Remote access system

Abstract

A remote parking system performs remote parking control in which a control device of a vehicle autonomously drives the vehicle in response to an operation applied to an operation terminal carried by a user, thereby performing parking-out of the vehicle from a parking space or parking-in of the vehicle into the parking space. After a determination operation for determining either of the parking-out and the parking-in by the control device is applied to the operation terminal, if a travel operation for causing the vehicle to travel is applied to the operation terminal, the control device of the vehicle autonomously drives the vehicle by the remote parking control in response to the travel operation. The control device of the vehicle starts invalidation processing for invalidating a travel suppression function for suppressing travel of the vehicle, from after the determination operation is applied to the operation terminal until before the travel operation is applied to the operation terminal.

Description

Technical Field

[0001] This invention relates to a remote warehouse entry and exit system. Background Technology

[0002] A remote entry / exit system is known that uses a user-carried operating terminal to move a vehicle into or out of a parking space (e.g., see Japanese Patent Application Laid-Open No. 2020-91506). In this remote entry / exit system, the vehicle control device responds to a driving operation performed by the user on the operating terminal to move the vehicle into or out of the parking space.

[0003] In addition, ISO 20900 (Partially automated parking systems (PAPS)) and ISO 16787 (Assisted parking systems (APS)) are standards that specify vehicle control related to vehicle parking. Summary of the Invention

[0004] However, for the vehicle to drive autonomously, the remote parking system needs to move the vehicle to a drivable state. However, this transfer takes time. Therefore, if the vehicle is moved to a drivable state only after the driving operation is initiated on the control terminal, the vehicle will not start moving at the exact moment the driving operation is initiated. This could potentially cause inconvenience to the user.

[0005] The purpose of this invention is to provide a remote entry and exit system that can suppress the discomfort caused to the user by the start of vehicle operation.

[0006] The remote entry and exit system of the present invention performs remote entry and exit control. In this remote entry and exit control, the vehicle control device responds to the operation applied to the user's operating terminal to enable the vehicle to drive autonomously, thereby enabling the vehicle to leave the parking space or enter the parking space.

[0007] The control device is configured such that, after a determination operation is applied to the operating terminal to determine whether the control device should perform either the outbound or inbound operation, if a driving operation is applied to the operating terminal to cause the vehicle to move, then in response to the driving operation, the vehicle is autonomously driven via the remote inbound / outbound control.

[0008] Furthermore, the control device is configured to initiate a invalidation process from the time the determination operation is applied to the operation terminal until the driving operation is applied to the operation terminal. This invalidation process is used to invalidate the driving suppression function that inhibits the driving of the vehicle.

[0009] According to the present invention, the driving suppression function is disabled from the time a determination operation is applied to the operating terminal until a driving operation is applied to the operating terminal. Therefore, when a driving operation for starting the vehicle is applied to the operating terminal, the vehicle can start driving relatively quickly. Thus, discomfort to the user regarding the start of vehicle driving can be suppressed.

[0010] Furthermore, in the remote inbound / outbound system involved in this invention,

[0011] The operating terminal can be configured such that if the determination operation is applied to the operating terminal, a driving operation screen for applying the driving operation will be displayed.

[0012] In this case, the control device may be configured to begin the invalidation process from the time the determination operation is applied to the operation terminal until the driving operation screen is displayed on the operation terminal.

[0013] According to the present invention, the driving suppression function is disabled from the moment a determination operation is performed on the operating terminal until the driving operation screen is displayed on the operating terminal. Therefore, it is possible to suppress any discomfort to the user regarding the start of vehicle driving.

[0014] Furthermore, in the remote entry and exit system of the present invention, the driving inhibition function is, for example, at least one of the following functions: a start inhibition function that inhibits the start of the vehicle's drive unit; a steering lock function that inhibits the rotation of the vehicle's steering wheel; an electric braking function that inhibits the rotation of the vehicle's wheels via an electric parking brake; a hydraulic braking function that inhibits the rotation of the vehicle's wheels via a hydraulic braking device; a parking lock function that inhibits the rotation of the gears of the vehicle's transmission; and a drive force transmission inhibition function that inhibits the transmission of drive force from the drive unit to the vehicle via the transmission.

[0015] According to the present invention, from the time a determination operation is performed on the operating terminal until the time a driving operation is performed on the operating terminal, at least one of the following functions is disabled: start-up suppression function, steering lock function, electric braking function, hydraulic braking function, parking lock function, and drive force transmission suppression function. Therefore, it is possible to suppress discomfort to the user regarding the start of vehicle operation.

[0016] The constituent elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and incidental advantages of this invention can be readily understood through the description of the embodiments. Attached Figure Description

[0017] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0018] Figure 1 This is a diagram illustrating a remote warehouse entry / exit system according to an embodiment of the present invention.

[0019] Figure 2 This is a diagram representing a vehicle's driver assistance system.

[0020] Figure 3 This is a flowchart illustrating the routine procedures executed by the terminal control device according to the embodiments of the present invention.

[0021] Figure 4 This is a flowchart illustrating the routine procedures performed by the vehicle driving assistance device according to an embodiment of the present invention.

[0022] Figure 5A This is a diagram depicting a vehicle leaving the warehouse.

[0023] Figure 5B This is a diagram depicting a vehicle entering a parking space.

[0024] Figure 6 This is a diagram representing the driving plan screen.

[0025] Figure 7 It is a diagram showing the driving operation screen. Detailed Implementation

[0026] Hereinafter, with reference to the accompanying drawings, a remote entry and exit system according to an embodiment of the present invention will be described. The technology involved in the present invention described below is applicable to technologies that comply with ISO 20900 (Partially automated parking systems (PAPS)) and ISO 16787 (Assisted parking systems (APS)) as standards.

[0027] exist Figure 1 The diagram illustrates a remote access system 10 according to an embodiment of the present invention. The remote access system 10 includes a vehicle driving assistance device 110 and a terminal control device 210.

[0028] A vehicle driving assistance device 110 is mounted on a vehicle 100. The vehicle driving assistance device 110 includes a vehicle ECU 190 as a control unit. The vehicle ECU 190 has a microcomputer as its main component. Furthermore, the ECU is an electronic control unit.

[0029] Terminal control device 210 is mounted on operating terminal 200. Terminal control device 210 also includes terminal ECU 290 as a control device. Terminal ECU 290 also includes a microcomputer as a main component. In addition, operating terminal 200 is a device carried by the user. Operating terminal 200 can be a dedicated device for using remote access system 10, but in this example, it is a so-called smartphone.

[0030] A microcomputer includes a CPU, a computer-readable storage medium, and an interface. The storage medium may be ROM, RAM, or non-volatile memory. The CPU performs various functions by executing instructions, programs, or routines stored in the storage medium. Specifically, in this example, the vehicle ECU 190 stores programs that implement the various controls executed by the vehicle ECU 190 in the storage medium. Similarly, the terminal ECU 290 stores programs that implement the various controls executed by the terminal ECU 290 in the storage medium.

[0031] In this example, the vehicle driving assistance device 110 has only one vehicle ECU 190, but it can also be configured to have multiple ECUs, with each ECU performing the functions of the vehicle driving assistance device 110 described below. Similarly, the terminal control device 210 also has only one terminal ECU 290, but it can also be configured to have multiple ECUs, with each ECU performing the functions of the terminal control device 210 described below.

[0032] Furthermore, the vehicle driving assistance device 110 and the terminal control device 210 can be configured to update (upgrade) the program stored in the storage medium via wireless communication with an external device (e.g., Internet communication).

[0033] Furthermore, the vehicle driving assistance device 110 is applicable not only to vehicles driven manually by the vehicle user, but also to vehicles driven autonomously.

[0034] Furthermore, a vehicle communication device 191 is installed in the vehicle 100. The vehicle communication device 191 is electrically connected to the vehicle ECU 190. The vehicle communication device 191 is a device for receiving or transmitting signals. In particular, the vehicle communication device 191 is a device for receiving signals from the operating terminal 200 or for transmitting signals that the operating terminal 200 can receive. The vehicle driving assistance device 110 receives signals transmitted by the operating terminal 200 via the vehicle communication device 191. Furthermore, the vehicle driving assistance device 110 transmits signals that the operating terminal 200 can receive via the vehicle communication device 191.

[0035] Furthermore, the operating terminal 200 is equipped with a terminal communication device 291. The terminal communication device 291 is electrically connected to the terminal ECU 290. The terminal communication device 291 is a device for receiving or transmitting signals. In particular, the terminal communication device 291 is a device for receiving signals from the vehicle driving assistance device 110 or for transmitting signals that the vehicle driving assistance device 110 can receive. The terminal control device 210 receives signals transmitted by the vehicle driving assistance device 110 via the terminal communication device 291. Furthermore, the terminal control device 210 transmits signals that the vehicle driving assistance device 110 can receive via the terminal communication device 291.

[0036] In addition, such as Figure 2 As shown, the vehicle 100 is equipped with a vehicle driving device 120, a parking locking device 131, an electric parking brake device 132, an anti-theft device 141, and a steering locking device 142. These vehicle driving device 120, parking locking device 131, electric parking brake device 132, anti-theft device 141, and steering locking device 142 are electrically connected to the vehicle ECU 190.

[0037] The vehicle driving device 120 includes a drive device 121, a hydraulic braking device 122, a steering device 123, and a transmission device 124.

[0038] The drive unit 121 is a device that generates driving force applied to the vehicle 100 (especially the drive wheels of the vehicle 100). The drive unit 121 includes, for example, an internal combustion engine and / or an electric motor. The operation of the drive unit 121 is controlled by the vehicle ECU 190.

[0039] The hydraulic braking device 122 is a device that applies braking force to the vehicle 100 (especially the wheels of the vehicle 100) through a hydraulically actuated mechanism. Therefore, the hydraulic braking device 122 has a hydraulic braking function that suppresses the rotation of the wheels of the vehicle 100 through a hydraulically actuated mechanism. The operation of the hydraulic braking device 122 is controlled by the vehicle ECU 190.

[0040] The steering device 123 is a device that applies steering force to the vehicle 100 (in particular, the steering wheel of the vehicle 100) for steering the vehicle 100. The operation of the steering device 123 is controlled by the vehicle ECU 190.

[0041] The transmission 124 is a device that efficiently transmits the driving force output from the drive unit 121 to the drive wheels of the vehicle 100 by switching gear ratios according to the driving conditions of the vehicle 100. The operation of the transmission 124 is controlled by the vehicle ECU 190.

[0042] If the shift gear is set to a driving gear, the transmission 124 transmits driving force from the drive unit 121 to the vehicle 100. The driving gear is, for example, a drive gear that moves the vehicle 100. Gears other than driving gears include, for example, neutral or parking. Conversely, if the shift gear is set to a gear other than driving gear, the transmission 124 does not transmit driving force from the drive unit 121 to the vehicle 100.

[0043] Thus, the transmission device 124 has a drive force transmission suppression function to suppress the transmission of drive force from the drive device 121 to the vehicle 100. When the drive force transmission suppression function is active, the transmission of drive force from the drive device 121 to the vehicle 100 is suppressed. On the other hand, if the drive force transmission suppression function is deactivated, a state in which drive force is transmitted from the drive device 121 to the vehicle 100 is formed.

[0044] The parking lock device 131 is a device that mechanically locks the gears of the transmission 124 to prevent them from rotating. Therefore, the parking lock device 131 has a parking lock function that inhibits the rotation of the gears of the transmission 124 of the vehicle 100. The parking lock function is active if the shift gear is set to the parking gear. Conversely, the parking lock function is inactive if the shift gear is set to a gear other than the parking gear. The operation of the parking lock device 131 is controlled by the vehicle ECU 190.

[0045] The electric parking brake device 132 is a device that uses an electric device to apply friction to the wheels of the vehicle 100, thereby preventing the wheels from rotating. Therefore, the electric parking brake device 132 has an electric braking function that suppresses the rotation of the wheels of the vehicle 100 through an electric actuator. Regarding the electric braking function, if the user operates a specified switch or the like when the electric braking function is deactivated, the electric braking function becomes active. Conversely, if the user operates a specified switch or the like when the electric braking function is active, the electric braking function is deactivated. The operation of the electric parking brake device 132 is controlled by the vehicle ECU 190.

[0046] The anti-theft device 141 is a device used to prevent the drive unit 121 from starting under specified conditions. Therefore, the anti-theft device 141 has a start-suppression function that inhibits the starting of the drive unit 121. The start-suppression function is disabled when an operation to start the drive unit 121 is performed using a dedicated device. The dedicated device is a device such as a key embedded with an electronic authentication code that matches an electronic authentication code registered and associated with the vehicle 100. The operation of the anti-theft device 141 is controlled by the vehicle ECU 190.

[0047] The steering locking device 142 is a device that prevents the steering wheel of the vehicle 100 from rotating. Therefore, the steering locking device 142 has a steering locking function that inhibits the rotation of the steering wheel of the vehicle 100. The steering locking function is activated, for example, when the key to the vehicle 100 is removed from the ignition. Conversely, the steering locking function is deactivated, for example, when the key to the vehicle 100 is inserted into the ignition. The operation of the steering locking device 142 is controlled by the vehicle ECU 190.

[0048] Actions of remote inbound and outbound warehouse system

[0049] Next, the operation of the remote warehouse entry / exit system 10 will be explained. The terminal ECU 290 executes at specified time intervals. Figure 3 The routine procedure is shown. Furthermore, the vehicle ECU 190 executes the procedure at specified time intervals. Figure 4 The routine procedure is shown. Thus, the remote inbound / outbound system 10 executes remote inbound / outbound control when the specified conditions are met.

[0050] Remote inbound / outbound control includes remote outbound control for remote outbound operations and remote inbound control for remote inbound operations. For example... Figure 5A As shown, remote dispatch is the process of moving vehicle 100 from parking space 300 to a designated location. On the other hand, as... Figure 5B As shown, remote parking is the process of parking vehicle 100 into a designated location within parking space 300.

[0051] When the specified time is reached, terminal ECU290 from Figure 3 The routine procedure shown in step S300 begins processing. Then, the terminal ECU 290 causes processing to proceed to step S305, determining whether the application startup condition C1 is met. The application startup condition C1 is met when the remote warehouse entry / exit application stored in the operating terminal 200 is started.

[0052] If the determination in S305 is "No", then the terminal ECU 290 causes the processing to directly enter S395 and temporarily terminates the processing of this routine procedure. On the other hand, if the determination in S305 is "Yes", then the terminal ECU 290 causes the processing to enter S310 and displays the driving plan screen SR1 on the display 220 of the operation terminal 200.

[0053] like Figure 6 As shown, the driving plan screen SR1 includes an entry selection image IMG1 and an exit selection image IMG2. The entry selection image IMG1 is an image occupying a certain area containing the text "Enter". Similarly, the exit selection image IMG2 is an image occupying a certain area containing the text "Exit".

[0054] When a user performs a touch operation as a confirmation action on the inbound selection image IMG1, the terminal ECU 290 determines that a request has been made to execute remote inbound control. On the other hand, when a user performs a touch operation as a confirmation action on the outbound selection image IMG2, the terminal ECU 290 determines that a request has been made to execute remote outbound control.

[0055] Next, the terminal ECU290 initiates processing in step S315, determining whether the selection completion condition C2 is met. The selection completion condition C2 is met when a touch operation is applied to either the inbound selection image IMG1 or the outbound selection image IMG2.

[0056] If the determination in S315 is "No", the terminal ECU 290 causes the processing to directly enter S395 and temporarily terminates the processing of this routine procedure. On the other hand, if the determination in S315 is "Yes", the terminal ECU 290 causes the processing to enter S320 and sends a selection information signal S1 to the outside via the terminal communication device 291. The selection information signal S1 is a signal indicating which control, remote entry control or remote exit control, is related to when the user requests it. The selection information signal S1 is received by the vehicle ECU 190.

[0057] Next, the terminal ECU 290 initiates processing in S325 and displays the driving operation screen SR2 on the display 220 of the operating terminal 200. Then, the terminal ECU 290 initiates processing in S395 and temporarily terminates the processing of this routine procedure.

[0058] Thus, when it is determined that an operation has been applied to the operation terminal 200, the terminal ECU 290 displays the driving operation screen SR2 for applying the driving operation.

[0059] like Figure 7 As shown, the driving operation screen SR2 includes a driving operation section P. The driving operation section P is a portion of the display 220 of the operation terminal 200 surrounded by the line image IMG3.

[0060] By performing a prescribed operation on the driving operation unit P, the user can request the vehicle ECU 190 to drive the vehicle 100 based on remote entry and exit control. If the prescribed operation is performed on the driving operation unit P, the terminal ECU 290 sends a driving request signal S2 to the outside via the terminal communication device 291. The driving request signal S2 is a signal requesting the driving of the vehicle 100 based on remote entry and exit control. The driving request signal S2 is received by the vehicle ECU 190.

[0061] On the other hand, when the designated time is reached, the vehicle ECU190 from Figure 4The routine procedure shown in S400 begins processing. Then, the vehicle ECU 190 initiates processing in S405 and determines whether the driving preparation start condition C3 is met. The driving preparation start condition C3 is met when the vehicle ECU 190 receives the selection information signal S1.

[0062] If the determination in S405 is "No", the vehicle ECU 190 directly proceeds to S495 and temporarily terminates the processing of this routine procedure. On the other hand, if the determination in S405 is "Yes", the vehicle ECU 190 proceeds to S410 and performs invalidation processing.

[0063] The invalidation process is a process that disables the driving suppression function. Here, the driving suppression function is a function that inhibits the movement of the vehicle 100. The driving suppression function is at least one of the above-mentioned start-up suppression function, steering lock function, electric braking function, hydraulic braking function, parking lock function, and drive force transmission suppression function. In this example, the invalidation process is as follows: invalidating the function that is already effective from the pre-selected functions among the start-up suppression function, steering lock function, electric braking function, hydraulic braking function, parking lock function, and drive force transmission suppression function.

[0064] In particular, the vehicle ECU 190 can be configured to disable only the start-stop function and the steering lock function in the aforementioned functions through an invalidation process. Alternatively, the vehicle ECU 190 can be configured to maintain the hydraulic braking function while disabling only the start-stop function, the steering lock function, and the electric braking function through an invalidation process. Alternatively, the vehicle ECU 190 can be configured to maintain the hydraulic braking function while disabling only the start-stop function, the steering lock function, the electric braking function, and the parking lock function through an invalidation process.

[0065] Furthermore, the invalidation process for the activation suppression function involves releasing the activation suppression of the drive unit 121 by the anti-theft device 141. The invalidation process for the steering lock function involves releasing the steering wheel rotation suppression of the vehicle 100 by the steering lock device 142. The invalidation process for the electric braking function involves releasing the wheel rotation suppression of the vehicle 100 by the electric parking brake device 132. The invalidation process for the hydraulic braking function involves releasing the wheel rotation suppression of the vehicle 100 by the hydraulic brake device 122. The invalidation process for the parking lock function involves releasing the gear rotation suppression of the transmission device 124 by the parking lock device 131. Finally, the invalidation process for the drive force transmission suppression function involves establishing a state where drive force is transmitted from the drive unit 121 to the vehicle 100.

[0066] Furthermore, in this example, when the start-up suppression function is disabled through the invalidation process, the vehicle ECU 190 starts the drive unit 121.

[0067] Furthermore, the invalidation of the functions of objects that are not invalidated in S410 begins when the driving request condition C4, described later, is first met.

[0068] Next, the vehicle ECU 190 initiates processing step S415 to determine whether the driving request condition C4 is met. When the vehicle ECU 190 receives the driving request signal S2, the driving request condition C4 is met.

[0069] If the determination in S415 is "No", the vehicle ECU 190 directly proceeds to S495 and temporarily terminates the processing of this routine procedure. On the other hand, if the determination in S415 is "Yes", the vehicle ECU 190 proceeds to S420 and determines whether the invalidation completion condition C5 is met. The invalidation completion condition C5 is met when the invalidation of the function that is already effective among the pre-set selected functions is completed.

[0070] If the determination in S420 is "No", the vehicle ECU 190 directly proceeds to S495 and temporarily terminates the current routine process. On the other hand, if the determination in S420 is "Yes", the vehicle ECU 190 proceeds to S425 and executes remote entry / exit control. In this case, if the selection information signal S1 received by the vehicle ECU 190 indicates a request to execute remote exit control, the vehicle ECU 190 executes remote exit control to exit the vehicle 100. Conversely, if the selection information signal S1 received by the vehicle ECU 190 indicates a request to execute remote entry control, the vehicle ECU 190 executes remote entry control to enter the vehicle 100.

[0071] Next, the vehicle ECU190 initiates S495, temporarily terminating the processing of this routine procedure.

[0072] Furthermore, in this example, when the vehicle 100 is moved to a designated position within the parking space 300 and stopped via remote parking control, the start-stop function, steering lock function, electric braking function, parking lock function, and drive force transmission suppression function are activated, thereby completing the remote parking. Similarly, when the vehicle 100 is moved to a designated position outside the parking space 300 and stopped via remote exit control, the start-stop function, steering lock function, electric braking function, parking lock function, and drive force transmission suppression function are activated, thereby completing the remote exit.

[0073] Furthermore, the hydraulic braking function is effective at least when remote parking control is initiated. Therefore, the vehicle driving assistance device 110 can perform remote parking or remote exit by maintaining the already effective hydraulic braking function when the vehicle 100 is moved to a designated position within the parking space 300 and stopped by remote parking control, or when the vehicle 100 is moved to a designated position outside the parking space 300 and stopped by remote exit control, or it can perform remote parking or remote exit by disabling the hydraulic braking function.

[0074] Thus, the remote entry and exit system 10 performs remote entry and exit control. In this remote entry and exit control, the vehicle driving assistance device 110 responds to the operation applied to the user's operating terminal 200, enabling the vehicle 100 to drive autonomously, thereby enabling the vehicle 100 to leave the parking space 300 or enter the parking space 300.

[0075] Furthermore, after a determination operation is applied to the operation terminal 200 to determine whether the vehicle driving assistance device 110 should perform remote exit or remote entry, if a driving operation is applied to the operation terminal 200 to make the vehicle 100 move, the remote entry / exit system 10 responds to the driving operation and makes the vehicle 100 move autonomously through remote entry / exit control.

[0076] Then, from the time a determination operation is performed on the operation terminal 200 until a driving operation is performed on the operation terminal 200, the vehicle driving assistance device 110 begins a deactivation process to deactivate the driving suppression function that inhibits the driving of the vehicle 100.

[0077] In particular, the vehicle driving assistance device 110 begins invalidation processing from the time a confirmation operation is performed on the operation terminal 200 until the driving operation screen SR2 is displayed on the operation terminal 200.

[0078] The above describes the operation of the remote entry / exit system 10. According to the remote entry / exit system 10, from the time a determination operation is applied to the operation terminal 200 until a driving operation is applied to the operation terminal 200, the driving suppression function is disabled. Therefore, when a driving operation for moving the vehicle 100 is applied to the operation terminal 200, the driving of the vehicle 100 can begin relatively early. Thus, discomfort to the user regarding the start of the vehicle 100's movement can be suppressed.

[0079] Furthermore, the present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

[0080] For example, the vehicle ECU 190 may be configured to not perform control in response to driving operations of the vehicle 100 performed by a human during the period from the start of the invalidation process to the completion of remote exit or remote entry. More specifically, the vehicle ECU 190 may be configured to lock the doors of the vehicle 100 to prevent them from being opened during the period from the start of the invalidation process to the completion of remote exit or remote entry. Furthermore, the vehicle ECU 190 may be configured to not perform control of the drive unit 121 in response to the operation of the accelerator pedal of the vehicle 100 during the period from the start of the invalidation process to the completion of remote exit or remote entry. Furthermore, the vehicle ECU 190 may be configured to not perform control of the steering unit 123 in response to the operation of the steering wheel of the vehicle 100 during the period from the start of the invalidation process to the completion of remote exit or remote entry.

[0081] Furthermore, as a condition for the start of driving preparation condition C3 to be met, the condition that the user is located relatively close to the vehicle 100 can be added. In this case, for example, the vehicle ECU 190 is configured such that, based on the communication status between the vehicle ECU 190 and the terminal ECU 290, it is determined that the user operating the terminal 200 is within a predetermined distance Dthr from the vehicle 100, thus determining that the user is located relatively close to the vehicle 100. Additionally, the predetermined distance Dthr is a distance pre-set to an appropriate distance according to the purpose.

[0082] Furthermore, when the hydraulic braking function is to be disabled, the braking force applied to the vehicle 100 by the hydraulic braking device 122 can be reduced by a predetermined value ΔBF instead of disabling the hydraulic braking function. Here, the predetermined value ΔBF can be set according to the slope of the road surface where the vehicle 100 is located. In this case, the smaller the slope of the road surface, the larger the predetermined value ΔBF is set.

Claims

1. A remote entry / exit system that performs remote entry / exit control, wherein a vehicle control device responds to an operation applied to a user-carried operating terminal to enable the vehicle to drive autonomously, thereby enabling the vehicle to exit from a parking space or enter the parking space, the remote entry / exit system being characterized in that... The control device is configured such that, after a determination operation is applied to the operating terminal to determine whether the control device should perform either the outbound or inbound operation, if a driving operation is applied to the operating terminal to cause the vehicle to move, then in response to the driving operation, the vehicle is autonomously driven via the remote inbound / outbound control. The control device is configured to initiate a invalidation process from the time the determination operation is applied to the operation terminal until the driving operation is applied to the operation terminal. This invalidation process is used to invalidate the driving suppression function that inhibits the driving of the vehicle.

2. The remote warehouse entry and exit system according to claim 1, characterized in that, The operating terminal is configured such that if the determination operation is performed on the operating terminal, a driving operation screen for performing the driving operation will be displayed. The control device is configured to initiate the invalidation process from the time the determination operation is applied to the operation terminal until the driving operation screen is displayed on the operation terminal.

3. The remote warehouse entry and exit system according to claim 1 or 2, characterized in that, The driving inhibition function is at least one of the following functions: a start inhibition function that inhibits the start of the vehicle's drive unit; a steering lock function that inhibits the rotation of the vehicle's steering wheel; and an electric braking function that inhibits the rotation of the vehicle's wheels via an electric parking brake device. Hydraulic braking function, which inhibits the rotation of the vehicle's wheels through a hydraulic braking device; parking lock function, which inhibits the rotation of the gears in the vehicle's transmission. And a drive force transmission suppression function, which suppresses the transmission of drive force from the drive unit to the vehicle through the transmission device.

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