Vehicle control system

Abstract

A vehicle control system (1) comprising: a device (50) for actuation from outside a vehicle, configured to cause a vehicle to move by means of an actuator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device (21) configured to cause the operator to select a mode of movement in which the vehicle is permitted to move by actuating the device (50) for actuation from outside the vehicle, a parking brake that can only be operated from the inside and transmits an actuating force to a brake force generation unit, a parking brake actuation detector (62) configured to detect an actuation of the parking brake, and a warning device (41) configured to issue a warning in a compartment to stimulate a sense of hearing or sight at the time when the mode of movement is selected and the actuation of the parking brake is detected.

Description

field of technology

[0001] The present invention relates to a vehicle control system capable of moving a vehicle by an operation performed from outside the vehicle. Background of the invention

[0002] Regarding this type of conventional vehicle control system, a parking system described in, for example, JP 2006-146811 A is known. The parking system causes a vehicle to automatically move to a parking target position in response to a control signal transmitted from a remote controller when a driver who has stopped the vehicle exits the vehicle and operates the remote controller from outside the vehicle. Disclosure of the invention Problems to be solved by the invention

[0003] Incidentally, a driver who leaves a vehicle usually applies a parking brake, except under a pre-determined condition such as a cold area condition and the like. For this reason, regardless of whether the driver intends to move the vehicle by operating it from outside, there is a possibility that the driver leaves the vehicle after applying the parking brake. In the vehicle operated for movement from outside the vehicle, the braking force of the parking brake blocks the vehicle from moving as long as the parking brake remains applied. In such a case, even if the vehicle could be moved, there is a possibility that the durability of the parking brake will be reduced because the brake drags. To deal with this problem, the vehicle control system is required to control the actuator.To warn the operator who operates the vehicle from outside the vehicle.

[0004] JP 2009-25984 A discloses that a vehicle is warned by turning on an indicator lamp or emitting a warning sound of a horn when an unmanned driving condition is not configured in an unmanned operation mode (when any of the conditions that an accelerator switch is turned on, a parking switch is turned on, a brake switch is turned on, and a floor switch is turned on (that it is detected that a driver is sitting on a driver's seat), or the condition that a battery stopper switch is turned off (an unlocked position of a battery stopper is detected)). Since the horn can emit the warning sound to the driver in the driver's seat and to a person outside the vehicle because it is mounted on the vehicle, the interior of a compartment thereof is not isolated from the exterior thereof by a vehicle body.However, when the horn is mounted on a vehicle such as a passenger car, the interior of a compartment of which is isolated from the exterior thereof by the vehicle body, there is a possibility that the warning sound may not be transmitted to a passenger in the compartment. Since the indicator lamp is disposed at a rear portion of the support, if mounted on the vehicle such as a passenger car, it is unlikely that a warning output by turning on a lamp will be transmitted to the passenger in the compartment. When the indicator lamp and the horn are mounted on the vehicle such as a passenger car, since they output the warning to the exterior of the vehicle, a useless warning is transmitted to the exterior of the vehicle, disregarding the fact that it is sufficient to transmit the warning only to the passenger in the compartment.

[0005] DE 10 2008 051 982 A1 discloses a vehicle control system comprising: an external vehicle operation device configured to cause a vehicle to travel operated by an operator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by operation of the external vehicle operation device, and a parking brake operation detector (62) configured to detect an operation of the parking brake.

[0006] An object of the present invention is to improve the disadvantages of the conventional examples and to provide a vehicle control system capable of issuing a warning depending on the position of a target person to whom the warning is to be transmitted. Solving the problems

[0007] To achieve the above object, a vehicle control system according to the present invention includes a device for actuation from outside a vehicle having the features recited in the independent claims. Advantageous further developments are the subject of the dependent claims.

[0008] Here, it is preferable that the vehicle control system further includes a vehicle exit movement detector configured to detect a movement of the vehicle exit operator from inside the compartment to outside the vehicle, wherein the warning device further outputs the warning at the time when the movement of the vehicle exit operator from inside the compartment to outside the vehicle is detected.

[0009] Further, it is preferable that when the traveling mode is selected, the warning device issues the warning at the time when the operation of the parking brake is detected.

[0010] Furthermore, it is preferable that the vehicle control system further includes a vehicle exit movement detector configured to detect the movement of the operator for exiting the vehicle from inside the compartment to outside the vehicle, wherein when the traveling mode is selected and further the movement of the operator for exiting the vehicle from inside the compartment to outside the vehicle is detected, the warning device outputs the warning at the time when the operation of the parking brake is detected.

[0011] Furthermore, it is preferable that the vehicle control system further includes a vehicle exit detector configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle, wherein the warning device further outputs the warning at the time when it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle.

[0012] Furthermore, it is preferable that the vehicle control system further includes a vehicle exit movement detector configured to detect a movement of the vehicle exit operator from inside the compartment to outside the vehicle, wherein the warning device further outputs the warning at the time when the movement of the vehicle exit operator from inside the compartment to outside the vehicle is not detected.

[0013] Further to achieve the above object, a vehicle control system according to the present invention includes an external vehicle operation device configured to cause a vehicle to travel operated by an operator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by operation of the external vehicle operation device, a parking brake operation detector configured to detect operation of a parking brake, a vehicle exit detector configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle,and a warning device configured to issue a warning outside the vehicle for stimulating a sense of hearing or a sense of sight at the time when the travel mode is selected, the operation of the parking brake is detected, and it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle.

[0014] Further, it is preferable that the warning device outputs the warning at the time when the warning device receives the control signal from the device for operating from outside the vehicle, when the traveling mode is selected, when the operation of the parking brake is detected, and when it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle.

[0015] To achieve the above object, a vehicle control system according to the present invention further includes an external vehicle operation device configured to cause a vehicle to travel operated by an operator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from an exterior of the vehicle by a vehicle body, an assistance instruction device configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by an operation of the external vehicle operation device, a parking brake operation detector configured to detect an operation of a parking brake, a vehicle leaving movement detector configured toto detect a movement of the operator to exit the vehicle from inside the compartment to outside the vehicle, a vehicle exit detector configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle, a warning mode selection device capable of selecting, respectively, (i) a warning mode for issuing a warning in the compartment to stimulate a sense of hearing or a sense of sight at the time when the operation of the parking brake is detected when the travel mode is selected, (ii) a warning mode for issuing a warning in the compartment to stimulate a sense of hearing or a sense of sight when the travel mode is selected, if the operation of the parking brake is detected, and if it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle,(iii) a warning mode for issuing a warning in the compartment for stimulating a sense of hearing or a sense of sight when the travel mode is selected, when the application of the parking brake is detected, and when the movement of the operator to exit the vehicle from inside the compartment to outside the vehicle is detected; and (iv) a warning mode for issuing a warning outside the vehicle for stimulating a sense of hearing or a sense of sight when the travel mode is selected, when the application of the parking brake is detected, and when it is detected that the operator has exited the vehicle from inside the compartment to outside the vehicle; and a warning device configured to issue the warning depending on the selected warning mode.

[0016] Here, it is preferable that a vehicle exit movement determination unit that performs determination based on the result of detection of the vehicle exit movement detector determines that the operator performs a movement to exit the vehicle from inside the compartment to outside the vehicle in at least one of cases where the vehicle exit movement determination unit detects (i) a change of a seat belt of a seat of the operator from a fastened state to an unfastened state;non-carried state, (ii) a change of a door through which the operator enters and exits from a closed state to an open state, (iii) a change state of the operator from a seated state to a non-seated state, and (iv) that a circuit position sensor detects an actuation of an area actuation unit to a parking area.

[0017] Furthermore, it is preferable that the parking brake includes an actuating unit that is mechanically coupled to a braking force generating unit that generates a braking force and that actuates the parking brake. Effects of the invention

[0018] When the operator remains in the compartment, the vehicle control system according to the present invention issues a warning in the compartment to prompt the operator to release the parking brake. When the operator is about to exit the vehicle from inside the compartment to outside the vehicle, the vehicle control system issues a warning in the compartment to prompt the operator to release the parking brake. When the operator has exited the vehicle to outside the vehicle, the vehicle control system issues a warning outside the vehicle to prompt the operator to release the parking brake. In particular, the vehicle control system can issue a warning depending on a target person to whom the warning must be transmitted. Short description of the drawings Fig. 1 is a block diagram illustrating a configuration of a vehicle control system according to the present invention, Fig. Fig. 2 is a view illustrating an example of a device for operation from outside the vehicle, Fig. 3 is a view illustrating an example of a driving assistant of the vehicle control system, Fig. 4 is a flowchart explaining an arithmetic processing operation in the vehicle control system of the embodiment, Fig. 5 is a flowchart explaining an arithmetic processing operation of an assistant for driving from outside the vehicle in the vehicle control system of the embodiment, Fig. Fig. 6 is a view explaining a warning operation in the vehicle control system of the embodiment, Fig. 7 is a flowchart explaining an arithmetic processing operation of an assistant for driving from outside the vehicle in a vehicle control system of a modification 1, Fig. Fig. 8 is a flowchart explaining an arithmetic processing operation of an assistant for driving from outside the vehicle in a vehicle control system of a modification 2, Fig. Fig. 9 is a view explaining a warning operation in the vehicle control system of Modification 2, Fig. 10 is a flowchart explaining another arithmetic processing operation of the outside-vehicle driving assistant in the vehicle control system of Modification 2, Fig. 11 is a flowchart explaining an arithmetic processing operation of an assistant for driving from outside the vehicle in a vehicle control system of a modification 3, Fig. 12 is a flowchart explaining an arithmetic processing operation of an assistant for driving from outside the vehicle in a vehicle control system of a modification 4, Fig. 13 is a view explaining a warning operation in the vehicle control system of Modification 4, Fig. 14 is a block diagram illustrating a configuration of a vehicle control system of a modification 5, Fig. Fig. 15 is a flowchart explaining an arithmetic processing operation in a vehicle control system in a modification 6, and Fig. 16 is a flowchart explaining an arithmetic processing operation of an outside-vehicle driving assistant in a vehicle control system of a modification 6. Description of the embodiments

[0019] An embodiment of a vehicle control system according to the present invention will be described in detail below based on the drawings. Note that the present invention is not limited by the embodiment. [Embodiment]

[0020] The embodiment of the vehicle control system according to the present invention will be described on the basis of Figures Fig. 1 to Fig. 6 will be explained.

[0021] The Fig. 1 is a block diagram illustrating a configuration of a vehicle control system 1 of the embodiment. The vehicle control system 1 is a system for assisting a driver in driving a vehicle (an automobile). The vehicle control system 1 is provided with an electronic control unit (hereinafter referred to as a "driver assistance ECU") 11 for performing arithmetic processing related to the drive assistant. The drive assistant ECU 11 includes a drive assistant controller for performing control (drive assistant control) related to the following drive assistants.

[0022] Driving assistants assist or are assistants when a vehicle is caused to move from its current position. For example, they present the driver with a guidance route for movement along with the vehicle's location, and they cause the vehicle to move automatically along the guidance route. Driving assistants are executed when the driver is in a compartment and are hereinafter referred to as "in-compartment driving assistants." In the in-compartment driving assistant, for example, an assistant is executed depending on the guidance route to the target position of the vehicle after the vehicle has been moved.Furthermore, the vehicle control system 1 also executes a driving assistant (hereinafter referred to as an "outside-vehicle driving assistant") when the vehicle is operated from outside the vehicle by an operator such as the driver, in addition to the inside-compartment driving assistant. The outside-vehicle operation is performed by the operator operating an outside-vehicle operation device 50, which will be described later.Outside-vehicle operation includes a case where the operator causes the vehicle to move forward or backward to a desired position without setting the target position after the vehicle has moved, and a case where the guidance route is set from the current position to a set target position and the vehicle is caused to move forward or backward along the set route. Outside-vehicle driving assist is useful when, for example, an obstacle such as another vehicle exists at a destination in the periphery of the driver's own vehicle and a passenger is unlikely to leave the driver's own vehicle, and when luggage is unlikely to be loaded into or unloaded from the driver's own vehicle.

[0023] The embodiment will be explained, illustrating a parking assistant of a vehicle as a specific example of the vehicle control system 1. The parking assistant can be roughly classified into a parking assistant when the driver's own vehicle is parked in a target parking space, and a parking assistant when the driver's own vehicle is moved from the parking space. As the in-compartment driving assistant (in-compartment parking assistant), the vehicle control system 1 implements an assistant for presenting the driver with the guidance route from the current position to the target parking space along with the vehicle's movement location, and an assistant for presenting the driver with the guidance route from the current parking space to a target home position along with the vehicle's movement location.As the inside-compartment parking assistant, the vehicle control system 1 performs an assistant for parking or moving the vehicle by causing the vehicle to automatically move along the guide route. As the outside-vehicle driving assistant (outside-vehicle parking assistant), the vehicle control system 1 performs an assistant when the operator, such as the driver, operates the vehicle from outside the vehicle, and parks the vehicle along the guide route from the current position to the target parking area, or moves the vehicle along the guide route from the current parking area to the target home position.

[0024] Upon receiving an output signal from an assistance instruction device 21, the driving assistance ECU 11 may start the arithmetic processing.

[0025] The assistance instruction device 21 is arranged in the compartment. The assistance instruction device 21 includes an instruction unit (hereinafter referred to as an "assistance start instruction unit") 21a, which is operated when the operator, such as the driver, starts or stops the driving assistance control (the parking assistance control). Upon receiving the start signal from the assistance start instruction unit 21a, the driving assistance ECU 11 starts or stops a peripheral monitoring control along with the in-compartment driving assistance control (the in-compartment parking assistance control).

[0026] Furthermore, the assistance instruction device 21 is also provided with an instruction unit (hereinafter referred to as "an outside-vehicle operation start instruction unit") 21b, which is operated when the outside-vehicle driving assistance control (outside-vehicle parking assistance control) is started or stopped. Upon receiving the start signal from the outside-vehicle operation start instruction unit 21b, in addition to the start signal from the assistance start instruction unit 21a, the driving assistance ECU 11 starts the outside-vehicle driving assistance control (the outside-vehicle parking assistance control).Specifically, the off-vehicle operation start instruction unit 21b of the assistance instruction device 21 is an instruction unit that switches a mode to a traveling mode (an off-vehicle operation mode) for allowing the vehicle to travel through the operation of the off-vehicle operation device 50. In contrast, upon receiving the stop signal from the off-vehicle operation start instruction unit 21b, the driving assistance ECU 11 stops the off-vehicle driving assistance control (the off-vehicle parking assistance control).

[0027] Although not illustrated, the assist start instructing unit 21a and the unit 21b for instructing the operation start from outside the vehicle are, for example, power switches arranged on an instrument panel in the compartment, switches arranged in the compartment on a touch panel of a monitor, and the like.

[0028] The assistance instruction device 21 is further provided with a parking space selection unit 21c for causing the operator, such as the driver, to select a desired parking space candidate from the area candidates as a target parking space or a target parking space when multiple parking space candidates (area candidates serving as the parking destinations of the driver's own vehicle) exist. When it detects that multiple parking space candidates exist, the driving assistance ECU 11 causes the monitor to display images of the parking space candidates, for example, and also causes the monitor to display the selection switches (parking space selection unit 21c) corresponding to the parking space candidates. When the operator selects a desired parking space candidate using a selection switch on the touch panel of the monitor, the driving assistance ECU 11 sets the selected parking space candidate as the target parking space.Note that when a plurality of parking space candidates are selected by the operator, the driving assistance ECU 11 may cause the operator to select a target parking space under a pre-determined condition, such as a condition that the parking space candidate closest to the current position of the driver's own vehicle or to the current position of the driver's own vehicle is selected as the target parking space.

[0029] Peripheral monitoring control will be explained here. Peripheral monitoring control is a control for detecting an object in the periphery of the driver's own vehicle and determining whether or not the object is an obstacle to the driver's own vehicle. The driving assistance ECU 11 is provided with an object detector for detecting an object in the periphery of the driver's own vehicle and an obstacle determination unit for determining whether the detected object is an obstacle to the driver's own vehicle. The object may be a moving object or it may be a static object. The moving object is an object in motion, such as a vehicle and a bicycle in transit, a pedestrian, and the like.Furthermore, the static object is an object without movement, such as a stationary vehicle, a building such as a power pole, a wall and the like.

[0030] The vehicle control system 1 is provided with a peripheral information detector for detecting peripheral information of the driver's own vehicle. The peripheral information detector can detect at least peripheral information in the traveling direction of the driver's own vehicle. Therefore, at least one peripheral information detector is arranged at each of the front and rear portions of the driver's own vehicle. The peripheral information detector arranged at the front portion can preferably detect not only information in front of the driver's own vehicle but also information on the sides thereof as much as possible. In contrast, the peripheral information detector arranged at the rear portion preferably detects not only information behind the driver's own vehicle but also information on the sides thereof as much as possible.When the peripheral information detectors are arranged at the front portion and the rear portion and they cannot detect the side information of the driver's own vehicle, or it is desired to enlarge the detectable range of the side information of the driver's own vehicle, the peripheral information detectors are preferably also arranged at the right side portion and the left side portion of the driver's own vehicle.

[0031] Specifically, a laser device 31, a sonar device 32, and an image pickup device 33 are used as the peripheral information detector. It is sufficient to dispose at least one of the laser device 31, the sonar device 32, and the image pickup device 33 as the peripheral information detector. The vehicle control system 1 is equipped with all of these. The driving assistance ECU 11 is further provided with a laser beam control device for controlling the subsequent operation of the laser device 31, an ultrasonic wave control device for controlling the subsequent operation of the sonar device 32, and a pickup control device for controlling the subsequent operation of the image pickup device 33.

[0032] The laser device 31 radiates a laser beam toward the periphery of the driver's own vehicle while scanning the beam. When the laser device 31 is used to detect a peripheral object, for example, the distances from the emitting portion and the receiving portion of the laser beam to the reflecting position of the laser beam (reflection distance) are calculated, and the existence of the peripheral object of the driver's own vehicle is detected based on the information of the reflection distances. The reflection distances can be obtained from the mounting position of the laser device 31 in the vehicle (mainly the height position of the emitting portion and the receiving portion from a road surface), the scanning position of the laser beam (the radiation angle of the laser beam in a vehicle vertical direction, and the vehicle height).The arithmetic processing may be performed by the object detector disposed on the driving assistance ECU 11, or it may be performed by an object detector of a dedicated electronic control unit (laser ECU) of the laser device 31 instead of the above object detector. The laser ECU (illustration of which is omitted) may be interposed between the laser device 31 and the driving assistance ECU 11, or it may be disposed on the laser device 31 and transmit the result of the arithmetic processing to the driving assistance ECU 11.Further, when the laser ECU is provided, part of the arithmetic processing concerning the detection of the peripheral object may be executed by the laser ECU, and the remaining arithmetic processing may be executed by the driving assistance ECU 11.

[0033] The sonar device 32 radiates an ultrasonic wave toward the periphery of the driver's own vehicle while scanning the wave. When the sonar device 32 is used to detect the peripheral object, for example, the distance from the radiating portion and the receiving portion of the ultrasonic wave to the reflecting position of the ultrasonic wave (reflection distance) is calculated, and the presence of the peripheral object of the driver's own vehicle is detected based on the reflection distance information. The reflection distances can be calculated in the same way as the laser device 31. The arithmetic processing can be performed by the object detector disposed on the driving assistance ECU 11, or it can be performed by an object detector of a dedicated electronic control unit (sonar ECU).Laser ECU) of the sonar device 32 may be implemented instead of the above object detector. The sonar ECU (illustration of which is omitted) may be interposed between the sonar device 32 and the driving assistance ECU 11, or it may be disposed on the sonar device 32 and transmit the result of the arithmetic processing to the driving assistance ECU 11. Further, when the sonar ECU is provided, part of the arithmetic processing related to the detection of the peripheral object may be performed by the sonar ECU, and the remaining arithmetic processing may be performed by the driving assistance ECU 11.

[0034] The image pickup device 33 captures a moving image or a still image of the periphery of the driver's own vehicle. The image pickup device 33 may have a fixed image pickup area or a variable image pickup area. The image pickup device 33 may be, for example, a device for capturing image information in an image pickup area, such as a charge-coupled device (CCD) type camera and the like, or it may be a direct sensor capable of detecting a detection object in an image pickup area to which light from the detection object reaches. From the image or video image of the periphery captured by the image pickup device 33 or from the detected signal and the like, for example, at least one of color information and brightness information may be captured.in the road and the local representation of the periphery of the driver's own vehicle. Therefore, based on the image, the video image, or the detected signal thereof, the object detector can detect the presence of the object in the periphery of the driver's own vehicle. The object detector can be arranged on the driving assistance ECU 11 or on the dedicated electronic control unit (an image pickup ECU) of the image pickup device 33. The image pickup ECU (illustration of which is omitted) can be interposed between the image pickup device 33 and the driving assistance ECU 11, or it can be arranged on the image pickup device 33 and transmit the arithmetic processing result to the driving assistance ECU 11.Further, when the image pickup ECU is provided, part of the arithmetic processing concerning the detection of the peripheral object may be executed by the image pickup ECU, and the remaining arithmetic processing may be executed by the driving assistance ECU 11.

[0035] The obstacle determination unit of the driving assistance ECU 11 determines whether or not the object detected by the object detector is an obstacle to the driver's own vehicle. For example, the obstacle determination unit determines that an object present at a predetermined distance in the periphery of the driver's own vehicle is an obstacle. If an obstacle is detected on the guidance route of the driver's own vehicle, the obstacle determination unit determines the object as an obstacle. The obstacle determination unit determines an object present in a parking area as an obstacle. The obstacle determination unit also determines an object present in an area that is a candidate for the guidance route of the driver's own vehicle as an obstacle. The obstacle determination unit further determines an object present in the traveling direction of the driver's own vehicle as an obstacle.At the time when the object is a moving object, the obstacle determination unit determines that the object is a moving object, whereas when the object is a static object, the obstacle determination unit determines that the object is a static object. When the obstacle determination unit identifies whether an object is a moving object or a static object, the determination unit uses the traveling information of the driver's own vehicle (a vehicle speed, a steering angle, and the like) together with the information of the object detected by the object detector. Specifically, based on, for example, the vehicle speed of the driver's own vehicle and the relative speed of an object to the driver's own vehicle, the obstacle determination unit identifies whether the object is the moving object or the static object.If it is determined that an obstacle exists in the periphery of the driver's own vehicle, the vehicle control system 1 can notify the driver of the presence of the obstacle and issue a warning to the driver. For this purpose, the driving assistance ECU 11 is provided with a warning controller for executing notification and warning to the driver from a warning device 41 and the like.

[0036] The warning device 41 issues a warning in the compartment to stimulate the sense of hearing or the sense of sight. The warning device 41 for stimulating the sense of hearing issues a sound or a voice. This type of warning device 41 is, for example, a warning horn and emits a beeper sound. Furthermore, this type of warning device 41 is, for example, a voice output device and issues a voice message such as "obstacle ahead." In contrast, the warning device 41 for stimulating the sense of sight causes the display of the instrument panel, a monitor of a car navigation system (illustration of which is omitted), and the like to display, for example, an image and character information thereon.This type of warning device 41 displays, for example, a lighted or flashing image for detecting the presence of an obstacle, or displays signs indicating "obstacle ahead," etc. The display is executed, for example, by a meter ECU 12.

[0037] The driving assistance ECU 11 is provided with a parking space calculation unit that sets a target parking space of the driver's own vehicle, a driver's own vehicle position calculation unit that calculates a position of the driver's own vehicle relative to the parking space, an exit destination calculation unit that determines an exit destination from the parking space of the driver's own vehicle, and a route generation unit that generates the guidance route of the driver's own vehicle when the vehicle is parked or moving.

[0038] A parking area is a space with various modes where a vehicle can park. It may be, for example, a space prepared in advance or a space determined based on the relationship between the size of the driver's own vehicle and the position of the obstacle. As the aforementioned parking area, there are, for example, a space divided by a frame line or a dotted line, etc., for positioning the longitudinal direction or front-rear direction and the transverse direction of a vehicle; a space divided by two straight lines or dotted lines or ropes for positioning the transverse direction of a vehicle; and a space divided by a stop line along with the two straight lines.Furthermore, as the latter parking area, there is, for example, a rectangular area (a rectangular parking frame), the use of which is decided when it is determined that the driver's own vehicle can be parked in the area by comparing the space formed between local things or products as obstacles with the size of the driver's own vehicle, and the like.

[0039] The parking space calculation unit detects a parking space candidate of the driver's own vehicle based on the obstacle detected by the obstacle detection unit. For example, based on the obstacle, the parking space calculation unit detects an area where there is no obstacle, such as another vehicle, as a parking space candidate from among parking spaces for multiple vehicles (for example, the former parking area) or from among an area (for example, the latter parking area) corresponding to a parking space for multiple vehicles. If the parking space candidate is available for only one vehicle, the parking space calculation unit may set the candidate as the target parking space and request the operator, such as the driver, to move the driver's own vehicle to another location.In contrast, when there are parking space candidates for a plurality of vehicles, the parking space calculation unit causes the selection switches (parking space selection unit 21c) to be displayed together with the images of the parking space candidates, and causes the operator to select the target parking space therefrom as described above.

[0040] When the parking space calculation unit detects a parking space candidate, the calculation unit may use the management information of a parking space of a parking management device 100 instead of or together with the detection result of the obstacle detection unit. Information about the parking spaces in the parking space is used as the management information. Specifically, the parking management device 100 includes the empty / occupied information of the parking spaces (specifically, the empty parking space information and the occupied parking space information). The empty / occupied information is calculated based on the parking space information of the parking space stored in a database 101 and the occupied information of the vehicles in the parking spaces detected by a detector 102.The parking management device 100 wirelessly transmits the vacancy / occupancy information of the parking spaces to, for example, a vehicle entering the parking space via a communication device 103. The vehicle is provided with a communication electronic control unit (hereinafter referred to as a "communication ECU") 13, receives the information from the parking management device 100 via a communication device 13a, and transmits the information to the driving assistance ECU 11. The parking space calculation unit of the driving assistance ECU 11 detects the parking space candidate of the driver's own vehicle using the vacancy / occupancy information of the parking space.

[0041] The driver's own vehicle position calculation unit calculates a position of the driver's own vehicle relative to the parking space candidate or the target parking space using, for example, the result of the image captured by the image capturing device 33.

[0042] The exit destination calculation unit can determine the exit destination of the driver's own vehicle based on the instructions (the instruction of the driver's desired exit destination, such as turning right and left) issued by the operator of, for example, the touch panel of the monitor and the like. Further, when the destination of the driver's own vehicle is set by the vehicle navigation system (illustration of which is omitted), the exit destination calculation unit can determine the exit destination of the driver's own vehicle from the parking area in accordance with the guidance route.

[0043] The route generation unit generates the guidance route from the current position of the driver's own vehicle to a parking area, or the guidance route from the parking area of ​​the driver's own vehicle to the initial destination. Assume that the guidance route of the driver's own vehicle is set to avoid the obstacle detected by the obstacle detection unit. The obstacle to be avoided is a static obstacle at that time. This is because a moving obstacle has a high probability of being moved from its location. However, if the moving obstacle is continuously detected even if a predetermined time has elapsed, the guidance route of the driver's own vehicle is generated to also avoid the moving obstacle.The route generation unit may generate the guidance route of the driver's own vehicle based on the instruction (the instruction of the guidance route desired by the driver) issued by the driver via the touch panel and the like.

[0044] For example, the driving assistance control device displays the guidance route on the monitor in the compartment. The driver in the compartment, who has received the in-compartment driving assistant (the in-compartment parking assistant), moves the driver's own vehicle to the target parking space along the guidance route by performing acceleration, braking, and steering operations.

[0045] When the driver assistance control device executes the in-compartment driving assistant (the in-compartment parking assistant) independently of the above, the control device sends a control instruction to a steering ECU 14, a drive ECU 15, and a brake ECU 16 to move the driver's own vehicle along the guide route to the target parking space by causing the vehicle to travel automatically. Automatic travel means causing the driver's own vehicle to travel automatically using at least one of the steering device, the power source, and the brake device as a control target, and automatically executing an operation related to the control target on the vehicle side.The steering ECU 14 controls the steering device (illustration omitted) of the driver's own vehicle based on the steering angle instructions at the positions along the guide route sent from the driving assistance control device, and steers a steering wheel. The drive ECU 15 controls the power source (for example, an internal combustion engine and a rotary machine, illustration omitted) of the driver's own vehicle based on the driving force instruction sent from the driving assistance control device, and causes the power source to output driving force.The brake ECU 16 controls the braking device of the driver's own vehicle (for example, a hydraulic braking device, the illustration of which is omitted here) based on the braking force instruction sent from the driving assistance control device, and causes braking force to be output. During automatic traveling, when the obstacle detection unit detects a moving obstacle and a probability that, for example, the moving obstacle enters the guidance route of the driver's own vehicle increases, the driver's own vehicle is stopped at once. At this time, the presence of the other vehicle 110 can be detected through inter-vehicle communication performed between a communication device 111 of the other vehicle 110 and the communication device 13a of the driver's own vehicle.

[0046] As described above, the driving assistance control device can also execute the outside-vehicle driving assistant (the outside-vehicle parking assistant). Upon receiving the start signal from the outside-vehicle operation start instruction unit 21b, the driving assistance control device determines whether the outside-vehicle driving assistant can be executed or not.When the driving assistance control device determines that the outside-vehicle driving assistant can be executed, the control device executes the outside-vehicle driving assistant when receiving the control signal from the outside-vehicle operation device 50, whereas when the driving assistance control device determines that the outside-vehicle driving assistant cannot be executed, the control device prohibits traveling based on the operation of the outside-vehicle operation device 50, and switches the outside-vehicle driving assistant (the outside-vehicle parking assistant) to the inside-compartment driving assistant (the inside-compartment parking assistant).

[0047] When the vehicle is caused to move from outside the vehicle, the operator, such as the driver, operates the outside-vehicle operation device 50. The outside-vehicle operation device 50 may equally well be a dedicated mobile remote control or a vehicle key, such as a smart key, which is provided with the function of the device 50 and is also mobile. The outside-vehicle operation device 50 may, for example, be arranged on a side surface of the vehicle. Furthermore, the outside-vehicle operation device 50 may be previously installed in a pre-determined location, such as a parking lot.

[0048] As it is in the Fig. As illustrated in Figure 2, the off-vehicle operation device 50 includes a forward travel operation unit 51, a reverse travel operation unit 52, and a brake operation unit 53. Each of the forward travel operation unit 51, the reverse travel operation unit 52, and the brake operation unit 53 may be composed of an on / off switch. Furthermore, when the off-vehicle operation device 50 includes a touch panel, the forward travel operation unit 51, the reverse travel operation unit 52, and the brake operation unit 53 may be associated with the switches displayed on the touch panel.

[0049] The forward travel operation unit 51 is an operation unit used to cause the vehicle to move forward. The operation of the forward travel operation unit 51 corresponds to the accelerator operation performed in the compartment when a forward range (a so-called D range) is selected as a shift position in an automatic transmission (the illustration of which is omitted here). The reverse travel operation unit 52 is an operation unit used to cause the vehicle to move backward. The operation of the reverse travel operation unit 52 corresponds to the accelerator operation performed in the compartment when a reverse range (a so-called R range) is selected as the shift position in the automatic transmission.For example, when the forward travel operation unit 51 or the rearward travel operation unit 52 is pressed, the external vehicle operation device 50 outputs a corresponding control signal, whereas when the forward travel operation unit 51 and the rearward travel operation unit 52 are not pressed, the external vehicle operation device 50 does not output a control signal.

[0050] The vehicle illustrated by way of example is equipped with a so-called shift-by-wire (SBW) device 61, allowing the drive assistance ECU 11 to automatically switch a gear range (gear stage, etc.) of the automatic transmission. Upon receiving the control signal output in conjunction with the operation of the forward movement operating unit 51, the drive assistance ECU 11 controls the shift-by-wire device 61, switches the gear range of the automatic transmission to the forward range, and causes the drive ECU 15 to output the driving force from the power source.In contrast, upon receiving the control signal output in association with the operation of the reverse travel operating unit 52, the drive assistance ECU 11 controls the shift-by-wire device 61, switches the gearshift range of the automatic transmission to the reverse range, and causes the drive ECU 15 to output the driving force from the power source. When the brake device outputs the braking force in any of the cases, the drive assistance ECU 11 causes the brake ECU 16 to control the brake device and stop outputting the braking force or reduce the braking force.Furthermore, if the drive assistance ECU 11 does not receive a control signal output in association with the operation of the forward travel operation unit 51 and the reverse travel operation unit 52, the drive assistance ECU 11 does not cause the power source to output the driving force. Therefore, if the drive assistance ECU 11 does not receive a control signal output in association with the operation of the forward travel operation unit 51 and the reverse travel operation unit 52, the drive assistance ECU 11 causes the drive ECU 15 to stop outputting the driving force from the power source.

[0051] The brake operating unit 53 is an operating unit when a vehicle is stopped or decelerating. The operation of the brake operating unit 53 corresponds to the braking operation in the compartment. When the brake operating unit 53 is pressed, the external operation device 50 outputs a corresponding control signal, whereas when the brake operating unit 53 is not pressed, the external operation device 50 does not output a control signal. Upon receiving the control signal output in association with the operation of the brake operating unit 53, the drive assistance ECU 11 causes the brake ECU 16 to control the braking device and output the braking force. Upon receiving no control signal output in association with the operation of the brake operating unit 53, the drive assistance ECU 11 does not cause the brake operating unit 53 to output the braking force.

[0052] Note that the forward travel operation unit 51 and the rearward travel operation unit 52 may be configured as an adjustment lever capable of adjusting a throttle opening degree in the same manner as when an accelerator pedal depression degree and an accelerator opening degree are changed in the compartment, respectively. In this case, the magnitude of the driving force can be changed depending on the lever adjustment amount of the forward travel operation unit 51 and the rearward travel operation unit 52. Furthermore, the brake operation unit 53 may be configured as an adjustment lever capable of adjusting the braking force in the same manner as when a brake operation amount is changed in the compartment.In this case, the magnitude of the braking force can be changed depending on the lever adjustment amount of the brake operating unit 53.

[0053] The device 50 illustrated by way of example for operation from outside the vehicle is further provided with a steering operation unit 54. The steering operation unit 54 is an operation unit when the steering wheel is steered. The operation of the steering operation unit 54 corresponds to the steering operation in the compartment. Upon receiving the control signal output in connection with the operation of the steering operation unit 54, the driving assistance ECU 11 causes the steering ECU 14 to control the steering device and controls the steering wheel depending on the operation amount and direction of the steering operation unit 54.

[0054] When any of the operating units is operated, the external vehicle operating device 50 transmits a signal in response to the operated operating unit via a communication device 59.

[0055] The outside-vehicle operation device 50 may be provided with at least one of the assist start instruction unit 21a, the outside-vehicle operation start instruction unit 21b, and the parking space selection unit 21c in the assist instruction device 21.

[0056] The Fig. 3 illustrates, by way of example, a parking lot having parking spaces S1 to S3, wherein other vehicles C0 are parked in the parking spaces S1 and S3, and wherein the parking space S2 is vacant. In the exemplary illustration, the parking space S2 is set as a target parking space A, and a guide route G is set from a current position P1 of the driver's own vehicle C to a position P2 in the target parking space A. The operator, such as the driver remaining outside the vehicle, causes the driver's own vehicle C to move along the guide route G from the position P1 of the driver's own vehicle by operating the reverse movement operation unit 52 and the steering operation unit 54 of the outside-vehicle operation device 50. Thereafter, the operator stops the driver's own vehicle C in the target parking space A by operating the brake operation unit 53.Note that, considering the case where the steering operation in the steering operation unit 54 is difficult, the driving assistance control device may also automatically steer the steering wheel along the guide route G by causing, for example, the steering ECU 14 alone to perform the steering operation.

[0057] Incidentally, the vehicle is provided with a parking brake (illustration of which is omitted) that is applied while the vehicle is parked. The parking brake exemplified herein is a manual parking brake that includes an operating unit (a so-called side lever and the like in the compartment) for operating the parking brake, and the operating unit is mechanically coupled to a braking force generating unit that generates braking force. In many cases, a driver applies the parking brake (illustration of which is omitted here) when leaving the vehicle to block the free movement of the vehicle. Therefore, even if the driver considers causing the vehicle to move from outside the vehicle, there is a possibility that the driver may leave the vehicle with the parking brake erroneously applied.If the driver performs the operation to cause the vehicle to move using the external operation device 50 while the parking brake is applied, the vehicle's movement will be blocked by the braking force of the parking brake. Even if the vehicle can be moved, there is a possibility that the durability of the parking brake will be reduced due to brake dragging.

[0058] To solve the problem, the vehicle control system 1 is configured to prevent the operation from being performed from outside the vehicle while the parking brake is applied by issuing a warning to request the release of the parking brake.

[0059] Specifically, when the outside-vehicle operation mode (the traveling mode for allowing the vehicle to travel by operating the outside-vehicle operation device 50) is selected, the drive assistance ECU 11 causes a warning to be output in the compartment when the operation of the parking brake is detected. The above-described warning device 41 is used to output the warning. If the warning device 41 is an auditory stimulator, the warning device 41 is caused to emit a beeper sound different from that output, for example, when the above-described obstacle is detected.When the warning device 41 is a voice output device, the warning device 41 is caused to output a voice such as "Release the parking brake when the operation is performed from outside the vehicle." When the warning device 41 is a visual stimulation device, for example, character information having a content similar to that of the voice is displayed on the instrument panel display and the like. Further, when the warning device 41 issues a warning through an image, it displays, for example, a display image different from the display image when the parking brake is usually operated (the display image displayed on the instrument panel display), or flashes the display image when the parking brake is usually operated, or the periphery of the display image.

[0060] It's also possible for the driver to apply the parking brake, for example, when the vehicle is stopped. To address this issue, the warning is issued in the compartment in the example, even if the parking brake has been applied.

[0061] The driving assistance control (the parking assistance control) which includes the warning operation is described below based on the flowchart of the Fig. 4 will be explained.

[0062] Upon receiving the start signal output in conjunction with the operation of the assistance start instruction unit 21a of the assistance instruction device 21, the driving assistance ECU 11 starts the driving assistance control (the parking assistance control) (step ST1). Specifically, at step ST1, the in-compartment driving assistance control (the in-compartment parking assistance control) and the peripheral monitoring control start. When the operator (driver) has an intention to perform the operation from outside the vehicle, the operator may operate the outside-vehicle operation start instruction unit 21b shortly after operating the assistance start instruction unit 21a, or may operate the outside-vehicle operation start instruction unit 21b after a certain time has elapsed since the operation of the assistance start instruction unit 21a.Upon receiving the start signal outputted in association with the operation of the outside-vehicle operation start instructing unit 21b, the driving assistance ECU 11 enters the standby state of the outside-vehicle driving assistance control (the outside-vehicle parking assistance control) until it goes to a step ST12 to be described later.

[0063] The parking space calculation unit of the driving assistance ECU 11 detects a parking space candidate of the driver's own vehicle (step ST2). As described above, the detection is performed using the information of the obstacle detected by the obstacle detection unit and the vacancy / occupancy information of the parking spaces sent from the parking management device 100. In step ST2, the parking space candidate is detected, which exists within a pre-determined range around the current position of the driver's own vehicle (for example, the range in which an object can be detected by the laser device 31 and the like).

[0064] The route generation unit of the driving assistance ECU 11 determines whether the guidance route from the current position of the driver's own vehicle to the parking space candidate can be generated (step ST3). For example, if there is a static obstacle between the current position of the driver's own vehicle and the parking space candidate, and if the vehicle cannot move while avoiding the static obstacle, the route generation unit determines that the guidance route to the parking space candidate cannot be generated. When multiple parking space candidates are perceived, it is determined at step ST3 with respect to each of the parking space candidates whether or not the guidance route can be generated. It can be said that the determination at step ST3 is to determine whether or not the perceived parking space candidate can become the target parking space.

[0065] If the guide route cannot be generated to all the parking space candidates detected in step ST2, the parking space calculation unit returns to step ST2 and again detects a parking space candidate of the driver's own vehicle. At that time, it is preferable to cause the parking space calculation unit to transmit to the driver, for example, through the voice information and character information of the warning device 41, the information that "because a guide route generation-capable parking space candidate cannot be found within a pre-determined angle, it is necessary to move the driver's own vehicle from the current position."

[0066] For example, if there is even one parking space candidate capable of generating a guide route among all the parking space candidates detected in step ST2, the driving assistance control unit of the driving assistance ECU 11 transmits the information that "driving (parking) can be assisted" and a "stop instruction" to the driver (step ST4). For example, the sound information, voice information, image information, and character information output by the warning device 41 are used as the information. Note that if the driver's own vehicle has stopped, the "stop instruction" need not be output.

[0067] The parking space calculation unit determines whether the driver's own vehicle is stationary (step ST5). This determination is performed using, for example, information such as wheel speed and the like sent from the drive ECU 15. If the driver's own vehicle is moving, the parking space calculation unit returns to step ST2 and again selects a parking space candidate of the driver's own vehicle, since there is a possibility that the already detected parking space candidate cannot be used as the target parking space.

[0068] When the driver's own vehicle is stationary, the parking space calculation unit determines whether there are multiple parking space candidates capable of guide route generation (step ST6).

[0069] If the plurality of parking space candidates are available, the parking space calculation unit selects a target parking space from among them (step ST7). At step ST7, as described above, the parking space calculation unit may cause the driving assistance ECU 11 to select a target parking space or display the selection switches (the parking space selection unit 21c) depending on the plurality of parking space candidates, and may cause the driver to select one of the candidates from the plurality of candidates.

[0070] In contrast, when there is only one guide route generation-capable parking area candidate, the parking area calculation unit selects the parking area candidate as the target parking area (step ST8).

[0071] The route generation unit generates the guidance route from the current position of the driver's own vehicle to the selected target parking area (step ST9).

[0072] The driving assistance control device determines whether the start signal issued in connection with the operation of the outside-vehicle operation start instruction unit 21b is received, specifically, it determines whether an outside-vehicle operation start instruction is issued (step ST10). If the outside-vehicle operation start instruction is not issued, the driving assistance control device proceeds to step ST13 and executes the inside-compartment driving assistant (the inside-compartment parking assistant) as described above.

[0073] When the instruction to start operation from outside the vehicle is issued, the driving assistance control device determines whether or not the movement of the driver's own vehicle to the target parking area is the object of the operation from outside the vehicle (step ST11). For example, if there are no obstacles such as a wall, other vehicles, and the like in the periphery of the target parking area, even if the driver's own vehicle is stopped in the target parking area by driving the vehicle in the compartment, it will not be difficult for a passenger to get out of the driver's own vehicle and load or unload luggage into or from the vehicle. For this reason, in this case, it can be determined that it is not necessary to dare to drive the driver's own vehicle from outside the vehicle.Therefore, when there is no obstacle in the periphery of the target parking area, and passenger boarding / disembarkation performance and baggage loading / unloading operability are not deteriorated, it is determined at step ST11 that the movement of the driver's own vehicle to the target parking area is not the subject of the external-vehicle operation. Conversely, when it can be determined that there is an obstacle in the periphery of the target parking area, and the passenger boarding / disembarkation performance and baggage loading / unloading operability are deteriorated, it is determined that the movement of the driver's own vehicle to the target parking area is the subject of the external-vehicle operation.When the driving assistance control device determines that the movement of the driver's own vehicle to the target parking space is the subject of the operation from outside the vehicle, it goes to step ST13, and executes the above-described in-compartment driving assistant (in-compartment parking assistant).

[0074] When the driving assistance control device determines that the movement of the driver's own vehicle to the target parking space is the subject of the operation from outside the vehicle, it executes the assistance control for driving from outside the vehicle (the assistance control for parking from outside the vehicle) (step ST12). The assistance control for driving from outside the vehicle (the assistance control for parking from outside the vehicle) is executed based on the flowchart of the Fig. 5 will be explained.

[0075] The driving assistance control device causes the brake ECU 16 to control the brake device so that the brake device outputs a stop-holding braking force (step ST12A). The stop-holding braking force is a braking force having a magnitude capable of stopping the driver's own vehicle at the current position, and, for example, when a so-called creep force is generated in the vehicle, it becomes a braking force greater than the creep force.

[0076] The driving assistance control device transmits the information that "the operation can be performed from outside the vehicle" to the driver (step ST12B). This information uses, for example, the sound information, voice information, image information, and character information output by the warning device 41.

[0077] The warning controller of the driving assistance ECU 11 determines whether the parking brake is applied or not (step ST12C). When the parking brake is applied and braking force is generated, the on signal of a parking brake switch (parking brake operation detector) 62 is transmitted to the sensing ECU 12. Upon receiving the on signal, the sensing ECU 12 causes the instrument panel display to change to an image showing that the parking brake is applied. When the on signal is detected, the warning controller determines that the parking brake is applied.

[0078] Even if the warning control device determines that the parking brake is not being applied, because there is a possibility that the driver will apply the parking brake thereafter, the warning control device determines whether the parking brake is being applied or not (step ST12D). The warning control device repeats the determination in step ST12D until a predetermined time has elapsed since a certain time (for example, after the notification in step ST12B is executed), and if the parking brake is applied during the time in which the determination is repeated, the warning control device proceeds to step ST12E. Whereas if the parking brake is not applied during this time, the warning control device determines that there is a high probability that the parking brake is not being applied, and proceeds to step ST12F.The pre-determined time is set longer than, for example, the time usually required by the driver to leave the vehicle after the vehicle has stopped.

[0079] When the parking brake is in operation or at the time the parking brake is applied as described in the Fig. 6, the warning control means issues a warning to an occupant D in the compartment (step ST12E). As described above, the warning is issued by outputting information such as voice information, character information, and the like that stimulates the sense of hearing and sight, that is, the information "Release the parking brake when the operation is performed from outside the vehicle," from the warning device 41. When the warning is issued in the compartment, the warning control means is prohibited from issuing the warning outside the vehicle. This is because the operator remaining in the compartment makes it useless to issue the warning outside the vehicle. There is a possibility that the driver releases the parking brake after perceiving the warning, although this depends on the driver's judgment.To resolve this issue, the driving assistance control device returns to step ST12D after the warning and, in contrast, again determines whether the parking brake has been applied. Note that, after the warning, the driving assistance control device may return to step ST12C.

[0080] In contrast, when the parking brake is not applied even if the pre-determined time has elapsed, a vehicle departure determination unit of the driving assistance ECU 11 determines whether or not the operator of the outside-vehicle operation device 50 leaves the vehicle (specifically, whether or not the operator has left the vehicle) (step ST12F).

[0081] The vehicle control system 1 is provided with a vehicle exit detector for detecting that the operator (driver) has exited the vehicle from inside the compartment to outside the vehicle. The vehicle exit detector uses a seat belt switch 63 capable of detecting whether the driver is wearing a seat belt or not, a door open / close switch 64 capable of detecting whether a door through which the driver enters and exits is open or closed, and an occupant detector 65 capable of detecting the state that the driver is sitting on the seat and the state that the driver is not sitting on the seat. The occupant detector 65 may, for example, use a force detector arranged under a seat surface.In the case where a force cannot be detected, the vehicle exit movement detection unit detects the driver's change from the state where the driver is sitting on the seat to the state where the driver is not sitting on the seat. Furthermore, the occupant detector 65 may use an image pickup device for picking up the seat, a laser device for irradiating a laser beam to the seat, or a sonar device for irradiating an ultrasonic wave to the seat.

[0082] When the vehicle exit movement detection unit detects that the seat belt of the operator's seat changes from the fastened state to the unfastened state, when it detects that the door through which the operator gets in and out changes from the closed state to the open state and further changes to the closed state, and when it detects that the operator changes from the state where the operator is sitting on the seat to the state where the operator is not sitting on the seat, the vehicle exit movement detection unit determines that the operator (driver) has exited the vehicle from inside the compartment to outside the vehicle.

[0083] Note that, for example, if a passenger other than the driver has the external vehicle operation device 50 and acts as the operator, it is difficult to specify the operator's seat. To address this problem, it is necessary to cause the driving assistance ECU 11 to perceive the operator's seat by providing the assistance instruction device 21 with, for example, a seat selection unit.

[0084] If the vehicle exit movement determination unit cannot detect that the operator has left the vehicle, there is a possibility that the parking brake is applied, which causes the warning control device to return to step ST12D and again determine whether or not the parking brake has been applied.

[0085] In contrast, when the vehicle exit movement determination unit detects that the operator has exited the vehicle, the driving assistance control device determines whether the outside-vehicle operation device 50 has been operated (the operation has been performed from outside the vehicle) or not (step ST12G).

[0086] For example, when the driving assistance control device receives the control signal of the forward travel operation unit 51 or the rearward travel operation unit 52 of the outside-vehicle operation device 50, it determines that the outside-vehicle operation has been performed.

[0087] If it cannot be detected that the operation was performed from outside the vehicle, there is a possibility that, for example, the parking brake is operated by the occupant remaining in the compartment, which causes the warning control means to return to step ST12D and again determine whether or not the parking brake has been operated.

[0088] In contrast, when it is detected that the operation has been performed from outside the vehicle, the driving assistance control device executes the outside-vehicle driving assistant (the outside-vehicle parking assistant) depending on the outside-vehicle operation (step ST12H).

[0089] When it is determined in the above-described step ST10 that the instruction to start operation from outside the vehicle has not been issued, or when it is determined in the step ST11 that the movement of the driver's own vehicle to the target parking space is not the subject of the outside-vehicle operation, the driving assistance control device executes the inside-compartment driving assistant (the inside-compartment parking assistant) as described above (step ST13).

[0090] As described above, when the parking brake is being applied, or at the time when the parking brake is applied in the state where the outside-vehicle operation mode is selected, the vehicle control system 1 issues a warning to prompt the passenger in the compartment to release the parking brake. Specifically, when the operator remains in the compartment, the vehicle control system 1 issues a warning in the compartment to release the parking brake and attracts the operator's attention, so that the operator does not perform the outside-vehicle operation by leaving the vehicle while the parking brake is being applied.As a result, the vehicle control system 1 can suppress a useless warning to the outside of the vehicle by issuing a warning to the operator in the compartment, who is a subject to be warned, and by not issuing a warning to the outside of the vehicle at that time. This advantage is particularly prominent in a vehicle in which the interior of a compartment is isolated from the exterior of the vehicle by a vehicle body. Furthermore, in the vehicle control system 1, because the operator and the like release the parking brake in response to the warning, the vehicle's travel is not blocked by the braking force of the parking brake, which can prevent the durability of the parking brake from being reduced due to dragging. [Modifications]

[0091] Furthermore, when organizing belongings in the compartment, for example, the driver can temporarily apply the parking brake. Therefore, if a warning is issued immediately because the parking brake is engaged or being engaged, the driver may find the warning annoying. Conversely, there is a possibility that the driver might leave the vehicle at that time and forget to release the parking brake. To solve this problem, Modifications 1 to 4 will explain configurations that can prompt the driver to release the parking brake while suppressing this annoying feeling. [Modification 1]

[0092] Modification 1 will use a vehicle control system 1 having the same configuration as that of the embodiment, and performs the same control as that of the embodiment except for the portion explained below.

[0093] In a state where an outside-vehicle operation mode is selected, and further, a shift position sensor 61a detects that a range operation unit (more specifically, a shift lever or a P-range operation switch) is operated to a parking range, a warning control means of a driving assistance ECU 11 of the modification outputs a warning in a compartment to request a passenger in the compartment to release a parking brake at the time when the operation of the parking brake is detected.

[0094] Operating the area operation unit to the parking area by a driver is one of the movements of an operator, such as the driver, so that the operator leaves the vehicle from inside the compartment to outside the vehicle, and it can be determined that the operator expresses an intention to leave the vehicle. For this reason, in the state where the outside-vehicle operation mode is selected, the vehicle control system 1 waits until the operator expresses the intention to leave the vehicle by operating the area operation unit to the parking area. After the operation to the parking area is completed, the vehicle control system 1 issues a warning in the compartment at the time when the driver applies the parking brake.

[0095] An arithmetic processing operation of the vehicle control system 1 of the modification is carried out on the basis of the flowchart of Fig. 7. It should be noted that in the Fig. 7 for those steps which start with the same alphanumeric characters with the prefix “ST” as those of the Fig. 5, the same arithmetic processing is carried out, which makes it possible to dispense with the explanations similar to those of the Fig. 5 correspond.

[0096] For example, after the warning control device notifies at step ST12B that the operation can be performed from outside the vehicle, it determines whether a shift position is in the parking range (whether it is at "P" or not) (step ST12I). If the shift position is in the parking range, the warning control device proceeds to step ST12C and confirms whether the parking brake is being applied. If the warning control device determines at step ST12C that the parking brake is not yet being applied, at the time when the operation of the parking brake is detected at step ST12D, it proceeds to step ST12E and issues a warning in the compartment, but does not issue a warning to the outside of the vehicle.Even if the warning control unit determines that the parking brake is being applied in step ST12C, it further proceeds to step ST12E and issues a warning in the compartment. Note that, in the exemplary illustration, the shift position not being in the parking range causes the determination in step ST12I to be repeated.

[0097] Because the vehicle control system 1 of the modification takes into account the driver's intention to leave the vehicle expressed by operating the area operating unit to the parking area, the modification can reduce the possibility that the warning becomes a nuisance to the driver while obtaining the same advantages as in the embodiment when the parking brake is in operation or at the time when the parking brake is operated.

[0098] As described above, the movement of the vehicle exit operation expresses the intention of the operator to exit the vehicle. For example, the operator's operations to unfasten a seat belt, open a side door, and change from the state where the operator is sitting on a seat to the state where the operator is not sitting on the seat, in addition to the operation of the area operation unit to the parking area, correspond to the operator's movement to exit the vehicle. A summary of the above allows step ST12I to be replaced with the determination of whether or not the operator performs the vehicle exit operation.In particular, in the vehicle control system 1, when the parking brake is being applied, or at the time when the application of the parking brake is detected in the state where the operation mode from outside the vehicle is selected and the operator makes the movement to exit the vehicle, it is also possible to output the warning in the compartment to request the occupant in the compartment to release the parking brake.

[0099] In this case, the vehicle control system 1 of the modification is provided with a vehicle exit movement detector for detecting the movement of the operator to exit the vehicle from inside the compartment to outside the vehicle. The driving assistance ECU 11 is provided with a vehicle exit movement determination unit that determines whether or not the operator is performing the vehicle exit movement from inside the compartment to outside the vehicle based on the detection result of the vehicle exit movement detector.

[0100] The vehicle exit movement detector uses at least one of the above-described sensors: shift position sensor 61a, seat belt switch 63, door open / close switch 64, and occupant detector 65.Therefore, the vehicle exit movement detection unit of the driving assistance ECU 11 is caused to detect that the operator is making the movement to exit the vehicle from inside the compartment to outside the vehicle when the movement corresponds to at least one of the states in which the shift position sensor 61a detects the operation of the area operation unit to the parking area, in which the change of the seat belt of the operator's seat from the fastened state to the unfastened state is detected, in which the change of the door through which the operator gets on and off from the closed state to the opened state is detected, and in which the change state of the operator from the state in which the operator is sitting on the seat to the state in which the operator is not sitting on the seat is detected.

[0101] Even if the arithmetic processing is carried out as described above, the vehicle control system 1 of the modification takes into account the driver's intention to leave the vehicle, which can reduce the possibility that the warning becomes a nuisance to the driver while obtaining the same advantages as those of the embodiment, in the state where the parking brake is in operation or at the time when the parking brake is operated. [Modification 2]

[0102] Modification 2 will use a vehicle control system 1 having the same configuration as that of the embodiment, and performs the same control as that of the embodiment except for the portion explained below.

[0103] When an outside-vehicle operation mode is selected, the modification issues a warning at a predetermined time after a parking brake has been applied in a compartment by determining that an operator will cause a vehicle to move after some time, regardless of whether the time elapsed after the outside-vehicle operation mode is selected is long or short.

[0104] When the outside-vehicle operation mode is selected, the parking brake operation is detected, and it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle, a warning control device of a driving assistance ECU 11 of the modification outputs a warning in the compartment to prompt a passenger in the compartment to release a parking brake. Specifically, when the outside-vehicle operation mode is selected, the parking brake operation is detected, and it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle, the warning control device outputs the warning regardless of whether a predetermined time has elapsed since the parking brake operation was detected.

[0105] An arithmetic processing operation of the vehicle control system 1 of the modification is carried out on the basis of the flowchart of Fig. 8. It should be noted that the Fig. 8 for those steps which start with the same alphanumeric characters with the prefix “ST” as those of the Fig. 5, the same arithmetic processing is carried out, which makes it possible to dispense with the explanations similar to those of the Fig. 5 correspond.

[0106] If it is determined in step ST12C that the parking brake is being applied, a vehicle exit determination unit of the driving assistance ECU 11 determines whether the operator of the outside-vehicle operation device 50 has exited the vehicle (step ST12J). It is sufficient to perform the determination in the same manner as in step ST12F described above.

[0107] If the operator has not left the vehicle, the warning control device determines whether a predetermined time has elapsed since, for example, the detection of the parking brake application (step ST12K). The predetermined time is set longer than the time it usually takes for the driver to leave the vehicle after applying the parking brake.

[0108] There is also the possibility that the parking brake is released, which causes that when the pre-determined time has not yet elapsed, the warning control means returns to the step ST12C and again confirms whether the parking brake is in operation or not.

[0109] In contrast, if the warning control device determines that the pre-determined time has elapsed, it proceeds to step ST12E, issues a warning in the compartment, but does not issue a warning outside the vehicle. The warning control device returns to step ST12C and again confirms whether the parking brake is engaged or not.

[0110] If the warning controller determines at step ST12C that the parking brake is not engaged, the vehicle exit movement determination unit proceeds to step ST12F and determines whether the operator has exited the vehicle. If it is detected that the operator has exited the vehicle, the driving assistance controller of the driving assistance ECU 11 proceeds to step ST12G and determines whether the operation is being performed from outside the vehicle. If it is not detected at step ST12F that the operator has exited the vehicle, or if the operation from outside the vehicle is not detected at step ST12G, the warning controller returns to step ST12C and again confirms whether the parking brake is engaged, because there is a possibility that the parking brake is being engaged.

[0111] As described above, even in the case where the parking brake is engaged, the vehicle control system 1 of the modification withholds issuing the warning until the predetermined time has elapsed while the operator does not exit the vehicle. In contrast, if the predetermined time has elapsed while the operator does not exit the vehicle in the state where the parking brake is engaged, the vehicle control system 1 issues a warning in the compartment, allowing the same advantages as in the embodiment to be achieved while suppressing the driver from feeling the warning as an annoyance.

[0112] There is also the possibility that the operator has left the vehicle before the pre-determined time has elapsed. To solve this problem, if it is detected at step ST12J that the operator has left the vehicle, the warning control device issues a warning outside the vehicle to request the release of the parking brake (step ST12L). The warning is communicated to an operator D outside the vehicle by, for example, activating or flashing a headlight 66 or headlight of the vehicle or by sounding a horn (a so-called klaxon) 67 of the vehicle ( Fig. 9) is output via a body ECU 17. Specifically, when the warning is output from outside the vehicle (illustration of which is omitted), the headlight 66 and the horn 67 are used as a warning device. Furthermore, a device for notification warning outside the vehicle may be additionally provided, and the warning may be output by outputting voice information such as "release the parking brake when operating from outside the vehicle" and the like from the warning device.When the warning is issued outside the vehicle, the outside-vehicle operation device 50 may be provided with the function of the warning device, warning information for stimulating the sense of hearing may be issued from the outside-vehicle operation device 50, or warning information for stimulating the sense of sight may be displayed on a display of the outside-vehicle operation device 50. The warning information may be equivalent to the warning issued in the compartment.

[0113] After the operator receives the warning outside the vehicle, there is a possibility that the operator enters or climbs onto the vehicle to release the parking brake. To resolve this problem, the warning controller returns to step ST12C after the warning is issued and confirms whether the parking brake is engaged or not.

[0114] In this way, when the outside-vehicle operation mode is selected, the parking brake operation is detected, and it is detected that the operator has left the vehicle before the predetermined time elapses (specifically, a time at which a warning is issued in the compartment is reached), the vehicle control system 1 of the modification issues an outside-vehicle warning to request the release of the parking brake. Specifically, when the operator remains outside the vehicle, the vehicle control system 1 issues an outside-vehicle warning to release the parking brake and attracts the operator's attention, so that the operator does not perform the outside-vehicle operation while the parking brake is being applied.Therefore, the vehicle control system 1 issues the warning to the operator, who is a subject to be warned and who remains outside the vehicle, so that a useless warning to the interior of the compartment can be suppressed. This advantage is particularly evident in a vehicle in which the interior of a compartment is isolated from its exterior by a vehicle body.

[0115] Even if the operator leaves the vehicle to the outside, another passenger may remain in the compartment. The warning control device can issue the above-described warning in the compartment along with the warning outside the vehicle. Because the vehicle control system 1 can issue a warning to prompt multiple people inside and outside the vehicle to release the parking brake, operation from outside the vehicle can be more effectively suppressed while the parking brake is kept engaged.

[0116] Furthermore, in the vehicle control system 1 of the modification, an operation of a range operation unit to a parking area may be added to the condition for executing the warning inside and outside the compartment similarly to Modification 1. In this case, after the warning control device notifies at step ST12B as in Modification 1 that the operation can be executed outside the vehicle, it goes to step ST12I and determines whether or not a shift position is in the parking area ( Fig. 10). If the shift position is in the parking range, the warning control device then goes to step ST12C and confirms whether the parking brake is being applied or not. With this application, the vehicle control system 1 can achieve the same advantage as that of modification 1. In contrast, if the shift position is not in the parking range, the warning control device repeats the determination in step ST12I. It should be noted that in the Fig. 10 the same arithmetic processing is carried out in the steps using the same alphanumeric characters with the prefix “ST” as those of the Fig. 8. As explained in Modification 1, step ST12I may be replaced with determining whether or not the operator performs the operation to exit the vehicle. [Modification 3]

[0117] Modification 3 will use a vehicle control system 1 having the same configuration as that of Modification 2, and performs the same control as that of Modification 2 except for the section explained below.

[0118] When an outside-vehicle operation mode is selected, the parking brake operation is detected, and it is detected that an operator has exited the vehicle, Modification 2 issues an outside-vehicle warning to prompt the driver to release the parking brake. However, there is a case where a driver temporarily applies the parking brake for safety reasons, such as when loading or unloading luggage and the like into a trunk. In this case, there is a possibility that the warning may become a nuisance to the outside-vehicle operator.To deal with this problem, when the outside-vehicle operation mode is selected, the operation of the parking brake is detected, and it is detected that the operator has left the vehicle, the vehicle control system 1 of the modification 3 outputs an outside-vehicle warning when it receives the control signal from an outside-vehicle operation device 50.

[0119] An arithmetic processing operation of the vehicle control system 1 of the modification is carried out on the basis of the flowchart of Fig. 11. Although the arithmetic processing operation is explained as an example based on the flowchart of Fig. 8 of Modification 2 will be explained, it can be based on the flow chart of the Fig. 10 of Modification 2. Even if the arithmetic processing operation is based on any one of the flowcharts, the arithmetic processing explained below is the same. It should be noted that in the Fig. 11 the same arithmetic processing will be performed in the steps starting with the same alphanumeric characters prefixed with “ST” as those of the Fig. 8, which allows to compare with those of the Fig. 8 consistent explanations should be omitted.

[0120] When the parking brake is engaged and the operator has left the vehicle, a warning controller determines whether the outside-vehicle operation device 50 is engaged (an outside-vehicle operation) or not, and specifically, determines whether the control signal is received from the outside-vehicle operation device 50 (step ST12M). If the control signal is not received, there is a possibility that the parking brake is released, causing the warning controller to return to step ST12C and again determine whether the parking brake is engaged. Conversely, if the control signal is received, the warning controller proceeds to step ST12L and issues an outside-vehicle warning.

[0121] As described above, the vehicle control system 1 of the modification does not output an outside-vehicle warning until it is requested by the outside-vehicle operation device 50 to perform the outside-vehicle operation, and when the vehicle control system 1 is requested by the outside-vehicle operation device 50 to perform the outside-vehicle operation, it outputs an outside-vehicle warning, which makes it possible to obtain the same advantages as those of the modification 2 while suppressing the driver from feeling the outside-vehicle warning as an annoyance more than the modification 2. [Modification 4]

[0122] Modification 4 will use a vehicle control system 1 which has the same configuration as that of the embodiment, and which performs the same control as that of the embodiment except for the portion explained below.

[0123] As with Modification 2, when an outside-vehicle operation mode is selected, the modification issues a warning in a compartment at a predetermined time after a parking brake has been applied by determining that an operator will cause a vehicle to move at a certain time, regardless of whether the time elapsed since the outside-vehicle operation mode was selected is long or short.

[0124] When the outside-vehicle operation mode is selected, when the parking brake operation is detected, and when the operator's movement to exit the vehicle from inside the compartment to outside the vehicle is not detected, a warning control device of a driving assistance ECU 11 of the modification outputs a warning in the compartment to prompt a passenger in the compartment to release a parking brake. Specifically, when the outside-vehicle operation mode is selected, when the parking brake operation is detected, and when it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle, regardless of whether a predetermined time has elapsed since the parking brake operation was detected, the warning control device outputs the warning.

[0125] The vehicle control system 1 of the modification is provided with the vehicle exit movement detector and the vehicle exit movement detection unit of the driving assistance ECU 11 as described above.

[0126] An arithmetic processing operation of the vehicle control system 1 of the embodiment is described based on the flowchart of Fig. 12. It should be noted that in the Fig. 12 the same arithmetic processing will be carried out as in the steps identified by the same alphanumeric characters prefixed with “ST” as those of the Fig. 5, which allows access to the data associated with those of Fig. 5 consistent explanations.

[0127] When it is determined at step ST12C that the parking brake is being applied, the vehicle exit movement determination unit determines whether or not the operator is making the movement to exit the vehicle, as in the above-described modification 1 (step ST12N).

[0128] If the operator does not make a movement to exit the vehicle, the warning control device determines whether a pre-determined time has elapsed since, for example, the parking brake application is detected (step ST12K). The pre-determined time is set to the same time as, for example, the pre-determined time of Modification 2.

[0129] There is also the possibility that the parking brake is released, which causes the warning control device to return to step ST12C if the pre-determined time has not elapsed and again confirm whether the parking brake is in operation or not.

[0130] In contrast, if the warning control device determines that the pre-determined time has elapsed, it proceeds to step ST12E, issues a warning in the compartment, and returns to step ST12C. Also, if the warning control device determines at step ST12N that the operator is performing the movement to exit the vehicle, it proceeds to step ST12E and issues a warning in the compartment. If the warning control device issues a warning in the compartment, it does not issue a warning outside the vehicle.

[0131] Further, when it is determined at step ST12C that the parking brake is not in operation, the vehicle leaving movement determining unit goes to step ST12F, similarly to the case of modification 2.

[0132] In this way, even if the parking brake is in operation when the operator does not even perform the movement to leave the vehicle, the same advantages as in the embodiment can be obtained while suppressing the driver from feeling the warning as an annoyance because the vehicle control system 1 of the modification withholds output of the warning until a predetermined time has elapsed.

[0133] It can be said that among the movements of the operator for exiting the vehicle exemplified above, specifically, the operation of the operator for removing the seat belt, the operation of the operator for opening the seat-side door, and the change movement of the operator from the state where the operator is sitting on the seat to the state where the operator is not sitting on the seat are the movements performed while the operator exits the vehicle from inside the compartment to outside the vehicle. For this reason, the vehicle control system 1 of the modification may replace the determination in step ST12N with the determination of "whether or not the operator exits the vehicle."Specifically, when the outside-vehicle operation mode is selected, the operation of the parking brake is detected, and an operator D leaves the vehicle, the vehicle control system 1 issues a warning for requesting the passenger in the compartment to release the parking brake at step ST12E (. Fig. 13). When the outside-vehicle operation mode is selected, the parking brake operation is detected, and the operator does not start to leave the vehicle even if a predetermined time has elapsed after the parking brake operation was detected, the vehicle control system 1 further issues a warning in the compartment. [Modification 5]

[0134] Modification 5 has at least two configurations of the configurations concerning the warning issued in and outside the compartment of the embodiment of Modifications 1 to 4 as described above.

[0135] In Modification 5, for example, the warning of the embodiment issued in the compartment when the parking brake is applied in the state where the outside-vehicle operation mode is selected is called a first warning mode (a mode for warning inside the compartment while the parking brake is applied), and the warning of the embodiment issued in the compartment at the time when the parking brake is applied in the state where the outside-vehicle operation mode is selected is called a second warning mode (a mode for warning inside the compartment at the time when the parking brake is applied).

[0136] The Modification 1 warning issued in the compartment when the parking brake is applied in the state where the outside-vehicle operation mode is selected and an operator executes the vehicle exit movement is called a third warning mode (an inside-compartment warning mode while the parking brake is applied after the vehicle exit movement is executed), and the Modification 1 warning issued in the compartment at the time when the parking brake is applied in the state where the outside-vehicle operation mode is selected and, in addition, the operator executes the vehicle exit movement is called a fourth warning mode (an inside-compartment warning mode at the time when the parking brake is applied after the vehicle exit movement is executed).

[0137] The warning of Modification 2 issued in the compartment when the outside-vehicle operation mode is selected, the operation of the parking brake is detected, and it is not detected that the operator has left the vehicle from inside the compartment to outside the vehicle is called a fifth warning mode (a mode for warning inside the compartment when the vehicle exit movement is not detected while the parking brake is being applied), and the warning issued outside the vehicle when the outside-vehicle operation mode is selected, the operation of the parking brake is detected, and it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle is called a sixth warning mode (a mode for warning outside the vehicle while the parking brake is being applied).The modification 2 warning issued in the compartment when the outside-vehicle operation mode is selected, the operation of the operator to exit the vehicle is detected, the operation of the parking brake is detected, and it is not detected that the operator has exited the vehicle from inside the compartment to outside the vehicle, is called a seventh warning mode (a mode for warning inside the compartment while the parking brake is in operation when the vehicle exit movement is not detected after the vehicle exit movement is detected).

[0138] The warning of Modification 3 issued outside the vehicle when the control signal is received from an outside-vehicle operation device 50 in the state where the outside-vehicle operation mode is selected, the operation of the parking brake is detected, and the completion of the movement of the operator to leave the vehicle from inside the compartment to outside the vehicle is detected is called an eighth warning mode (an outside-vehicle warning mode when the vehicle is operated from outside the vehicle while the parking brake is in operation).

[0139] Furthermore, the warning of Modification 4 issued in the compartment when the outside-vehicle operation mode is selected, the parking brake operation is detected, and the vehicle exit operator's movement from inside the compartment to outside the vehicle is not detected is called a ninth warning mode (an inside-compartment warning mode when the vehicle exit movement is not performed while the parking brake is being applied). Note that the warning of the third warning mode is the same as the warning issued in the compartment in Modification 4 when the outside-vehicle operation mode is selected, the parking brake operation is detected, and the vehicle exit operator's movement from inside the compartment to outside the vehicle is detected.

[0140] The Fig. 14 illustrates a configuration of a vehicle control system 2 of the modification. The vehicle control system 2 has at least two warning modes among the above-described warning modes. The vehicle control system 2 is provided with a warning mode selection device for enabling the operator to select the warning modes in the configuration of at least one of the vehicle control systems 1 of the embodiment and modifications 1 to 4 that has warning modes. When at least the two warning modes are embodied in at least two vehicle control systems 1 of the embodiment and modifications 1 to 4, the vehicle control system 2 is provided with the warning mode selection device 22 in a vehicle control system including all the configurations of the respective vehicle control systems 1.

[0141] The warning mode selection device 22 is, for example, a warning mode selection button arranged on an instrument panel in the compartment or a warning mode selection switch displayed on a touch panel of a monitor in the compartment. Furthermore, the warning mode selection device 22 may be a warning mode selection unit arranged on an assist start instruction unit 21a and the device 50 for operation from outside the vehicle.

[0142] Because the vehicle control system 2 of the modification 5 allows the operator to set a warning mode in accordance with a preference, the configuration can suppress the operator from feeling annoyed by a warning. [Modification 6]

[0143] Incidentally, the vehicle control system 1 described above can issue a warning in the compartment and outside the compartment as described below. An arithmetic processing operation of a vehicle control system 1 of the modification 6 is described based on the flowcharts of Fig. 15 and the Fig. 16 will be explained.

[0144] Upon receiving the start signal issued in connection with the actuation of an assistance start instruction unit 21a, a driving assistance ECU 11 starts a driving assistance control (a parking assistance control) (step ST21). Specifically, a peripheral monitoring control begins.

[0145] A driving assistance controller of the driving assistance ECU 11 determines whether or not an outside-vehicle operation start instruction is issued in the same manner as in step ST10 (step ST22). If the outside-vehicle operation start instruction is not issued, the driving assistance controller proceeds to step ST34 and executes the inside-compartment driving assistant (the inside-compartment parking assistant) as described below.

[0146] In contrast, when the instruction to start operation is issued from outside the vehicle, a parking space calculation unit of the driving assistance ECU 11 perceives a parking space candidate of a driver's own vehicle in the same manner as in step ST2 (step ST23).

[0147] A route generation unit of the driving assistance ECU 11 determines whether or not a guidance route of an out-of-vehicle operation can be generated from the current position of the driver's own vehicle to the parking space candidate (step ST24). The determination is performed by the determination in step ST3 in combination with the determination in step ST11. Specifically, in step ST24, the route generation unit determines a guidance route that can be generated in the same manner as in step ST3. Then, the route generation unit determines, with the same determination method as that of step ST11, whether or not the movement of the driver's own vehicle to the parking space candidate according to the guidance route that can be generated is the subject of the out-of-vehicle operation.In step ST24, the guidance route to the parking space candidate that is the subject of the outside-vehicle operation is perceived as the outside-vehicle operation guidance route. Therefore, in step ST24, when the perception is achieved, it is determined that the outside-vehicle operation guidance route can be generated.

[0148] If it is determined that the guidance route for operation from outside the vehicle cannot be generated, the parking space calculation unit returns to step ST23 and again detects a parking space candidate of the driver's own vehicle. At this time, the parking space calculation unit preferably transmits, for example, the information for requesting the driver to move the vehicle, as described above, to a driver through the voice information and character information of a warning device 41.

[0149] When it is determined at step ST24 that the guidance route of the operation can be generated from outside the vehicle, the driving assistance control device transmits the information that “it is possible to assist driving (parking)” and a “stop instruction” to the driver in the same manner as at step ST4 (step ST25).

[0150] The parking space calculation unit determines whether the driver's own vehicle is stationary (step ST26) in the same manner as in step ST5. If the driver's own vehicle is moving, the parking space calculation unit returns to step ST3 and again detects a parking space candidate of the driver's own vehicle, because there is a possibility that the guidance route determined to be possible for generation cannot be used.

[0151] When the driver's own vehicle is stationary, the parking space calculation unit determines whether there are a plurality of parking space candidates for which the guidance route of the operation from outside the vehicle can be generated or which can generate the guidance route of the operation from outside the vehicle (step ST27).

[0152] If there are multiple such parking space candidates, the parking space calculation unit selects a target parking space from among them (step ST28). At step ST28, the driving assistance ECU 11 may also be caused to select the target parking space in the same manner as in step ST7, and to display the selection switches (a parking space selection unit 21c) depending on the multiple parking space candidates, and the driver may be caused to select one target parking space candidate from among them.

[0153] In contrast, when there is only one parking space candidate for which the guidance route or operation guidance can be generated from outside the vehicle or which can generate the operation guidance or operation guidance route from outside the vehicle, the parking space calculation unit selects the parking space candidate as a target parking space (step ST29).

[0154] The route generation unit generates the guidance route from the current position of the driver's own vehicle to the selected target parking area (step ST30).

[0155] Thereafter, the driving assistance control device outputs a stop holding brake force in the same manner as in steps ST12A and ST12B (step ST31), and transmits the information that “the operation can be performed from outside the vehicle” to the driver (step ST32).

[0156] Subsequently, the driving assistance control device executes the assistance control for driving from outside the vehicle (the assistance control for parking from outside the vehicle) after the information is notified (step ST33). The assistance control for driving from outside the vehicle (the assistance control for parking from outside the vehicle) is executed based on the flowchart of the Fig. 16 will be explained.

[0157] A vehicle exit determination unit determines whether or not an operator of an outside-vehicle operation device 50 has exited the vehicle in the same manner as in step ST12F (step ST33A).

[0158] When it is detected that the operator has left the vehicle, the driving assistance control device determines whether or not the operation is performed from outside the vehicle in the same manner as in step ST12G (step ST33B).

[0159] If the operation is not performed from outside the vehicle, there is a possibility that the operator remains in the vehicle. In this case, the driving assistance controller returns to step ST33A and causes the vehicle exit movement determination unit to again determine whether the operator has exited the vehicle.

[0160] In contrast, when it is detected that the operation is performed from outside the vehicle, the warning control means determines whether or not a parking brake is in operation in the same manner as in step ST12C (step ST33C).

[0161] When the parking brake is not in operation, the driving assistance control device executes the outside-vehicle driving assistant (the outside-vehicle parking assistant) depending on the outside-vehicle operation at step ST33B (step ST33D).

[0162] In contrast, when the parking brake is engaged, the warning control device outside the vehicle issues a warning to request the release of the parking brake, in the same manner as in step ST12L (step ST33E). There is a possibility that the operator gets into the vehicle to release the parking brake after perceiving the warning. Therefore, the driving assistance control device returns to step ST33A after issuing the warning and causes the vehicle exit movement determination unit to again determine whether the operator has exited the vehicle.

[0163] Further, when it is determined at step ST33A that the operator has not left the vehicle, the warning control means determines whether or not the parking brake is in operation in the same manner as at step ST12C (step ST33F).

[0164] If the parking brake is not engaged, there is a possibility that the operator has exited the vehicle. In this case, the driving assistance controller returns to step ST33A and causes the vehicle exit movement determination unit to again determine whether the operator has exited the vehicle.

[0165] In contrast, when the parking brake is in operation, the vehicle exit movement determining unit determines whether or not the operator is making the movement to exit the vehicle in the same manner as in step ST12N (step ST33G).

[0166] Even if the operator does not perform the vehicle exit movement at that time, there is also a possibility that the operator exits the vehicle afterward. Therefore, if it is determined that the operator has not performed the vehicle exit movement, the driving assistance controller returns to step ST33A and causes the vehicle exit movement determination unit to again determine whether the operator has exited the vehicle.

[0167] In contrast, if it is determined that the operator is performing the movement to exit the vehicle, the warning control unit issues a warning in the compartment to prompt the release of the parking brake, in the same manner as in step ST12E (step ST33H). There is a possibility that the driver, after perceiving the warning, will release the parking brake and exit the vehicle. Therefore, after issuing the warning, the driving assistance control unit returns to step ST33A and causes the vehicle exit movement determination unit to again determine whether the operator has exited the vehicle.

[0168] Even if the vehicle control system 1 of the modification executes the warning by the arithmetic processing having the flow described above, it can achieve the same advantage as that exemplified above.

[0169] In the vehicle control systems 1 and 2 of the embodiment and modifications 1 to 6, the device 50 for operating from outside the vehicle may be provided with an ignition-on operating unit 55 and an ignition-off operating unit 56 ( Fig. 2). The ignition-on operating unit 55 is an operating unit for when the operator turns on the vehicle's ignition from outside the vehicle, and it also functions as a start operating unit of a power source. Furthermore, the ignition-off operating unit 56 is an operating unit for when the operator turns off the vehicle's ignition from outside the vehicle, and it also functions as a stop operating unit of the power source.

[0170] In this case, after the operator moves the vehicle to a desired position by operating from outside the vehicle, the operator transmits an ignition-off signal by operating the ignition-off operating unit 56. Upon receiving the ignition-off signal via a communication device 13a of a communication ECU 13, the driving assistance control device executes ignition-off control and stops the power source. At this time, without considering that a range operating unit is operated into a parking range, the driving assistance control device controls a shift-by-wire device 61 and operates a parking mechanism of an automatic transmission, so that the vehicle cannot move while paused.

[0171] In contrast, even when the vehicle is moving out of a parking area, for example, the vehicle control systems 1 and 2 can execute the driving assistance from outside the vehicle. For example, the operator transmits an ignition-on signal by operating the ignition-on operating unit 55. Upon receiving the ignition-on signal via the communication device 13a, the communication ECU 13 transmits an instruction to a power supply management device 71 and resumes power supply, which was stopped, to the driving assistance ECU 11. Upon operation, the driving assistance control device of the driving assistance ECU 11 executes ignition-on control and starts the power source.Thereafter, the operator from outside the vehicle can also cause the stationary vehicle to move by operating an operating unit 51 for forward movement and an operating unit 52 for backward movement. List of reference symbols 1, 2 Vehicle control system 11 Driver assistance ECU 21 Assistance instruction device 22 Warning mode selector 31 Laser device 32 Sonar device 33 Image recording device 41 Warning device 50 Device for operation from outside the vehicle 61 Shift-by-wire device 61a Gearshift position sensor 62 Parking brake switch 63 Seat belt switch 64 Door open / closed switch 65 occupant detector 66 headlights 67 Horn

Claims

[1] A vehicle control system (1) comprising: a device (50) for actuating from outside a vehicle, which is configured to cause a vehicle to move when actuated by an actuator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device (21) configured to cause the operator to select a travel mode in which the vehicle is allowed to move by operating the device (50) for operating from outside the vehicle, a parking brake that can only be operated from the inside and transmits an actuating force to a braking force generating unit, a parking brake application detector (62) configured to detect an application of the parking brake, and a warning device (41) configured to issue a warning in a compartment for stimulating a sense of hearing or a sense of sight at the time when the travel mode is selected and the operation of the parking brake is detected. [2] The vehicle control system (1) according to claim 1, further comprising: a vehicle exit movement detector (61 a, 63, 64, 65) configured to detect a movement of the operator to exit the vehicle from inside the compartment to outside the vehicle, wherein the warning device (41) further issues the warning at the time when the movement of the actuator to exit the vehicle from inside the compartment to outside the vehicle is detected. [3] The vehicle control system (1) according to claim 1, wherein when the traveling mode is selected, the warning device (41) issues the warning at the time when the operation of the parking brake is detected. [4] The vehicle control system (1) according to claim 3, further comprising: a vehicle exit movement detector (61a, 63, 64, 65) configured to detect the movement of the operator to exit the vehicle from inside the compartment to outside the vehicle, wherein, when the traveling mode is selected and further the movement of the operator for leaving the vehicle from inside the compartment to outside the vehicle is detected, the warning device (41) issues the warning at the time when the operation of the parking brake is detected. [5] The vehicle control system (1) according to claim 1, further comprising: a vehicle exit detector (63, 64, 65) configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle, wherein the warning device (41) further issues the warning at the time if it is not detected that the operator has left the vehicle from inside the compartment to outside the vehicle. [6] The vehicle control system (1) according to claim 1, further comprising: a vehicle exit movement detector (61 a, 63, 64, 65) configured to detect a movement of the operator to exit the vehicle from inside the compartment to outside the vehicle, wherein the warning device (41) further issues the warning at the time if the movement of the actuator to exit the vehicle from inside the compartment to outside the vehicle is not detected. [7] A vehicle control system (1) comprising: a device (50) for actuating from outside a vehicle, which is configured to cause a vehicle to move when actuated by an actuator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device (21) configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by operating the device (50) for operating from outside the vehicle, a parking brake actuation detector (62) configured to detect an actuation of a parking brake, a vehicle exit detector (63, 64, 65) configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle, and a warning device (41) configured to issue a warning outside the vehicle for stimulating a sense of hearing or a sense of sight at the time when the travel mode is selected, the actuation of the parking brake is detected, and it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle. [8] The vehicle control system (1) according to claim 7, wherein the warning device (41) issues the warning at the time when the warning device (41) receives the control signal from the device (50) for operating from outside the vehicle, when the traveling mode is selected, when the operation of the parking brake is detected, and when it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle. [9] A vehicle control system (2) comprising: a device (50) for actuating from outside a vehicle, which is configured to cause a vehicle to move when actuated by an actuator from outside the vehicle, wherein an interior of a compartment of the vehicle is isolated from the exterior of the vehicle by a vehicle body, an assistance instruction device (21) configured to cause the operator to select a travel mode in which the vehicle is allowed to travel by operating the device (50) for operating from outside the vehicle, a parking brake actuation detector (62) configured to detect an actuation of a parking brake, a vehicle exit movement detector (61 a, 63, 64, 65) configured to detect a movement of the operator to exit the vehicle from inside the compartment to outside the vehicle, a vehicle exit detector (63, 64, 65) configured to detect that the operator has exited the vehicle from inside the compartment to outside the vehicle, a warning mode selection device (22) capable of selecting, respectively, (i) a warning mode for issuing a warning in the compartment for stimulating a sense of hearing or a sense of sight at the time when the operation of the parking brake is detected when the travel mode is selected, (ii) a warning mode for issuing a warning in the compartment for stimulating a sense of hearing or a sense of sight when the travel mode is selected, when the operation of the parking brake is detected, and when it is not detected that the operator has left the vehicle from inside the compartment to outside the vehicle, (iii) a warning mode for issuing a warning in the compartment for stimulating a sense of hearing or a sense of sight when the travel mode is selected, when the operation of the parking brake is detected,and when the movement of the operator to leave the vehicle from inside the compartment to outside the vehicle is detected, and (iv) a warning mode for issuing a warning outside the vehicle to stimulate a sense of hearing or a sense of sight when the travel mode is selected, when the application of the parking brake is detected, and when it is detected that the operator has left the vehicle from inside the compartment to outside the vehicle, and, a warning device (41) configured to issue the warning depending on the selected warning mode. [10] The vehicle control system (1;2) according to any one of claims 2, 4, 6 and 9, wherein a vehicle exit movement detection unit, which performs a detection based on the result of the detection of the vehicle exit movement detector (61a, 63, 64, 65), detects that the operator performs a movement to exit the vehicle from inside the compartment to outside the vehicle in at least one of the cases in which the vehicle exit movement detection unit detects (i) a change of a seat belt of the operator from a fastened state to an unfastened state, (ii) a change of a door through which the operator gets in and out from a closed state to an open state, (iii) a change of state of the operator from a seated state to a non-seated state, and (iv) that a shift position sensor detects an operation of an area operation unit to a parking area. [11] The vehicle control system (1; 2) according to any one of claims 1 to 10, wherein the parking brake includes an actuating unit mechanically coupled to a braking force generating unit that generates a braking force and actuates the parking brake.

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