Control device, control method, and control program product

Abstract

Provided are a control device, a control method, and a control program product capable of improving user convenience. A control device (30) is provided with a detection unit (31), a derivation unit (33), and a travel control unit (34). The detection unit (31) detects a parkable area in which the vehicle (1) can be parked on the basis of outside information about the surroundings of the vehicle (1). The derivation unit (33) refers to a storage unit that stores travel route information indicating a first travel route along which the vehicle (1) travels up to the current position, and derives a second travel route for causing the vehicle to travel from a predetermined point on the first travel route to the detected parking-enabled area. The travel control unit (34) causes the vehicle to travel on the basis of the first travel route and the second travel route. Specifically, the travel control unit causes the vehicle to travel from a current position of the vehicle to the prescribed location along a first travel route, and thereafter causes the vehicle to travel from the prescribed location to a parkable area along a second travel route.

Description

Technical Field

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

[0002] In recent years, there has been a demand to improve transportation safety in order to make cities and human settlements more inclusive, safe, resilient, and sustainable. From the perspective of improving transportation safety, the development of technologies such as driver assistance systems and autonomous driving technologies is being promoted.

[0003] As an example of driving assistance technology, Patent Document 1 discloses the following technology: displaying a peripheral image generated based on the shooting results of a camera unit installed in the vehicle on a touch panel, and displaying a first mark indicating a parking area in which the vehicle can be parked on the peripheral image; when the position corresponding to the first mark is clicked, assisting in parking in the parking area indicated by the first mark.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2018-203214 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, there is room for improvement in the existing technology from the perspective of enhancing user convenience.

[0009] This invention provides a control device, control method, and control program product that can improve user convenience.

[0010] Solution for solving the problem

[0011] One aspect of the present invention is a control device that controls a vehicle, wherein,

[0012] The control device includes:

[0013] The detection department detects parking areas where the vehicle can be parked based on external information surrounding the vehicle.

[0014] The export unit, referring to a storage unit that stores travel path information representing a first travel path traveled by the vehicle up to its current position, exports a second travel path for driving the vehicle from a predetermined location on the first travel path to the parking area; and

[0015] The driving control unit enables the vehicle to travel based on the first driving path and the second driving path.

[0016] After the driving control unit causes the vehicle to travel along the first driving path from the current location to the designated location, it causes the vehicle to travel along the second driving path from the designated location to the parking area.

[0017] Another aspect of the present invention is a control method, wherein,

[0018] The control method causes the computer controlling the vehicle to perform the following processing:

[0019] Based on the external information surrounding the vehicle, a parking area is detected where the vehicle can be parked.

[0020] Referring to a storage unit that stores travel path information representing a first travel path the vehicle has traveled up to its current position, a second travel path is derived for the vehicle to travel from a designated location on the first travel path to the parking area; and

[0021] The vehicle is made to travel based on the first travel path and the second travel path.

[0022] In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location, the vehicle is driven along the second driving path from the designated location to the parking area.

[0023] Another aspect of the present invention is a control program product comprising a control program, wherein,

[0024] The control program causes the computer controlling the vehicle to perform the following processes:

[0025] Based on the external information surrounding the vehicle, a parking area is detected where the vehicle can be parked.

[0026] Referring to a storage unit that stores travel path information representing a first travel path the vehicle has traveled up to its current position, a second travel path is derived for the vehicle to travel from a designated location on the first travel path to the parking area; and

[0027] The vehicle is made to travel based on the first travel path and the second travel path.

[0028] In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location, the vehicle is driven along the second driving path from the designated location to the parking area.

[0029] Invention Effects

[0030] According to the present invention, a control device, control method, and control program product that can improve user convenience can be provided. Attached Figure Description

[0031] Figure 1 This is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of the control device of the present invention.

[0032] Figure 2 This is a diagram showing an example of driving history information 200 stored in storage unit 35.

[0033] Figure 3 This is a diagram illustrating an example of a situation envisioned in this embodiment.

[0034] Figure 4 This is a diagram showing an example of the second travel path Rt2 derived by the output section 33 of the control device 30.

[0035] Figure 5 This diagram illustrates an example of driving based on the first driving path Rt1, performed by the driving control unit 34 of the control device 30.

[0036] Figure 6 This diagram illustrates an example of driving based on the second driving path Rt2, performed by the driving control unit 34 of the control device 30.

[0037] Figure 7 This diagram illustrates an example of a situation where the output section 33 of the control device 30 outputs multiple second travel paths Rt2.

[0038] Figure 8 This is a flowchart (one) illustrating an example of the processing performed by the control device 30.

[0039] Figure 9 This is a flowchart (second example) illustrating one instance of the processing performed by the control device 30.

[0040] Figure 10 This is a diagram illustrating an example of the third driving path Rt3 and the fourth driving path Rt4 derived from the derived part 33 in the modified example.

[0041] Figure 11 This is a diagram illustrating an example of driving based on the first driving path Rt1, the third driving path Rt3, and the fourth driving path Rt4, performed by the driving control unit 34 in a modified example.

[0042] Explanation of reference numerals in the attached figures

[0043] 1 vehicle

[0044] 22. Touch panel (notification section)

[0045] 23. Speakers (Notification Section)

[0046] 30 Control device

[0047] 31. Testing Department

[0048] 32 Display Control Department (Notification Control Department)

[0049] 33 Export Section

[0050] 34. Driving Control Unit

[0051] 35 Storage Department

[0052] 91 MID (Notification Department)

[0053] 92. Buzzer (Notification Department)

[0054] P0 Location (Current Location)

[0055] P1 Location (Designated Location)

[0056] PA Parking Area

[0057] RA Reversible Region

[0058] Rt1 First Driving Path

[0059] Rt2, Rt2a, Rt2b Second driving path

[0060] Rt3 Third Driving Route

[0061] Rt4 is the fourth driving route. Detailed Implementation

[0062] Hereinafter, one embodiment of the control device, control method, and control program product of the present invention will be described in detail with reference to the accompanying drawings. The drawings are viewed from the orientation of the reference numerals. Furthermore, the following embodiments do not limit the present invention, and all elements described in the following embodiments are not limited to those essential to the present invention. The same or similar reference numerals are used to denote the same or similar elements, and their descriptions may sometimes be omitted or simplified appropriately.

[0063] [1. Vehicle]

[0064] Figure 1 The vehicle 1 shown in this embodiment is an automobile having a drive source (not shown) and wheels (not shown), the wheels including drive wheels driven by the power of the drive source and steering wheels capable of steering. As an example, vehicle 1 may be a four-wheeled automobile having a pair of front wheels on the left and right and a pair of rear wheels on the left and right.

[0065] The drive source of vehicle 1 can be an electric motor, 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 vehicle 1 can drive the left and right front wheels, the left and right rear wheels, or any one of the four wheels (left and right front wheels and left and right rear wheels). Either the front wheels or the rear wheels of vehicle 1 can be steering wheels, or both can be steering wheels.

[0066] Vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS (Electric Power Steering) system 40, a drive force control system 50, a braking force control system 60, a communication unit 70, and a notification device 90.

[0067] The sensor group 10 includes an external sensor 11 that acquires external information to identify the periphery (in other words, the surroundings) of the vehicle 1, and a vehicle sensor 12 that acquires information related to the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 is output to the control device 30 for the control device 30 to control the vehicle 1 (hereinafter also referred to as "vehicle control").

[0068] External sensors 11 include, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the surroundings of the vehicle 1, including the area in front of the vehicle 1, and outputs the resulting image data of the surroundings to the control device 30. This image data is an example of external information. As the camera 111, a digital camera utilizing imaging elements such as CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used, for example.

[0069] More specifically, camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, located above the windshield or on the front grille of vehicle 1 (neither shown), and captures the view in front of vehicle 1. The rear camera 111b is, for example, located near the license plate (in other words, the vehicle registration number plate) at the rear of vehicle 1, and captures the view behind vehicle 1. The side cameras 111c are, for example, located in the left and right side mirrors (not shown), and capture the view to the sides (i.e., left and right) of vehicle 1.

[0070] Sonar 112 emits sound waves to the periphery of vehicle 1 (e.g., in front, behind, and to the sides of vehicle 1) and receives reflected sound from objects present in the periphery of vehicle 1, thereby detecting the distance from vehicle 1 to the object, the object's orientation, etc., and outputs the detection results to control device 30. The detection results of sonar 112 are another example of external information.

[0071] Radar 113 emits radio waves to the area surrounding vehicle 1, including the area in front of vehicle 1, and receives reflected waves from objects present in the area surrounding vehicle 1, thereby detecting the distance and orientation of the objects. For example, millimeter-wave radar can be used as radar 113. The detection results of radar 113 are another example of external information.

[0072] In addition, instead of sonar 112 and radar 113, or in addition to sonar 112 and radar 113, the external sensor 11 may also include LiDAR (Light Detection and Ranging). In this case, the LiDAR emits laser light into the periphery of the vehicle 1, including the front of the vehicle 1, and receives reflected light from objects present in the periphery of the vehicle 1, thereby detecting the distance from the vehicle 1 to the object, the orientation of the object, etc.

[0073] Vehicle sensors 12 include, for example, wheel sensors 121, vehicle speed sensors 122, inertial measurement units (IMUs) 123, occupant cameras 124, operation detection units 125, steering device touch sensors 126, and gear position sensors 127.

[0074] Wheel sensor 121 detects the rotation angle of one or more wheels of vehicle 1. For example, wheel sensor 121 detects the rotation angle of the left rear wheel and the right rear wheel respectively. Wheel sensor 121 can be, for example, an angle sensor, a displacement sensor, etc.

[0075] Vehicle speed sensor 122 detects the vehicle speed VP (in other words, the speed at which the vehicle body moves). For example, vehicle speed sensor 122 detects vehicle speed VP based on the rotational speed of a secondary shaft (not shown) of vehicle 1.

[0076] The inertial measurement unit 123 detects the angular velocities of the vehicle 1 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 1 in the forward, left, right, and up / down directions. Alternatively, the vehicle sensor 12 may replace the inertial measurement unit 123 with an accelerometer sensor that detects the acceleration of the vehicle 1 in a specified direction, or a gyroscope sensor that detects the angular velocity of the vehicle 1 in a specified direction.

[0077] The occupant camera 124 is a digital camera used to capture images of the interior of vehicle 1 and outputs the obtained interior images to the control device 30. For example, it can be assumed that the occupant camera 124 is configured to capture the head of the occupant (e.g., the user driving vehicle 1, hereinafter also referred to as "user") sitting in the driver's seat of vehicle 1 from the front, i.e., a so-called "driver monitoring camera". As with camera 111, the occupant camera 124 can be a digital camera utilizing imaging elements such as CCD or CMOS.

[0078] The operation detection unit 125 detects operations performed using the operation input unit 129, which is configured in a manner that is operable by the user. The operation input unit 129 may include, for example, a switch, button, or the like that receives parking assist request operations as described later.

[0079] The steering system touch sensor 126 detects whether the steering system 46 of the vehicle 1 is properly held. For example, the steering system touch sensor 126 is implemented by an electrostatic capacitance sensor or the like. In this case, the electrostatic capacitance sensor is located at the part touched by the user when the steering system 46 is properly held.

[0080] For example, the gear position sensor 127 detects which of the following gears the vehicle 1 has on its gear shift lever (not shown) is in: "P (Park)," "R (Reverse)," "N (Neutral)," and "D (Drive)." Additionally, the gear position sensor 127 can also detect whether the vehicle 1 is in a gear other than "P," "R," "N," and "D" (e.g., "B (Brake)").

[0081] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. Additionally, the navigation device 20 has a storage unit (not shown) composed of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0082] The map information database 24 contains road network information. Road network information represents each road by combining nodes with road segments (also called "paths") that connect the nodes. Each node in the road network information represents a feature point on the road, such as an intersection, a corner, or a terminator. Each node in the road network information is also configured with information such as the location corresponding to that node (e.g., coordinates that determine a point on the map, such as latitude and longitude). Furthermore, each road segment in the road network information includes information such as the nodes at both ends of the segment, the road corresponding to that segment, the segment length, the number of lanes, the direction of travel, and the road type.

[0083] The GNSS receiver 21 determines the current position of vehicle 1 (e.g., the latitude and longitude of the location of vehicle 1) based on signals received from GNSS satellites. The navigation device 20 may also acquire the detection results of vehicle sensors 12 (e.g., wheel sensors 121, vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of vehicle 1 by using the INS (Inertial Navigation System) that utilizes the detection values ​​of vehicle sensors 12.

[0084] The touch panel 22 is configured, for example, by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1, including the user. The touch panel 22 is one example of a notification unit capable of performing notifications to the user. The speaker 23 is another example of a notification unit capable of performing notifications to the user.

[0085] For example, the navigation device 20 refers to the map information database 24 to search for a path from the current location of the vehicle 1 to the destination set by the user using the touch panel 22. Then, based on the searched path, the navigation device 20 provides path guidance using the touch panel 22 and the speaker 23.

[0086] Additionally, the navigation device 20 can also cause the touch panel 22 to display a specified information according to instructions from the control device 30. Furthermore, the navigation device 20 can also output specified information (such as information indicating operations received via the touch panel 22) to the control device 30. For example, the navigation device 20 can also cause the touch panel 22 to display a target parking position setting screen and a parking assist function usage recommendation notification, as described later, according to instructions from the control device 30.

[0087] The control device 30 is an example of the control device of the present invention, which is a computer that performs unified control of the vehicle 1 as a whole. The control device 30 includes, for example, a processor (not shown) that performs various calculations, a storage unit 35 that has a non-temporary storage medium for storing various information (e.g., programs, various data), and an input / output unit (not shown) that serves as an interface for inputting and outputting data between the internal and external parts of the control device 30.

[0088] The control device 30 includes, for example, a detection unit 31, a display control unit 32, an output unit 33, and a driving control unit 34 as functional units implemented by a processor executing a program stored in a storage unit 35. These functional units will be described later, so their description is omitted here. For example, the control device 30 can be implemented using one ECU (Electronic Control Unit) or multiple ECUs working together.

[0089] EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a rotary transformer 44, and an EPS ECU 45.

[0090] Steering angle sensor 41 detects the steering angle θst of steering device 46 and outputs information indicating the detected steering angle θst to EPS ECU 45. Torque sensor 42 detects the torque applied to steering device 46 of vehicle 1, i.e., steering torque TQ, and outputs information indicating the detected steering torque TQ to EPS ECU 45.

[0091] The EPS motor 43 assists the user in operating the steering device 46 by applying driving or reaction force to the steering column 47 connected to the steering device 46 according to instructions from the EPS ECU 45. The rotary transformer 44 detects the rotation angle θm of the EPS motor 43 and outputs information representing the detected rotation angle θm to the EPS ECU 45.

[0092] The EPS ECU 45 is, for example, a computer that controls the EPS system 40 (e.g., the EPS motor 43). It includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the EPS ECU 45 (all not shown). It is implemented by one or more ECUs. For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the rotary transformer 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0093] The EPS system 40 (e.g., EPS ECU 45) can also output information representing the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the rotary transformer 44 to the control device 30. Furthermore, the EPS system 40 (e.g., EPS ECU 45) can also output information representing the steering speed ω of the steering device 46 to the control device 30. In this case, the steering speed ω is obtained, for example, by time differentiation of the steering angle θst.

[0094] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is, for example, a computer that controls the drive force control system 50, and includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the drive ECU 51 (all not shown), and is implemented by one or more ECUs. For example, the drive ECU 51 controls the power output from the drive source of the vehicle 1 based on the operation of the accelerator pedal 52 provided on the vehicle 1. Furthermore, the drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to instructions from the control device 30.

[0095] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is, for example, a computer that controls the braking force control system 60, and includes a processor for performing various calculations, a storage unit with a non-temporary storage medium for storing various information, and an input / output unit for controlling the input and output of internal and external data of the braking ECU 61 (all not shown), and is implemented by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the braking device (not shown) provided by the vehicle 1 based on the operation of the brake pedal 62 provided on the vehicle 1. Here, the braking device includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the hydraulic cylinder. The braking ECU 61 controls the electric motor of the braking device to generate braking force corresponding to the operation of the brake pedal 62. Furthermore, the braking ECU 61 can also control the braking force control system 60 (e.g., the braking device) according to instructions from the control device 30.

[0096] The communication unit 70 is a communication interface used to communicate with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include, for example, a user's terminal device (e.g., a smartphone), a server device managed by the manufacturer of vehicle 1, etc. Furthermore, in the communication between vehicle 1 and the external device 2, mobile communication networks such as cellular lines, Wi-Fi, Bluetooth, etc., can be used.

[0097] The notification device 90 is a device that performs notifications (e.g., alarms) to the user under the control of the control device 30. The notification device 90 includes, for example, a MID (Multi-Information Display) 91 and a buzzer 92.

[0098] The MID91 is composed of a display device such as an LCD or OLED, and is located in a position that the user can visually confirm (e.g., in the dashboard of vehicle 1). For example, the MID91 displays a prescribed image according to instructions from the control device 30. The MID91 is another example of a notification unit capable of executing notifications to the user. Furthermore, the MID91 can also be shared with the aforementioned touch panel 22.

[0099] The buzzer 92 is configured to output a specified sound. For example, the buzzer 92 outputs a specified alarm sound, sound effect, etc., according to the instructions from the control device 30. The buzzer 92 is another example of a notification unit capable of performing notifications to the user. Furthermore, the buzzer 92 can also be shared with the aforementioned speaker 23.

[0100] [2. Control device]

[0101] Next, the control device 30 will be described in detail. First, refer to... Figure 2 An example of the information stored in the storage unit 35 will be explained.

[0102] (2-1. Driving history information stored in the storage department)

[0103] Storage unit 35, for example, storage Figure 2 The driving history information shown is 200. (For example...) Figure 2 As shown, the driving history information 200 includes, for example, information indicating the position of vehicle 1 at each moment, the steering angle θst, and the gear (e.g., "P", "R", "N", or "D"). The information indicating the steering angle θst in the driving history information 200 is one example of "control information" in this invention. Furthermore, the information indicating the gear in the driving history information 200 is another example of "control information" in this invention.

[0104] For example, when the vehicle 1 is manually driven, the control device 30 acquires information at predetermined intervals (e.g., every 10 ms) representing the latitude and longitude of the location of the vehicle 1 determined by the navigation device 20 (e.g., GNSS receiver 21), the steering angle θst detected by the EPS system 40 (e.g., steering angle sensor 41), and the gear position detected by the gear position sensor 127. Then, the control device 30 establishes a correspondence between the acquired information representing these parameters and the information representing the time of acquisition, and stores it in the storage unit 35. Thus, driving history information 200 is stored, which includes information obtained by establishing a correspondence between the information representing the position of the vehicle 1 at the same moment during manual driving, the information representing the steering angle θst, and the information representing the gear position.

[0105] Additionally, the driving history information 200 may also include other information. For example, such as... Figure 2 As shown, the driving history information 200 can also include external information at each moment. For example, the driving history information 200 can also include information representing the forward image at each moment as external information. In this case, when the vehicle 1 is manually driven, the control device 30 acquires information at predetermined intervals representing the latitude and longitude of the location of the vehicle 1 determined by the navigation device 20, the steering angle θst detected by the EPS system 40, the gear position detected by the gear position sensor 127, and the forward image captured by the forward camera 111a. It then establishes a correspondence between the acquired information representing these information and the information representing the moment of acquisition and stores it in the storage unit 35. In this way, the storage unit 35 can store the driving history information 200, which includes information obtained by establishing a correspondence between information representing the position of the vehicle 1 at the same moment during manual driving, information representing the steering angle θst, information representing the gear position, and external information.

[0106] Furthermore, the driving history information 200, which includes information indicating the position of vehicle 1 at each moment, can also be described as information indicating the temporal progression of vehicle 1's position. The temporal progression of vehicle 1's position indicates the driving path traveled by vehicle 1. Therefore, the driving history information 200 includes driving path information indicating the driving path traveled by vehicle 1. As described above, when the driving history information 200 is stored based on the case that vehicle 1 is driven manually, the driving history information 200 includes driving path information indicating the driving path (hereinafter also referred to as "first driving path Rt1") of vehicle 1 driven manually.

[0107] Furthermore, in the driving history information 200, the information indicating the steering angle θst, which corresponds to the information indicating the position of vehicle 1, indicates the steering angle θst when vehicle 1 is in that position, i.e., the operating state of the steering device 46. Therefore, the driving history information 200 can indicate the operating state of the steering device 46 when vehicle 1 is traveling on the first driving path Rt1.

[0108] Furthermore, in the driving history information 200, the gear information corresponding to the information indicating the position of vehicle 1 indicates the gear position of vehicle 1 when it is in that position, i.e., the operating state of the gear shift lever. Therefore, the driving history information 200 can indicate the operating state of the gear shift lever when vehicle 1 is traveling on the first driving path Rt1.

[0109] Furthermore, in this embodiment, the control device 30 stores the driving history information 200 of the first driving path Rt1, which represents the length of the nearest predetermined distance (e.g., 200 [m]) from the vehicle 1 to its current position, in the storage unit 35. In other words, the control device 30 deletes information from the storage unit 35 that falls outside the aforementioned predetermined distance due to the vehicle 1's movement. As a result, the storage area of ​​the storage unit 35 required to store the driving history information 200 can be reduced.

[0110] Furthermore, in this embodiment, the storage unit 35 storing the driving history information 200 is provided in the control device 30, but it is not limited to this. That is, the storage unit 35 may also be provided outside the control device 30 in a manner accessible to the control device 30.

[0111] (2-2, Control performed by the control device)

[0112] Next, refer to Figures 3 to 7 An example of control performed by control device 30 will be described.

[0113] exist Figure 3 In the example shown, vehicle 1 is manually driven by the user and is located at point P0 within the parking lot PK. That is, in Figure 3 In the example shown, location P0 is the current location of vehicle 1. Although the user attempted to park vehicle 1 in an available parking space PA within the parking lot PK by driving it himself, he was unsuccessful and temporarily parked vehicle 1 at location P0 outside the available parking space PA.

[0114] In addition, Figure 3 In the example shown, the first driving path Rt1 is the driving path that vehicle 1 travels by manual driving before reaching location P0. Furthermore, the storage unit 35 stores driving history information 200 containing driving path information representing the first driving path Rt1.

[0115] exist Figure 3 In the example shown, when a user operation requesting the use of the parking assist function is received via the touch panel 22 or the operation input unit 129 (hereinafter also referred to as "parking assist request operation"), the detection unit 31 of the control device 30 detects the parking area PA as a parking area where the vehicle 1 can be parked based on the external information obtained via the external sensor 11.

[0116] The parking assist request operation can be assumed to be, for example, clicking a designated button displayed on the touch panel 22. This button may also be displayed on the touch panel 22 along with a parking assist function usage recommendation notification described later. Alternatively, the parking assist request operation is not limited to this; it can also be an operation of a physical switch or button located on the steering mechanism 46, etc.

[0117] Furthermore, when detecting parking areas, the detection unit 31 can detect parking spaces marked by white lines or similar symbols where no other vehicles are parked (i.e., vacant parking spaces) as parking areas, and can also detect any area that can be physically used for parking vehicle 1 as a parking area. Additionally, the detection unit 31 can also detect parking areas while vehicle 1 is in motion (e.g., when vehicle 1 is traveling at low speed). Moreover, the detection unit 31 can also detect parking areas presumed to be areas where a user has attempted to park vehicle 1 (e.g.,...). Figure 3 (The parking area PA is shown). As an example, the detection unit 31 can also estimate the parking area where the user has attempted to park based on the locations of various parking areas existing around the vehicle 1 and the driving path of the vehicle 1 indicated by the driving history information 200, and detect the parking area. In this way, the parking area estimated to be the parking area where the user has attempted to park (i.e., the location that the user desires as a parking location) can be provided to the user as a candidate parking location.

[0118] When a parking area PA is detected by the detection unit 31, the display control unit 32 of the control device 30, for example, causes the touch panel 22 to display a target parking position setting screen, allowing the user to specify a target parking position. Here, the target parking position setting screen can be assumed to be a display screen showing parking frame images corresponding to the detected parking areas on a top-down image depicting the perimeter of the vehicle 1 from a bird's-eye view. For example, in... Figure 3 In the example shown, a parking area PA is detected, so a target parking position setting screen is displayed to show a parking frame image corresponding to the parking area PA on an overhead view of the area surrounding vehicle 1.

[0119] Then, when the user clicks on any parking frame image displayed on the target parking position setting screen of the touch panel 22, the control device 30 sets the parking area corresponding to that parking frame image as the target parking position. In other words, the control device 30 sets the parking area specified by the user as the target parking position. In the example described here, the parking area PA is set as the target parking position.

[0120] In this case, the output unit 33 of the control device 30 refers to the driving history information 200 stored in the storage unit 35 and outputs a second driving path Rt2 for driving the vehicle 1 from a specified location (hereinafter also referred to as "connection point Pc") on the first driving path Rt1 to the target parking position, i.e., the parking area PA.

[0121] As an example, such as Figure 4 As shown, the export unit 33 exports the path used to drive vehicle 1 from location P1 on the first driving path Rt1 to the parking area PA as the second driving path Rt2. At this time, the export unit 33 takes into account the specifications of vehicle 1 (e.g., body size, minimum turning radius), and exports the path that vehicle 1 would take when it is desired to drive vehicle 1 from location P1 to the parking area PA as the second driving path Rt2.

[0122] Then, the driving control unit 34 drives the vehicle 1 based on the first driving path Rt1 represented by the driving history information 200 stored in the storage unit 35 and the second driving path Rt2 derived by the derivation unit 33.

[0123] As an example, Figure 4 The second driving path Rt2 shown is derived from the derivation unit 33. In this case, firstly, as... Figure 5 As shown, the driving control unit 34 causes vehicle 1 to travel along the first driving path Rt1 from its current position, location P0, to the connection point Pc, location P1 (see reference). Figure 5 (See arrow α in the diagram). At this time, the driving control unit 34 controls the steering of the vehicle 1 via the EPS system 40, so that the vehicle 1 can travel while following the portion from point P0 to point P1 in the first driving path Rt1. Additionally, at this time, the driving control unit 34 can control the driving force of the vehicle 1 via the driving force control system 50, or it can control the braking force of the vehicle 1 via the braking force control system 60. However, the present invention is not limited to this; the driving force and braking force of the vehicle 1 can also be adjusted by the user via the accelerator pedal 52 and the brake pedal 62, for example. In other words, the control device 30 can also control only the steering of the vehicle 1.

[0124] Then, when vehicle 1 arrives at location P1, this time... Figure 6As shown, the driving control unit 34 causes the vehicle 1 to travel along the second driving path Rt2 from the connection point Pc, i.e., location P1, to the target parking position, i.e., the parking area PA (see reference). Figure 6 (See arrow β in the diagram). At this time, the driving control unit 34 controls the steering of the vehicle 1 via the EPS system 40, so that the vehicle 1 can travel to the parking area PA while following the second driving path Rt2. Additionally, at this time, the driving control unit 34 can control the driving force of the vehicle 1 via the driving force control system 50, or it can control the braking force of the vehicle 1 via the braking force control system 60. However, the present invention is not limited to this; the driving force and braking force of the vehicle 1 can also be adjusted by the user via the accelerator pedal 52 and the brake pedal 62. In other words, the control device 30 can also control only the steering of the vehicle 1.

[0125] As explained above, according to control device 30, even if the user manually drives to the desired parking area (e.g., Figure 3 Even if parking fails in the designated parking area (PA) shown in the diagram, vehicle 1 can still be easily parked in that area. This improves user convenience and, consequently, enhances traffic safety, contributing to the development of a sustainable transportation system.

[0126] Furthermore, according to the control device 30, it can operate continuously according to a parking assist request, performing driving along the first driving path Rt1 to the connection point Pc and driving along the second driving path Rt2 to the parking area PA. Therefore, compared to the cases where driving along the first driving path Rt1 (in other words, driving the vehicle 1 back to its previous position) and driving along the second driving path Rt2 (in other words, driving the vehicle to the target parking position) each require predetermined start operations, the user can park the vehicle 1 in the desired parking area effortlessly. Thus, user convenience is improved.

[0127] Furthermore, the detection unit 31 may detect multiple parking areas. In such a case, the derivation unit 33 can generate a second driving path Rt2 for driving the vehicle 1 to one of the detected parking areas specified by the user (i.e., the parking area designated as the target parking location). Therefore, even when multiple parking areas exist around the vehicle 1, the vehicle 1 can be parked in the area desired by the user, thus improving user convenience.

[0128] Additionally, the export unit 33 can also export multiple second driving paths Rt2. For example, such as Figure 7As shown, as multiple second driving paths Rt2, the derivation unit 33 can also derive a second driving path Rt2a for driving vehicle 1 from location P1a on the first driving path Rt1 to the parking area PA (i.e., the target parking position), and a second driving path Rt2b for driving vehicle 1 from location P1b on the first driving path Rt1 to the parking area PA.

[0129] exist Figure 7 In the example shown, two paths, second driving path Rt2a and second driving path Rt2b, are derived as multiple second driving paths Rt2, but more than three second driving paths Rt2 can also be derived. As an example, the derivation unit 33 can also select candidate locations from the current position of vehicle 1 on the first driving path Rt1 at predetermined intervals (e.g., 0.5 [m] intervals) and derive second driving paths Rt2 for vehicle 1 to travel from these candidate locations to the parking area PA respectively. In addition, in order to reduce the time required and processing burden when deriving the second driving path Rt2, only the locations on the first driving path Rt1 within a predetermined range based on the parking area PA (e.g., a range with a radius of 30 [m] centered on the parking area PA) can be used as the aforementioned candidate locations.

[0130] In this way, by deriving multiple second travel paths Rt2, the travel of vehicle 1 based on the first travel path Rt1 and the second travel path Rt2 can be made into a more preferred mode.

[0131] As an example, vehicle 1 can be driven based on the shortest driving path Rt2 (hereinafter also referred to as "second shortest path Rt2X") among multiple second driving paths Rt2 to the parking area PA. In this case, the driving control unit 34 first drives vehicle 1 along the first driving path Rt1 from its current position to the connection point Pc of the first driving path Rt1 and the second shortest path Rt2X (in other words, the location on the first driving path Rt1 corresponding to the second shortest path Rt2X). Then, the driving control unit 34 drives vehicle 1 along the second shortest path Rt2X from the connection point Pc of the first driving path Rt1 and the second shortest path Rt2X to the parking area PA.

[0132] More specifically, in Figure 7In the example shown, the second travel path Rt2a becomes the second shortest path Rt2X. Therefore, in this case, the driving control unit 34 first causes the vehicle 1 to travel along the first travel path Rt1 from its current position, location P0, to the connection point Pc, i.e., location P1a, between the first travel path Rt1 and the second travel path Rt2a (i.e., the second shortest path Rt2X). Then, the driving control unit 34 causes the vehicle 1 to travel along the second travel path Rt2a from location P1a to the parking area PA.

[0133] In this way, by having vehicle 1 travel along the second shortest path Rt2X, the travel distance to the parking area PA can be shortened compared to having vehicle 1 travel along another second travel path Rt2. Therefore, the time required to park vehicle 1 in the parking area PA and the energy consumption of vehicle 1 can be reduced.

[0134] Alternatively, by deriving multiple second driving paths Rt2, vehicle 1 can be driven based on the second driving path Rt2 that minimizes the number of turnarounds when driving to the parking area PA (hereinafter also referred to as the "second turnaround-minimum path Rt2Y"). In this case, the driving control unit 34 first drives vehicle 1 along the first driving path Rt1 from its current position to the connection point Pc of the first driving path Rt1 and the second turnaround-minimum path Rt2Y (in other words, the location on the first driving path Rt1 corresponding to the second turnaround-minimum path Rt2Y). Then, the driving control unit 34 drives vehicle 1 along the second turnaround-minimum path Rt2Y from the connection point Pc of the first driving path Rt1 and the second turnaround-minimum path Rt2Y to the parking area PA.

[0135] In this way, by having vehicle 1 travel along the second least-turn path Rt2Y, compared to traveling along other second travel paths Rt2, the number of turns required to park vehicle 1 in the parking area PA can be reduced. Therefore, the time required to park vehicle 1 in the parking area PA and the tire wear caused by turns can be reduced. Here, tire wear caused by turns includes, for example, tire wear caused by performing a so-called "stationary turn" during turns.

[0136] In addition, if the vehicle 1 is manually driven and makes more than two or more turns (e.g., three) during the period when the vehicle 1 travels a specified distance (e.g., 20 [m]), the user may encounter difficulties parking the vehicle 1.

[0137] Therefore, the display control unit 32 of the control device 30 can also issue a notification urging the use of the parking assist function, i.e., a parking assist function usage recommendation notification, when the vehicle 1 is manually driven and makes more than two predetermined number of turns during the period when the vehicle 1 travels a predetermined distance. Here, the predetermined distance and the predetermined number of turns can be appropriately determined by the manufacturer of the vehicle 1, etc.

[0138] As an example, the display control unit 32 can execute a parking assist function usage recommendation notification by displaying a message urging the use of the parking assist function (such as a message saying "You can use the parking assist function to park") on the touch panel 22 or MID 91. That is, the display control unit 32 is an example of a notification control unit in this invention.

[0139] Furthermore, the driving control unit 34 can also respond to a user's parking assist request operation after receiving a parking assist function usage recommendation notification, and drive the vehicle 1 based on the aforementioned first driving path Rt1 and second driving path Rt2 (i.e., activate the parking assist function). In this way, the parking assist function usage recommendation notification can be executed when the user wants to use the parking assist function, suppressing excessive notifications and promoting the use of the parking assist function, thereby improving user convenience.

[0140] Alternatively, the control device 30 may replace or build upon the above by outputting a sound or sound effect from the speaker 23 or the buzzer 92 to urge the use of the parking assist function, thereby providing a parking assist function usage recommendation notification.

[0141] Furthermore, when vehicle 1 is traveling along either the first travel path Rt1 or the second travel path Rt2, the movement of other parked vehicles can also be considered, and other parking areas different from the target parking location can become available for vehicle 1 to park. Moreover, in such a case, the user may also want to change the target parking location to another parking area.

[0142] Therefore, when the vehicle 1 is driven based on the first driving path Rt1 or the second driving path Rt2, and a parking area other than the parking area that is the target parking position is detected, the driving control unit 34 can also interrupt the driving of the vehicle 1. In addition, at this time, the display control unit 32 can also cause the touch panel 22 to display the aforementioned target parking position setting screen.

[0143] Furthermore, the driving control unit 34 can resume the interrupted driving of vehicle 1 even when there is no operation to change the parking position of vehicle 1 (hereinafter also referred to as "parking position change operation," such as clicking the parking frame image corresponding to other parking areas in the target parking position setting screen). On the other hand, when a parking position change operation occurs, the driving control unit 34 can also drive vehicle 1 from the position where the driving of vehicle 1 was interrupted to another parking area (in other words, a new target parking position). In this way, even when vehicle 1 is driven based on the first driving path Rt1 or the second driving path Rt2, the parking position of vehicle 1 can be changed along with the detection of other parking areas, thus improving user convenience.

[0144] (2-3, Processing performed by the control device)

[0145] Next, refer to Figure 8 and Figure 9 An example of the processing performed by the control device 30 will be described.

[0146] like Figure 8 As shown, the control device 30 first determines whether the vehicle 1 has made more than two predetermined number of backtracking turns during the period of traveling a predetermined distance (step S1). If it is determined that the predetermined number of backtracking turns has not been made (step S1: No), the control device 30 directly proceeds to the processing in step S3. If it is determined that the predetermined number of backtracking turns has been made (step S1: Yes), the control device 30 proceeds to the processing in step S2.

[0147] As an example, in step S1, the control device 30 refers to the driving history information 200 stored in the storage unit 35 to determine whether gear shifts from "R" to "D" or from "D" to "R" (i.e., gear shifts that reverse the driving direction of the vehicle 1) have been performed more than twice during the period when the vehicle 1 has traveled a predetermined distance. Then, if it is determined that such gear shifts have not been performed more than the predetermined number of times, the control device 30 considers that no reversal has been performed as required and proceeds to step S3. On the other hand, if it is determined that such gear shifts have been performed more than the predetermined number of times, the control device 30 considers that a predetermined reversal has been performed as required and proceeds to step S2.

[0148] Next, the control device 30 executes a parking assist function usage recommendation notification (step S2). For example, in step S2, the control device 30 executes the parking assist function usage recommendation notification by displaying a message urging the use of the parking assist function on the touch panel 22 or MID 91. Alternatively, the control device 30 may execute the parking assist function usage recommendation notification by outputting a sound or audio effect urging the use of the parking assist function from the speaker 23 or buzzer 92.

[0149] Next, the control device 30 determines whether a parking assist request operation exists (step S3). If no parking assist request operation is determined (step S3: No), the control device 30 ends a series of processes. If a parking assist request operation is determined (step S3: Yes), the control device 30 detects a parking area (e.g., [missing information]) based on external information acquired via external sensor 11. Figure 3 (See the parking area PA shown in step S4).

[0150] Next, the control device 30 causes the touch panel 22 to display a target parking position setting screen, which allows the user to specify which parking area among the detected parking areas as the target parking position (step S5).

[0151] Next, the control device 30 determines whether the user has specified a target parking position (step S6). If it is determined that no target parking position has been specified (step S6: No), the control device 30 repeats the process of step S6 until a target parking position is specified. If it is determined that a target parking position has been specified (step S6: Yes), the control device 30 proceeds to the process of step S7.

[0152] As an example, when the user clicks on any parking frame image in the target parking position setting screen displayed after the processing in step S5 during the processing in step S6, the control device 30 considers the parking area corresponding to that parking frame image to have been designated as the target parking position by the user, and proceeds to the processing in step S7. Alternatively, if no parking frame image in the target parking position setting screen is clicked, the control device 30 considers that the target parking position has not been designated, and repeats the processing in step S6.

[0153] Next, the control device 30 sets the parking area specified by the user as the target parking position (step S7). Then, based on the parking area set as the target parking position and the first driving path Rt1 represented by the driving history information 200, the control device 30 derives a second driving path Rt2 (step S8). Furthermore, in the process of step S8, the control device 30 can also derive multiple second driving paths Rt2. In this way, the vehicle 1 can be driven based on the second shortest path Rt2X or the second least turning path Rt2Y.

[0154] Next, the control device 30 starts the vehicle 1 to travel along the first travel path Rt1 from the current position of the vehicle 1 to the connection point Pc (step S9). Here, the connection point Pc is a location on the first travel path Rt1, which is the starting point of the second travel path Rt2 derived by the processing in step S8.

[0155] Next, the control device 30 determines, based on the external information acquired by the external sensor 11, whether it has detected another parking area that is different from the parking area that is the target parking position (step S10). If it is determined that no other parking area has been detected (step S10: no), the control device 30 proceeds to the processing of step S15, which will be described later.

[0156] If it is determined that another parking area has been detected (step S10: Yes), the control device 30 stops the driving of the vehicle 1 (step S11) and displays the target parking position setting screen on the touch panel 22 (step S12). Thus, the other parking areas detected can be communicated to the user, and the user can receive parking position change operations to change the target parking position to another parking area.

[0157] Then, as Figure 9 As shown, the control device 30 determines whether to change the target parking position (step S13). As an example, in the process of step S13, if the control device 30 receives a parking position change operation via the target parking position setting screen displayed through the process of step S12, it determines that the target parking position should be changed.

[0158] If it is determined that the target parking position has been changed (step S13: Yes), the control device 30 sets another parking area specified by the user as the new target parking position, starts driving to the new target parking position (step S14), and proceeds to the processing of step S23 described later.

[0159] If it is determined that the target parking position will not be changed (step S13: no), the control device 30 resumes the driving of vehicle 1 along the first driving path Rt1 up to the connection point Pc, which was started by the processing in step S9 (step S15).

[0160] Then, the control device 30 determines whether the vehicle 1 has reached the connection point Pc (step S16). If it is determined that the connection point Pc has not been reached (step S16: no), the control device 30 returns to the processing of the aforementioned step S10.

[0161] If it is determined that the connection point Pc has been reached (step S16: Yes), the control device 30 then causes the vehicle 1 to start traveling along the second driving path Rt2 from the connection point Pc to the target parking position, i.e., the parking area (step S17).

[0162] Next, the control device 30 determines, based on the external information acquired by the external sensor 11, whether it has detected another parking area that is different from the parking area that is the target parking position (step S18). If it is determined that no other parking area has been detected (step S18: no), the control device 30 proceeds to the processing of step S23 described later.

[0163] If it is determined that another parking area has been detected (step S18: Yes), the control device 30 stops the driving of the vehicle 1 (step S19) and displays the target parking position setting screen on the touch panel 22 (step S20). Thus, it is possible to communicate the other parking areas detected to the user and to receive parking position change operations that change the target parking position to another parking area.

[0164] Then, the control device 30 determines whether to change the target parking position (step S21). As an example, in the process of step S21, if the control device 30 receives a parking position change operation via the target parking position setting screen displayed through the process of step S20, it determines that the target parking position should be changed.

[0165] If it is determined that the target parking position will be changed (step S21: Yes), the control device 30 proceeds to the aforementioned step S14. If it is determined that the target parking position will not be changed (step S21: No), the control device 30 resumes the driving of vehicle 1 along the second driving path Rt2 to the target parking position, which was started by the process in step S17 (step S22).

[0166] Then, the control device 30 determines whether the vehicle 1 has reached the parking area designated as the target parking position (step S23). If it is determined that the vehicle 1 has not reached the parking area designated as the target parking position (step S23: No), the control device 30 returns to the aforementioned step S18. If it is determined that the vehicle 1 has reached the parking area designated as the target parking position (step S23: Yes), the control device 30 stops the vehicle 1 (step S24) and ends the series of processes.

[0167] As explained above, according to the control device 30, even if the user fails to park the vehicle in the desired parking area by manually driving, the parking assist function of the control device 30 can easily park the vehicle 1 in that parking area. This improves user convenience and, consequently, enhances traffic safety, contributing to the development of a sustainable transportation system.

[0168] [3. Variations]

[0169] Next, refer to Figure 10 and Figure 11The following describes variations of the aforementioned embodiments. Furthermore, the description will focus on the parts that differ from the aforementioned embodiments, using the same reference numerals to denote the parts identical to those in the aforementioned embodiments, and omitting or simplifying their descriptions.

[0170] For example, depending on the positional relationship between vehicle 1 and the parking area, or the surrounding environment of vehicle 1 and the parking area, it may be considered that the derivation unit 33 cannot derive a suitable second driving path Rt2. More specifically, the following situations may also occur: the second driving path Rt2 itself cannot be derived, or the driving distance becomes too long when vehicle 1 is driven based on the derived second driving path Rt2, or multiple turns occur when vehicle 1 is driven based on the derived second driving path Rt2. In such cases, it is impossible or not optimal for vehicle 1 to drive based on the second driving path Rt2.

[0171] Therefore, as Figure 10 As shown, for example, if a suitable second driving path Rt2 cannot be derived, and a reversible area RA capable of reversing the orientation of vehicle 1 exists adjacent to the first driving path Rt1, the derivation unit 33 can also derive a third driving path Rt3 for reversing the orientation of vehicle 1 within the reversible area RA, and a fourth driving path Rt4 for driving vehicle 1, whose orientation has been reversed within the reversible area RA, from the reversible area RA to the parking area PA. Here, the reversible area RA can be assumed, for example, to be an area where the orientation of vehicle 1 can be reversed by a single turn. That is, the reversible area RA can be assumed, for example, to be an area spacious enough to allow a turn to reverse the orientation of vehicle 1.

[0172] Furthermore, in this case, such as Figure 11 As shown, the driving control unit 34 can also, for example, cause the vehicle 1 to travel along the first driving path Rt1 to the reversible area RA (see reference). Figure 11 In (a) of the third travel path Rt3, the orientation of vehicle 1 is reversed in the reversible region RA (see reference). Figure 11 (b) of the above), and cause vehicle 1 to travel along the fourth travel path Rt4 from the reversible area RA to the parking area PA (see reference). Figure 11 (c) in the middle.

[0173] In this way, even if it is impossible to park vehicle 1 properly in the parking area PA without reversing its orientation, if the reversible area RA is adjacent to the first travel path Rt1, the user can park vehicle 1 in the parking area PA without much effort. Therefore, user convenience can be improved.

[0174] In addition, similar to the aforementioned embodiments, the driving control unit 34 may also interrupt the driving of the vehicle 1 when it detects another parking area that is different from the parking area that is the target parking position while the vehicle 1 is driving based on the first driving path Rt1, the third driving path Rt3 or the fourth driving path Rt4.

[0175] The driving control unit 34 can also resume the interrupted driving of vehicle 1 even when there is no parking position change operation. On the other hand, when a parking position change operation is performed, the driving control unit 34 can also drive vehicle 1 from the location where the driving of vehicle 1 was interrupted to another parking area (in other words, a new target parking position). In this way, when driving vehicle 1 based on the first driving path Rt1, the third driving path Rt3, or the fourth driving path Rt4, the parking position of vehicle 1 can be changed as other parking areas are detected, thereby improving user convenience.

[0176] As explained above, this embodiment and its variations can improve user convenience. This, in turn, can improve traffic safety and contribute to the development of a sustainable transportation system.

[0177] Various embodiments have been described above with reference to the accompanying drawings, but the present invention is not limited to these examples. Those skilled in the art will understand that various modifications or alterations can be conceived within the scope of the technical solutions described, and these modifications or alterations also fall within the technical scope of the present invention. Furthermore, the constituent elements of the above embodiments can be combined arbitrarily without departing from the spirit of the invention.

[0178] Furthermore, the control method described in the foregoing embodiments can be implemented by a computer executing a pre-prepared program (control program). This program is stored, for example, in a computer-readable storage medium and executed by reading it from the storage medium. Alternatively, this program can be provided in the form of storage on a non-volatile (non-transitory) storage medium such as flash memory, or via a network such as the Internet.

[0179] Furthermore, in the aforementioned embodiments, the computer executing the aforementioned program is the control device 30 included in vehicle 1, but is not limited thereto. For example, the computer executing this program may also be included in other devices (such as external devices 2) capable of communicating with the control device 30.

[0180] At least the following items are described in this specification. The components corresponding to the foregoing embodiments are shown in parentheses as examples, but are not limited thereto.

[0181] (1) A control device (control device 30) that controls a vehicle (vehicle 1), wherein,

[0182] The control device includes:

[0183] The detection unit (detection unit 31) detects parking areas where the vehicle can be parked based on external information around the vehicle.

[0184] The export unit (export unit 33) refers to the storage unit (storage unit 35) which stores the travel path information of the first travel path (first travel path Rt1) that the vehicle has traveled up to its current position (location P0), and exports a second travel path (second travel path Rt2) for the vehicle to travel from a specified location (location P1, connection point Pc) on the first travel path to the parking area (parking area PA); and

[0185] The driving control unit (driving control unit 34) enables the vehicle to travel based on the first driving path and the second driving path.

[0186] After the driving control unit causes the vehicle to travel along the first driving path from the current location to the designated location, it causes the vehicle to travel along the second driving path from the designated location to the parking area.

[0187] According to (1), even if a user fails to park in the desired parking area by manually driving, they can easily park the vehicle in that area. This improves user convenience and, consequently, enhances traffic safety, contributing to the development of a sustainable transportation system.

[0188] (2) The control device according to (1), wherein,

[0189] The driving control unit operates according to the user's instructions, continuously driving along the first driving path to the designated location and along the second driving path to the parking area.

[0190] According to (2), compared to situations where separate start operations are required for driving along the first driving path and driving along the second driving path, the user can park the vehicle in the desired parking area without much effort. Therefore, user convenience is improved.

[0191] (3) The control device according to (1) or (2), wherein,

[0192] When multiple parking areas are detected, the exporting unit exports a second driving path for driving the vehicle to one of the multiple parking areas, which is specified by the user of the vehicle.

[0193] According to (3), even if there are multiple parking areas around the vehicle, the vehicle can be parked in the parking area that the user wants, thus improving the user's convenience.

[0194] (4) The control device according to (1) or (2), wherein,

[0195] The exporting unit exports a second driving path (second driving path Rt2a, second driving path Rt2b) for the vehicle to travel from multiple locations (location P1a, location P1b) on the first driving path to the parking area.

[0196] The driving control unit causes the vehicle to travel along the first driving path to a location (location P1a) on the first driving path corresponding to the second driving path (second driving path Rt2a, second shortest path Rt2X) among a plurality of second driving paths that has the shortest driving distance to the parking area, and then causes the vehicle to travel along the second driving path from the location to the parking area.

[0197] According to (4), compared to the case where the vehicle travels on a second driving path other than a second driving path, the driving distance to the parking area can be shortened. Therefore, the time required to park the vehicle in the parking area and the vehicle's energy consumption can be reduced.

[0198] (5) The control device according to (1) or (2), wherein,

[0199] The exporting unit exports a second driving path for the vehicle to travel from multiple locations on the first driving path to the parking area.

[0200] After the driving control unit causes the vehicle to travel along the first driving path to a location corresponding to the second driving path (the second least turning path Rt2Y) among the plurality of second driving paths that minimizes the number of turns the vehicle makes when traveling to the parking area, the vehicle then travels along the second driving path from the location to the parking area.

[0201] According to (5), compared to driving the vehicle on a second driving path other than a second driving path, the number of back-and-forth trips required to park the vehicle in a parking area can be reduced. Therefore, the time required to park the vehicle in a parking area and the tire wear caused by back-and-forth trips can be reduced.

[0202] (6) The control device according to (1) or (2), wherein,

[0203] The control device also includes a notification control unit (display control unit 32) that controls the notification unit, which can perform notifications to the user of the vehicle.

[0204] If the vehicle is manually driven and makes more than two prescribed number of turns during the period the vehicle travels a prescribed distance, the notification control unit will notify the user of the vehicle via the notification unit to urge them to use the parking assist function.

[0205] The driving control unit, upon request to use the parking assist function, causes the vehicle to travel along the first driving path to the designated location, and then causes the vehicle to travel along the second driving path from the designated location to the parking area.

[0206] According to (6), being able to notify users to use the parking assist function when they want to use it can suppress excessive notifications and promote the use of the parking assist function, thereby improving user convenience.

[0207] (7) The control device according to (1) or (2), wherein,

[0208] If the second driving path cannot be derived by the deriving section, and a reversible area (reversible area RA) that allows the vehicle's orientation to be reversed exists adjacent to the first driving path, the deriving section derives a third driving path (third driving path Rt3) for reversing the vehicle's orientation in the reversible area and a fourth driving path (fourth driving path Rt4) for allowing the vehicle, whose orientation has been reversed in the reversible area, to travel from the reversible area to the parking area.

[0209] After the driving control unit causes the vehicle to travel along the first driving path to the reversible area, it reverses the orientation of the vehicle in the reversible area via the third driving path, and then causes the vehicle to travel along the fourth driving path from the reversible area to the parking area.

[0210] According to (7), even if the vehicle cannot be properly parked in the parking area without reversing its orientation, the user can easily park the vehicle in the parking area if the reversible area is adjacent to the first driving path. Therefore, user convenience can be improved.

[0211] (8) The control device according to (1) or (2), wherein,

[0212] When the driving control unit detects an alternative parking area different from the designated parking area while the vehicle is traveling along the first or second driving path, it interrupts the driving process.

[0213] If the driving control unit resumes the interrupted driving process without any operation changing the vehicle's parking position,

[0214] In the event of the operation, the driving control unit causes the vehicle to move from the location where driving is interrupted to the other parking area.

[0215] According to (8), even when the vehicle is traveling based on the first or second driving path, the parking position of the vehicle can be changed as other parking areas are detected, thus improving user convenience.

[0216] (9) A control method, wherein,

[0217] The control method causes the computer (control device 30) controlling the vehicle (vehicle 1) to perform the following processing:

[0218] Based on the external information around the vehicle, a parking area (parking area PA) is detected for the vehicle to park (step S4).

[0219] Referring to the storage unit (storage unit 35) storing travel path information representing the first travel path (first travel path Rt1) traveled by the vehicle up to its current position, a second travel path (second travel path Rt2) for driving the vehicle from a designated location (location P0, connection point Pc) on the first travel path to the parking area is derived (step S8); and

[0220] The vehicle is then driven based on the first driving path and the second driving path (steps S9 and S17).

[0221] In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location (step S9), the vehicle is driven along the second driving path from the designated location to the parking area (step S17).

[0222] According to (9), even if a user fails to park in the desired parking area by manually driving, they can easily park the vehicle in that area. This improves user convenience and, consequently, enhances traffic safety, contributing to the development of a sustainable transportation system.

[0223] (10) A control program product comprising a control program, wherein,

[0224] The control program causes the computer (control device 30) controlling the vehicle (vehicle 1) to perform the following processes:

[0225] Based on the external information around the vehicle, a parking area (parking area PA) is detected for the vehicle to park (step S4).

[0226] Referring to the storage unit (storage unit 35) storing the driving path information of the first driving path (first driving path Rt1) that the vehicle has traveled up to its current position (location P0), a second driving path (second driving path Rt2) is derived to allow the vehicle to travel from a designated location (location P1, connection point Pc) on the first driving path to the parking area (step S8); and

[0227] The vehicle is then driven based on the first driving path and the second driving path (steps S9 and S17).

[0228] In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location (step S9), the vehicle is driven along the second driving path from the designated location to the parking area (step S17).

[0229] According to (10), even if a user fails to park the vehicle in the desired parking area by manually driving, they can easily park the vehicle in that area. This improves user convenience and, consequently, enhances traffic safety, contributing to the development of a sustainable transportation system.

Claims

1. A control device for controlling a vehicle, wherein, The control device includes: The detection department detects parking areas where the vehicle can be parked based on external information surrounding the vehicle. The exporting unit, referring to the storage unit that stores driving path information representing the first driving path that the vehicle has traveled up to the current position, exports a second driving path for driving the vehicle from a predetermined location on the first driving path to the parking area. as well as The driving control unit enables the vehicle to travel based on the first driving path and the second driving path. After the driving control unit causes the vehicle to travel along the first driving path from the current location to the designated location, it causes the vehicle to travel along the second driving path from the designated location to the parking area.

2. The control device according to claim 1, wherein, The driving control unit operates according to the user's instructions, continuously driving along the first driving path to the designated location and along the second driving path to the parking area.

3. The control device according to claim 1 or 2, wherein, When multiple parking areas are detected, the exporting unit exports a second driving path for driving the vehicle to one of the multiple parking areas, which is specified by the user of the vehicle.

4. The control device according to claim 1 or 2, wherein, The exporting unit exports a second driving path for the vehicle to travel from multiple locations on the first driving path to the parking area. After the driving control unit causes the vehicle to travel along the first driving path to a location on the first driving path corresponding to the second driving path with the shortest driving distance to the parking area among a plurality of second driving paths, the vehicle is then driven along the second driving path from the location to the parking area.

5. The control device according to claim 1 or 2, wherein, The exporting unit exports a second driving path for the vehicle to travel from multiple locations on the first driving path to the parking area. The driving control unit causes the vehicle to travel along the first driving path to a location corresponding to the second driving path that has the fewest turnarounds when traveling to the parking area among a plurality of second driving paths, and then causes the vehicle to travel along the second driving path from the location to the parking area.

6. The control device according to claim 1 or 2, wherein, The control device further includes a notification control unit that controls the notification unit, which is capable of issuing notifications to the user of the vehicle. If the vehicle is manually driven and makes more than two prescribed number of turns during the period the vehicle travels a prescribed distance, the notification control unit will notify the user of the vehicle via the notification unit to urge them to use the parking assist function. The driving control unit, upon request to use the parking assist function, causes the vehicle to travel along the first driving path to the designated location, and then causes the vehicle to travel along the second driving path from the designated location to the parking area.

7. The control device according to claim 1 or 2, wherein, If the exporting unit cannot export the second driving path, and a reversible area capable of reversing the vehicle's orientation exists adjacent to the first driving path, the exporting unit exports a third driving path for reversing the vehicle's orientation in the reversible area and a fourth driving path for driving the vehicle, whose orientation has been reversed in the reversible area, from the reversible area to the parking area. After the driving control unit causes the vehicle to travel along the first driving path to the reversible area, it reverses the orientation of the vehicle in the reversible area via the third driving path, and then causes the vehicle to travel along the fourth driving path from the reversible area to the parking area.

8. The control device according to claim 1 or 2, wherein, When the driving control unit detects an alternative parking area different from the designated parking area while the vehicle is traveling along the first or second driving path, it interrupts the driving process. If the driving control unit resumes the interrupted driving process without any operation changing the vehicle's parking position, In the event of the operation, the driving control unit causes the vehicle to move from the location where driving is interrupted to the other parking area.

9. A control method, wherein, The control method causes the computer controlling the vehicle to perform the following processing: Based on the external information surrounding the vehicle, a parking area is detected where the vehicle can be parked. Referring to the storage unit that stores driving path information representing the first driving path that the vehicle has traveled up to its current position, a second driving path is derived for the vehicle to travel from a specified location on the first driving path to the parking area. as well as The vehicle is made to travel based on the first travel path and the second travel path. In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location, the vehicle is driven along the second driving path from the designated location to the parking area.

10. A control program product comprising a control program, wherein, The control program causes the computer controlling the vehicle to perform the following processes: Based on the external information surrounding the vehicle, a parking area is detected where the vehicle can be parked. Referring to the storage unit that stores driving path information representing the first driving path that the vehicle has traveled up to its current position, a second driving path is derived for the vehicle to travel from a specified location on the first driving path to the parking area. as well as The vehicle is made to travel based on the first travel path and the second travel path. In the process of driving the vehicle, after driving the vehicle along the first driving path to the designated location, the vehicle is driven along the second driving path from the designated location to the parking area.

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