: Send a first notification that the execution permission is valid; If an abnormality occurs in obtaining the permission information when the specified function is not selected, the first notification shall be stopped. as well as If an error occurs in obtaining the permission information while the specified function is selected, the first notification will be stopped after the selected function is deselected.

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