Control device, control method and control program

Abstract

The present invention provides a control device, a control method, and a control program capable of reporting the motion state of a moving body to a person standing near the moving body. A computing unit (52) of a vehicle (10) comprises a motion control unit (55), which performs motion control of the vehicle (10), and a notification control unit (56), which executes a first notification from the vehicle (10) and a second notification from the vehicle (10) in a different aspect than the first notification. When an instruction to perform motion control is received, the notification control unit (56) executes the first notification and, after executing the first notification, executes the second notification to perform the motion control.

Description

Technical field

[0001] The present invention relates to a control device, a control method and a control program. Technical background

[0002] In recent years, active efforts have been made to provide access to a sustainable transport system that takes into account the needs of vulnerable road users. To implement this, the focus has been placed on research and development to further improve the safety and comfort of road users through research and development related to driver assistance technologies.

[0003] A remotely controlled parking system is known from the prior art, which remotely operates a vehicle to park it in a specified predetermined parking space or to cause the vehicle to drive out of the parking space. Patent specification 1 describes an in-vehicle notification device which, when a vehicle receiving an automated parking command signal from a remote control device is driving unmanned, warns persons around the vehicle by switching on or flashing lights or by emitting a sound from a loudspeaker at the time when the vehicle starts from a stopped state to an unmanned driving state.Patent specification 2 describes a parking assistance device which, when a parking assistance execution request is made, determines whether a vehicle is in a predetermined environment that is darker than a predetermined brightness level, and if it is determined that the vehicle is in the predetermined environment, switches on a light source without activating a high beam. Patent specification 3 describes a vehicle equipped with a driving assistance device in which, when an instruction means for instructing the start of operation of a parking assistance device is operated, a hazard warning light device switches on a hazard warning system. Citation list of patent documents Patent specification 1: JP4754883B Patent specification 2: JP6773477B Patent specification 3: JP4114435B Summary of the invention: Technical problem

[0004] According to patents 1 to 3, when a request for parking assistance is made for a moving object, a light is switched on at a predetermined time so that people around the moving object can see that the object is in a certain state at that predetermined time. However, it is advantageous for people around the moving object to be able to more accurately perceive the object's state of motion during the parking assistance process, for example, to be able to determine which stage of movement the object is in during the parking maneuver. Therefore, there is room for improvement in a mode where the object's state of motion is communicated to those nearby.

[0005] An object of the present invention is to provide a control device, a control method, and a control program capable of accurately notifying persons around a moving object about the object's state of motion. This contributes to the development of a sustainable transportation system. Solution to the problem

[0006] The present disclosure is a control device for a moving object, wherein the control device comprises: a motion control unit which is designed to perform motion control of the moving object; and a notification control unit which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein The notification control unit provides the first notification when a motion control instruction is received, and The notification control unit provides the second notification after the first notification has been provided and then executes the motion control.

[0007] The present invention is a control method by means of a control device which is configured to perform motion control of a moving object and is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control method comprises: Providing, through a processor of the control device, the first notification when a motion control instruction is received; and Providing, by the processor, the second notification after providing the first notification and then performing the motion control.

[0008] The present invention is a control program for a control device which is configured to perform motion control of a moving object and is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control program causes a processor of the control device to perform a process comprising: Providing the first notification when a motion control instruction is received; and Providing the second notification after providing the first notification, and then performing the motion control. Advantageous effects of the invention

[0009] The present invention can provide a control device, a control method and a control program which are capable of accurately notifying persons around a moving object about a state of motion of the moving object. Brief description of characters [ Fig. 1] Fig. Figure 1 is a side view which represents an example of a vehicle which is subject to motion control by a control device according to the present embodiment. [ Fig. 2] Fig. 2 is a top view of the in Fig. 1 of the depicted vehicle. [ Fig. 3] Fig. 3 is a block diagram which shows an internal configuration of the in Fig. 1 depicted vehicle. [ Fig. 4] Fig. Figure 4 is a diagram that shows an example of a hardware configuration of an information terminal device. [ Fig. 5] Fig. Figure 5 is a diagram that illustrates an example of controlling the vehicle's motion from outside the vehicle using the information terminal. [ Fig. 6] Fig. Figure 6 is a flowchart that represents an automated vehicle extension control by a computing unit. [ Fig. 7] Fig. Figure 7 is a flowchart illustrating the automated extension control following the processing of Fig. 6 represents. [ Fig. 8] Fig. Figure 8 is a sequence diagram, which represents a first operational example of a control system. [ Fig. 9] Fig. Figure 9 is a sequence diagram, which represents a second operational example of the control system. [ Fig. 10] Fig. Figure 10 is a sequence diagram, which represents a third operational example of the control system. [ Fig. 11] Fig. Figure 11 is a sequence diagram, which represents a fourth operational example of the control system. [ Fig. 12] Fig. 12 is a disclaimer screen that is displayed on an information terminal receiving query information regarding automated deployment. [ Fig. 13] Fig. 13 is a receiving screen that is displayed on the information terminal when a communication link process is performed between the vehicle and the information terminal during an automated vehicle deployment. [ Fig. 14] Fig. 14 is a receiving screen that is displayed on the information terminal when the communication link between the vehicle and the information terminal is established. [ Fig. 15] Fig. 15 is a receiving screen that is displayed on the information terminal during the receipt of an ignition-ON instruction. [ Fig. 16] Fig. 16 is a reception screen that is displayed on the information terminal when an ignition-on button is pressed. [ Fig. 17] Fig. 17 is a reception screen that is displayed on the information terminal when an ignition ON button is pressed and the ignition is started. [ Fig. 18] Fig. 18 is a reception screen that is displayed on the information terminal when an action plan for the vehicle is initiated to be received. [ Fig. 19] Fig. 19 is a reception screen that is displayed on the information terminal when the action plan for the vehicle is received. [ Fig. 20] Fig. 20 is a loading wait screen that is provided on the information terminal while waiting to load a partial power supply. [ Fig. 21] Fig. 21 is a receiving screen that is displayed on the information terminal when a motion control execution instruction is received from a user. Description of embodiments

[0010] An embodiment of a control device, a control method, and a control program of the present invention will now be described with reference to the accompanying drawings. The drawings are viewed in the directions indicated by reference numerals. To simplify and clarify the description in this specification or the like, a front-back direction, a left-right direction, and an up-down direction are described according to directions that would be seen by a driver of a vehicle. Fig. 1 and Fig. The vehicle 10 shown in Figure 2 can be viewed from the front. In the drawings, the front side of the vehicle 10 is shown as Fr, the rear side as Rr, the left side as L, the right side as R, the top side as U, and the bottom side as D. <Fahrzeug 10, welches einer Bewegungssteuerung durch eine Steuerungsvorrichtung der vorliegenden Erfindung unterliegt>

[0011] Fig. Figure 1 is a side view of the vehicle 10, which is subject to motion control by the control device of the present invention. Fig. 2 is a top view of the in Fig. 1. Vehicle 10 as shown. The vehicle 10 is an example of a moving object of the present invention.

[0012] Vehicle 10 is an automobile comprising a power source (not shown) and wheels, which include drive wheels driven by power from the power source and steerable wheels. In the present embodiment, vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and a pair of left and right rear wheels. The power source of vehicle 10 is, for example, an electric motor. It should be noted that the power source of vehicle 10 can be an internal combustion engine, such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The power source of vehicle 10 can drive the pair of left and right front wheels, the pair of left and right rear wheels, or four wheels comprising the pair of left and right front wheels and the pair of left and right rear wheels.The front wheels and the rear wheels can all be steerable steered wheels, or the front wheels or the rear wheels can be steerable steered wheels.

[0013] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outer sides of the front doors of the vehicle 10 so that the driver can check the rear and the rear sides. The side mirrors 11L and 11R are fixed to a body of the vehicle 10 by rotating shafts extending in a vertical direction and can be opened and closed by rotating around the rotating shafts.

[0014] The vehicle 10 further comprises a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is a digital camera located on the front of the vehicle 10 and captures an image of the front of the vehicle 10. The rear camera 12Rr is a digital camera located on the rear of the vehicle 10 and captures an image of the rear of the vehicle 10. The left side camera 12L is a digital camera located on the left side mirror 11L of the vehicle 10 and captures an image of the left side of the vehicle 10. The right side camera 12R is a digital camera located on the right side mirror 11R of the vehicle 10 and captures an image of the right side of the vehicle 10. <Interne Konfiguration von Fahrzeug 10>

[0015] Fig. 3 is a block diagram which shows an example of an internal configuration of the in Fig. 1 depicted vehicle 10. As in Fig. As shown in Figure 3, the vehicle 10 comprises a sensor group 16, a navigation device 18, an electronic control unit (ECU) 20, an electric power steering (EPS) system 22, and a communication unit 24. The vehicle 10 further comprises a drive force control system 26, a brake force control system 28, and a power supply 30.

[0016] Sensor group 16 acquires various detection values, which are used for control by the control ECU 20. Sensor group 16 comprises the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. Sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. Sensor group 16 includes wheel sensors 34a and 34b, a vehicle wheel speed sensor 36, and an operating detection unit 38. Sensor group 16 may include a radar.

[0017] The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R acquire recognition data (for example, environment images) to recognize the vehicle 10's external environment by capturing images of the vehicle 10's surroundings. The environment images captured by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image formed by combining the left side image and the right side image can be referred to as a side image.

[0018] The forward sonar group 32a, the aft sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d emit sound waves into the vicinity of the vehicle 10 and receive reflected sound from other objects. The forward sonar group 32a, for example, comprises four sonars. The sonars forming the forward sonar group 32a are positioned on the angled left front side, the front left side, the front right side, and the angled right front side of the vehicle 10. The aft sonar group 32b, for example, comprises four sonars. The sonars forming the aft sonar group 32b are positioned on the angled left rear side, the rear left side, the rear right side, and the angled right rear side of the vehicle 10. The left side sonar group 32c, for example, comprises two sonars.The sonars forming the left side sonar group 32c are each located on a forward section of the left side and a rear section of the left side of vehicle 10. The right side sonar group 32d, for example, comprises two sonars. The sonars forming the right side sonar group 32d are located on a forward section of the right side and a rear section of the right side of vehicle 10.

[0019] Wheel sensors 34a and 34b detect the rotation angles of the wheels of vehicle 10. These sensors can be implemented as angle sensors or displacement sensors. Each time the wheels rotate by a predetermined angle, wheel sensors 34a and 34b output detection pulses. These pulses are used to calculate the rotation angles and rotational speeds of the wheels. The vehicle's travel distance is then calculated based on these wheel rotation angles. For example, wheel sensor 34a detects a rotation angle θa of the left rear wheel, while wheel sensor 34b detects a rotation angle θb of the right rear wheel.

[0020] The vehicle speed sensor 36 detects the speed of a vehicle body of the vehicle 10, that is, a vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based, for example, on the rotation of a layshaft of a transmission.

[0021] The operating detection unit 38 detects user input via an operating input unit 14 and outputs the detected operating content to the control ECU 20. The operating input unit 14 includes various user interfaces, such as a side mirror switch that toggles between the open and closed states of the side mirrors 11L and 11R, and a shift lever (a selector lever or a selector).

[0022] The navigation device 18 detects the current position of the vehicle 10 using, for example, a global positioning system (GPS), and guides the user along a route to a destination. The navigation device 18 includes a storage device (not shown) which contains a map information database.

[0023] The navigation device 18 comprises a touch panel 42 and a loudspeaker 44. The touch panel 42 functions as an input device and as a display device for the control ECU 20. The loudspeaker 44 provides various types of guidance information to the user of the vehicle 10 via voice.

[0024] The touch panel 42 allows the input of various commands to the control ECU 20. For example, the user can use the touch panel 42 to input a command related to the vehicle's motion assistance system. This system includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 displays various screens related to the control content of the control ECU 20. Specifically, the touch panel 42 displays a screen related to the vehicle's motion assistance system. In particular, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance.The parking assistance button includes an automated parking button for requesting parking via automatic steering by the control ECU 20 and an assisted parking button for requesting assistance while parking the vehicle via driver operation. The exit assistance button includes an automated exit button for requesting exit via automatic steering by the control ECU 20 and an assisted exit button for requesting assistance while exiting via driver operation. It should be noted that components other than the touch panel 42, such as a smartphone or tablet, can also be used as the input device or screen device.

[0025] The power supply 30 comprises a main power supply 141 and a partial power supply 142. The main power supply 141 is a power supply (secondary power supply) that provides electrical power to an electronic device installed in the vehicle 10 when the vehicle 10 is driving normally and when the vehicle 10 is parked or moving. The partial power supply 142 is a power supply (auxiliary power supply) that provides electrical power to a vehicle stability assist (VSA) system and an electric parking brake (EPB), which decelerate or stop the vehicle 10 if the main power supply 141 fails. The partial power supply 142 is used for fail-safe operation by powering the VSA and EPB. The main power supply 141 is, for example, a lithium-ion battery, a nickel-metal hydride battery, or a lead-acid battery.The partial power supply 142, for example, is a capacitor (electrical double-layer capacitor). The power supply 30 is connected to the control ECU 20.

[0026] The control ECU 20 comprises an input and output unit 50, a processing unit 52, and a storage unit 54. The processing unit 52 is implemented, for example, by a central processing unit (CPU). The processing unit 52 executes various types of control operations by means of control units based on a program stored in the storage unit 54. Furthermore, the processing unit 52 receives and outputs signals to and from units that are connected to the control ECU 20 via the input and output unit 50. The control ECU 20, the processing unit 52, or a combination of the above with the communication unit 24 is an example of the control device of the present invention.

[0027] The computing unit 52 comprises a motion control unit 55, which performs motion control of the vehicle 10, a notification control unit 56, which can execute notifications from the vehicle 10, and a notification unit 57, which notifies the user about information about the motion control.

[0028] The motion control unit 55 performs automated parking assistance and automated extension assistance for the vehicle 10 by means of automatic steering, in which a steering system 110 is automatically operated under the control of the motion control unit 55. During automated parking assistance and automated extension assistance, an accelerator pedal (not shown), a brake pedal (not shown), and the control input unit 14 are operated automatically. The motion control unit 55 performs assisted parking assistance and assisted extension assistance when the driver operates the accelerator pedal, the brake pedal, and the control input unit 14 to manually park the vehicle 10 and to manually extend the vehicle 10.

[0029] For example, the motion control unit 55 executes the motion control to perform a movement of the vehicle 10 based on the recognition data of the vehicle 10's external environment, acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and a parking space specified by the user. The motion control includes a parking control to cause the vehicle 10 to perform automated parking in a predetermined parking space, and an exit control to cause the vehicle 10 to perform automated exit from the predetermined parking space to a target movement position. The motion control unit 55 executes the parking control and the exit control according to command signals that are input externally via the input and output unit 50.External input includes input via wireless communication from an information terminal or the like, worn by the user of the vehicle 10. The motion control unit 55 transmits information relating to parking control and exit control via the input and output unit 50 to an external information terminal.

[0030] The notification control unit 56 is capable of executing a first notification, which is a notification mode from the vehicle 10, and a second notification from the vehicle 10, which is a different mode from the first notification. The notification from the vehicle 10 is a notification in a mode that is transmitted to people in the vicinity of the vehicle 10. The notification control unit 56 executes the first notification when it receives a motion control instruction, and executes the second notification after executing the first notification, and then executes the motion control of the vehicle 10. The motion control instruction is, for example, an instruction from a user who commands the vehicle 10 to move automatically.The first notification, for example, is a notification announcing the preparation (execution plan) of a motion control operation for vehicle 10. The second notification, for example, is a notification announcing the execution of the motion control operation for vehicle 10.

[0031] The notification control unit 56 executes the first notification in a case where the execution of the motion control based on the instruction becomes possible, and executes the second notification at least either when the motion control is started or during its execution. The case in which the execution of the motion control based on the instruction becomes possible refers to a case where the user issuing the instruction provides confirmation and the vehicle 10 is started. The user issuing the instruction, which provides confirmation, means, for example, that a disclaimer is agreed to through a specific operation performed by the user during automated parking control or automated drive-out control of the vehicle 10. The vehicle 10 being started means that the ignition of the vehicle 10 is switched on.The instance in which motion control can be executed may, for example, encompass the period from the actuation of a disclaimer consent until immediately before an operation to select a parking or exit direction for vehicle 10 is received. The second notification is not limited to being executed at the start of motion control and may, for example, be triggered before motion control is initiated. "Before motion control is initiated" includes, for example, when the parking or exit direction of vehicle 10 is determined, and when the parking or exit direction of vehicle 10 is determined and vehicle 10 is awaiting the next specific operation. "During motion control" includes, for example, while vehicle 10 is moving while a specific operation is being performed.

[0032] The second notification, for example, is one with a higher notification intensity than the first. Higher notification intensity means, for instance, a louder volume if the notification is delivered via voice, and brighter light, more light sources, or a more striking color of light if the notification is delivered via light. The striking color could, for example, be a warning color (danger color). If the notification is delivered via voice message, the voice message could, for example, be a loud, clear voice. For instance, as a type of attention-grabbing notification, the first notification could be delivered via light, and the second notification could be delivered via sound, which attracts more attention than light.As an example of changing the number of notification types, the first notification can be provided by light, and the second notification can be provided by light and sound.

[0033] The first notification is, for example, a notification by switching on a first lighting device of the vehicle 10, and the second notification is a notification that combines the switching on of the first lighting device with the switching on of a second lighting device of the vehicle 10, which differs from the first lighting device. The first lighting device is, for example, a lighting device other than a headlight and a hazard warning light of the vehicle 10. The second lighting device is, for example, a headlight or a hazard warning light, or both of the lighting devices.

[0034] The first notification can be a notification by switching on a lighting device of the vehicle 10, and the second notification can be a notification that combines the switching on of the lighting device with a different type of procedure for switching on the lighting device. The different type of procedure for switching on the lighting device includes, for example, emitting sound (warning tone or message), displaying text or images, and projecting text or images. The text and images are displayed, for example, by a screen device provided in the vehicle 10 in such a way as to be able to display the text and images towards the outside of the vehicle 10.The text and images are projected, for example, by a projection device installed in vehicle 10 in such a way as to project the text and images towards the outside of the vehicle 10. The projection can be, for example, onto a window of vehicle 10 or onto the road surface surrounding the vehicle 10. A projection onto the window can be achieved, for example, by using a head-up display.

[0035] If the brightness around the vehicle 10 meets a predetermined condition, the notification control unit 56 executes the first notification by activating a daytime running light installed on the vehicle 10. If the brightness around the vehicle 10 does not meet the predetermined condition, the notification control unit 56 executes the first notification by activating a lighting device of the vehicle 10 other than the daytime running light. The predetermined condition is that the brightness around the vehicle 10 is equal to or greater than a predetermined value. The other lighting device of the vehicle 10 besides the daytime running light includes, for example, a position light and a fog light.

[0036] The notification control unit 56 executes the first notification when a motion control instruction is received from an information terminal through communication with the information terminal, which is portable by the user of the vehicle 10, and executes the second notification after the first notification has been executed. The case in which a motion control instruction is received from the information terminal refers, for example, to a case in which a disclaimer is given by the user operating the information terminal during automated parking control or automated exit control of the vehicle 10.The notification control unit 56 executes the first notification when driver confirmation for motion control is given, and executes the second notification when a motion control movement direction is confirmed. As described above, driver confirmation for motion control relates, for example, to a case in which a disclaimer is given by the user operating the information terminal during automated parking control or automated exit control. The notification control unit 56 can, for example, configure the first notification to be a notification only from vehicle 10 and configure the second notification to be a notification that combines the notification from vehicle 10 (first notification) with a notification from the information terminal.

[0037] If the second notification by the notification control unit 56 is a notification by switching on the headlight provided in the vehicle 10, the motion control unit 55 performs a limitation of the motion control of the vehicle 10 if an operating unit that controls a lighting state of the headlight is in a state of instructing a specific operation of the headlight. The state of instructing a specific operation of the headlight is a state of instructing an operation other than automatic operation of the headlight. For example, the state of instructing an operation other than automatic operation includes a state of instructing to switch off the headlight and a state of instructing to switch on the high beam of the headlight.In other words, the state of instructing a specific operation of the headlight is a state in which the second notification using the headlight cannot be provided, since the headlight's state is determined by a user setting, and if the motion control is operating normally, people around the vehicle cannot be notified. Limiting the vehicle's motion control 10 includes, for example, prohibiting the execution of motion control, limiting a movement speed in motion control, and limiting a movement distance in motion control.

[0038] When the motion control unit 55 performs the motion control limitation, the notification unit 57 notifies the user of an operation to remove the motion control limitation. The operation to remove the motion control limitation includes, for example, removing an off position when a headlight operating unit is set to the off position to turn off the headlight, and removing a high beam position when the headlight operating unit is set to the high beam position to set the headlight to a high beam state. The notification unit 57 provides the notification, for example, by displaying a message such as "Please set headlight to automatic mode" in text form on the touch panel 42 or by outputting the message as a sound from the speaker 44.

[0039] The EPS system 22 comprises a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects a steering angle θst of the steering system 110. The torque sensor 102 detects a torque TQ applied to the steering system 110.

[0040] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 coupled to the steering system 110, enabling the occupant to perform steering assistance 110 and automatic steering during parking assistance. The resolver 106 detects a rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire EPS system 22. The EPS ECU 108 comprises an input and output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0041] The communication unit 24 enables wireless communication with the other communication device 120. The other communication device 120 is a base station, a communication device of another vehicle, or an information terminal such as a smartphone or tablet, which is portable by the user of vehicle 10. For example, the communication unit 24 includes an ultra-wideband (UWB, registered trademark) interface to perform UWB communication with an information terminal. The information terminal will be described later.

[0042] The drive force control system 26 comprises a drive ECU 130. The drive force control system 26 performs drive force control of the vehicle 10. The drive ECU 130 controls a drive force of the vehicle 10 by controlling a motor or the like (not shown) based on an operation carried out by the user at the accelerator pedal (not shown).

[0043] The brake force control system 28 includes a brake ECU 132. The brake force control system 28 performs brake force control of the vehicle 10. The brake ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism or the like (not shown) based on an operation performed by the user at the brake pedal (not shown). <Hardware-Konfiguration von Informationsendgerät>

[0044] Fig. Figure 4 is a diagram illustrating an example of a hardware configuration for an information terminal device 60. The hardware of the information terminal device 60 can, for example, be implemented by an information processing device 80, which is located in Fig. Figure 4 shows the information processing device 80 comprising a processor 81, a memory 82, a communication interface 83, and a user interface 84. The processor 81, the memory 82, the communication interface 83, and the user interface 84 are connected, for example, by a bus 85.

[0045] The processor 81 is a circuit that performs signal processing and is, for example, a central processing unit (CPU) that controls the entire information processing device 80. The processor 81 can be implemented by another digital circuit such as a field-programmable gate array (FPGA) or a digital signal processor (DSP). The processor 81 can also be implemented by combining a plurality of digital circuits.

[0046] Memory 82, for example, comprises main memory and auxiliary memory. The main memory is, for example, Random Access Memory (RAM). The main memory is used as a working area of ​​the processor 81.

[0047] Auxiliary memory is a non-volatile storage medium such as a magnetic disk, an optical disk, or flash memory. Auxiliary memory stores various programs for operating the information processing device 80. The programs stored in auxiliary memory are loaded into main memory and executed by the processor 81.

[0048] Auxiliary storage can include portable storage that can be removed from the Information Processing Device 80. Examples of portable storage include a Universal Serial Bus (USB) flash drive, a memory card such as a Secure Digital (SD) memory card, and an external hard disk drive.

[0049] The communication interface 83 is a communication interface that performs wireless communication with the outside of the information processing device 80 (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 83 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 83 is controlled by the processor 81.

[0050] The user interface 84 comprises, for example, an input device that receives user input and an output device that provides information to the user. The input device can be implemented, for example, as a touch panel. The output device can be implemented, for example, as a screen and a speaker. The user interface 84 is controlled by the processor 81.

[0051] The processor 81 performs the motion control to issue an instruction to move the vehicle 10. For example, the processor 81 performs the motion control on the vehicle 10 based on specific user input on the terminal screen of the information terminal 60. The motion control includes, for example, the parking control to cause the vehicle 10 to perform automated parking in a predetermined parking space, and the exit control to cause the vehicle 10 to perform automated exit from the predetermined parking space to a target movement position. The specific input includes, for example, a push-to-move input to move the vehicle 10 and a tap-to-reserve parking and exit schedules.The sliding operation includes continuous position instruction operation (e.g., a swipe operation), rotation instruction operation in a predetermined rotation direction (e.g., a rotation-swipe operation), and the like. Furthermore, the processor 81 controls the generation of a guide image to prompt the user M to perform the instruction operation on the terminal screen of the information terminal 60 and to cause the terminal screen to display the generated guide image.

[0052] Processor 81 transmits a parking instruction to vehicle 10 to induce it to perform automated parking, and an exit instruction to induce vehicle 10 to perform automated exit based on the specific operation displayed on the information terminal 60's screen. An application configured to control the vehicle 10's motion by transmitting and receiving information about its motion control to and from vehicle 10 is installed in the information terminal 60. <Steuerung durch Informationsendgerät 60>

[0053] Fig. Figure 5 is a diagram illustrating an example of motion control of vehicle 10 from outside the vehicle 10 using the information terminal 60. Users MA and MB of vehicle 10 control a motion instruction to cause vehicle 10 to perform an automated exit from parking space P from outside the vehicle 10, using an information terminal 60A worn by user MA or an information terminal 60B worn by user MB. The control of the motion instruction includes, for example, controlling an exit instruction to cause vehicle 10 to perform an automated exit from parking space P and controlling a parking instruction to cause vehicle 10 to perform an automated parking maneuver in parking space P. The in Fig. Example 5 shows how the control of the exit instruction for vehicle 10 is carried out.

[0054] When users MA and MB touch the terminal screens 61A and 61B of the information terminals 60A and 60B, respectively, the information terminals 60A and 60B transmit an instruction signal that instructs the vehicle 10 to extend automatically via wireless communication. Examples of wireless communication with the vehicle 10 include UWB, Bluetooth Low Energy (BLE: registered trademark), and Near Field Communication (NFC: registered trademark). The vehicle 10 receives the instruction signals transmitted by the information terminals 60A and 60B through the communication unit 24. The motion control unit 55 of the vehicle 10 performs automated extension control of the vehicle 10 according to the received instruction signals. <Bewegungssteuerung durch Berechnungseinheit 52>

[0055] Next, the motion control of vehicle 10 is carried out by the calculation unit 52 of vehicle 10 with reference to Fig. 6 and Fig. 7 will be described.

[0056] Fig. Figure 6 is a flowchart that illustrates the automated extension control of the vehicle 10 by the calculation unit 52. Fig. Figure 7 is a flowchart illustrating the automated extension control following the processing of Fig. Figure 6 represents the following. It should be noted that the present automated extension control is executed, for example, in a situation such as in Fig. Figure 5 shows a user M (MA, MB) attempting to induce vehicle 10 to perform an automated exit from parking space P using information terminal 60 (60A, 60B).

[0057] First, the motion control unit 55 of the computation unit 52 determines whether a remote-controlled parking instruction is received (step S11). The remote-controlled parking instruction is a command to set the vehicle 10 to a state in which the vehicle 10 can be instructed to extend by the automated extension control. The instruction is received by the user M in the vehicle 10 by touching the automated extension button (not shown). The automated extension button can be, for example, a touch button displayed on the touch panel 42 of the navigation device 18, or a mechanical vehicle switch.

[0058] In step S11, if a remote parking instruction is not received (step S11: No), the motion control unit 55 repeats the processing of step S11 and waits until the remote parking instruction is received.

[0059] In step S11, when a remote parking instruction is received (step S11: Yes), the motion control unit 55 enters a standby state in which it can receive a signal from the external information terminal 60 (step S12). This activates the motion control unit 55 to receive signals, for example, from the information terminals 60A and 60B of users MA and MB outside the vehicle 10. Therefore, users MA and MB are able to instruct the vehicle 10 to perform an automated exit using the information terminals 60A and 60B.

[0060] Next, the motion control unit 55 initiates the transmission of query information regarding automated extension to the user M's information terminal 60 around the vehicle 10 (step S13). The information terminal 60 around the vehicle 10 is, for example, an information terminal whose communication quality with the vehicle 10's communication unit 24 is equal to or higher than a certain level. Specifically, the user M's information terminal will be located within a distance of 5 to 10 meters of the vehicle 10. The query information regarding automated extension includes, for example, information to ask user M whether to agree to precautionary measures regarding automated extension. Alternatively, the query information could simply be information to ask whether automated extension should be carried out.

[0061] Next, the motion control unit 55 determines whether response information to the query information transmitted in step S13 is received from the information terminal 60 (step S14). The response information could be, for example, information about an agreement to the warnings regarding the requested automated extension. Alternatively, the response information could simply be information about an execution of the automated extension.

[0062] In step S14, if no response information is received (step S14: No), the motion control unit 55 repeats the processing of step S14 and waits until response information is received.

[0063] In step S14, when the response information is received (step S14: Yes), the motion control unit 55 selects the information terminal 60 transmitting the response information as a driver terminal (step S15). The information terminal 60 transmitting the response information is the first one received after the motion control unit 55 transmits the query information. The driver terminal is the information terminal 60 that is authorized to control the automated deployment of the vehicle 10. The following description assumes that the information terminal 60A, worn by user MA, is selected as the driver terminal.

[0064] Next, the motion control unit 55 enters a rejection state, rejecting signals from terminals other than the driver terminal selected in step S15, i.e., information terminals 60 other than the information terminal 60A of user MA (step S16). As a result, the motion control unit 55 enters a rejection state for the signal from, for example, information terminal 60B, which is worn by user MB outside the vehicle 10. Therefore, user MB cannot cause the vehicle 10 to perform an automated departure using information terminal 60B.

[0065] The motion control unit 55 stops transmitting query information regarding the automated extension to the information terminal 60 of user M around the vehicle 10, which is started in step S13 (step S17). That is, since the information terminal 60A is confirmed as the driver terminal controlling the automated extension of the vehicle 10, the motion control unit 55 stops transmitting query information regarding the automated extension.

[0066] The motion control unit 55 transmits rejection information to the information terminal 60, which is not selected as the driver terminal, for example, the information terminal 60B of user MB, indicating that the signal from information terminal 60B is not being received (step S18). In other words, since user M (information terminal 60), who is capable of controlling the automated extension of the vehicle 10, is confirmed, user MB (information terminal 60B) is notified that the automated extension of the vehicle 10 cannot be carried out by information terminal 60B of user MB.

[0067] Next, the motion control unit 55 initiates a communication link with the driver terminal, that is, a communication link with the information terminal 60A, which is worn by the user MA (step S19).

[0068] Next, to cause the terminal screen 61A of the information terminal 60A to display a receiving screen of an ignition-ON instruction for an operation to turn on the ignition of the vehicle 10, the motion control unit 55 transmits a display instruction to the information terminal 60A (step S20). Examples of the receiving screen of the ignition-ON instruction include a screen which is displayed in Fig. 15 is shown.

[0069] Next, the motion control unit 55 determines whether the ignition-ON instruction to switch on the ignition of the vehicle 10 is received by the information terminal 60A (step S21).

[0070] In step S21, if the ignition-ON instruction is not received (step S21: No), the motion control unit 55 repeats the processing of step S21 until the ignition-ON instruction is received. In step S21, if the ignition-ON instruction is received (step S21: Yes), the motion control unit 55 switches on the ignition of the vehicle 10 (step S22).

[0071] Next, the notification control unit 56 of the computing unit 52 executes the first notification from the vehicle 10 (step S23). In this example, the notification control unit 56 executes the first notification when the information terminal 60A, worn by the user MA, is selected as the driver terminal and the ignition of the vehicle 10 is switched on. As described above, the first notification is, for example, a notification by switching on the position light. The first notification executed when the ignition is switched on can, for example, be a notification by flashing the position light once or several times, or a notification by keeping the light illuminated continuously, in particular a notification that keeps the light illuminated until the second notification is executed.

[0072] Next, the motion control unit 55 starts the charging control to charge the battery of the partial power supply 142 of the vehicle 10 (step S24).

[0073] Next, moving on to Fig. 7. To cause the terminal screen 61A of the information terminal 60A to display an action plan receiving screen, enabling the user M to perform an input operation of an action plan of the vehicle 10, the motion control unit 55 transmits a display instruction to the information terminal 60A (step S25). Examples of the action plan receiving screen include a screen which is in Fig. 18 is shown.

[0074] Next, the motion control unit 55 determines whether the action plan of the vehicle 10 is received by the information terminal 60A, which transmits the display instruction in step S25 (step S26).

[0075] In step S26, if the action plan is not received (step S26: No), the motion control unit 55 repeats the processing of step S26 until the action plan is received.

[0076] In step S26, if the action plan is received (step S26: Yes), the notification control unit 56 executes the second notification by the vehicle 10 (step S27). In this example, the notification control unit 56 executes the second notification when the exit direction of the vehicle 10 is selected by operating the terminal screen 61A of the information terminal 60A. As described above, the second notification is, for example, a notification in a mode that combines the illumination of the position light (first notification) with the illumination of the headlight. The second notification is, for example, a notification that has a higher intensity than that of the first notification.The second notification, which is executed after the choice of the exit direction, can be, for example, a notification by once or several times the position light and headlight flashing, or a notification by continuous illumination of the lights, in particular a notification that keeps the lights illuminated even after the motion control has started.

[0077] Next, the motion control unit 55 determines whether the charging control of the partial power supply 142 started in step S24 is complete (step S28).

[0078] In step S28, if the charging control of the partial power supply 142 is not complete (step S28: No), in order to cause the end screen 61A of the information terminal 60A to display a charging wait screen to allow the user M to wait for the charging of the partial power supply 142 to be completed, the motion control unit 55 transmits a display instruction to the information terminal 60A (step S29). Examples of the charging wait screen include a screen which is in Fig. 20 is shown.

[0079] Next, the motion control unit 55 determines whether the charging control for the partial power supply 142 is complete (step S30).

[0080] In step S30, if the charging control of the partial power supply 142 is not complete (step S30: No), the motion control unit 55 repeats the processing of step S30 until the charging control is complete. In step S30, if the charging control of the partial power supply 142 is complete (step S30: Yes), in order to cause the terminal screen 61A of the information terminal 60A to display a receiving screen of a motion control execution instruction, enabling the user M to issue an instruction to execute the motion control of the vehicle 10, the motion control unit 55 transmits a display instruction to the information terminal 60A (step S31). Examples of the receiving screen for the motion control execution instruction include a screen that displays in Fig. 21 is shown.

[0081] On the other hand, if it is determined in step S28 that the charging control at the partial power supply 142 is complete (step S28: Yes), the motion control unit 55 also proceeds to step S31 and transmits the display instruction of the receiving screen for the motion control execution instruction to the information terminal 60A.

[0082] Next, the motion control unit 55 determines whether the motion control execution instruction is received by the information terminal 60A, which transmits the display instruction in step S31 (step S32).

[0083] In step S32, if no motion control execution instruction is received (step S32: No), the motion control unit 55 repeats the processing of step S32 until the motion control execution instruction is received. In step S32, if the motion control execution instruction is received (step S32: Yes), the motion control unit 55 starts the motion control of the vehicle 10 based on the motion control execution instruction (step S33).

[0084] As described above, the notification control unit 56 in the control device (calculation unit 52) ​​of the vehicle 10 executes the first notification when an instruction for automated extension control of the vehicle 10 is received and execution of the automated extension control becomes possible, for example, when the information terminal 60A is selected as the driver terminal by the user MA through the disclaimer agreement and the ignition of the vehicle 10 is switched on. After the execution of the first notification, the second notification is executed when, for example, the extension direction of the vehicle 10 is selected by operating the information terminal 60A. Therefore, it is possible to accurately notify people around the vehicle 10 of its movement status at a stage in which the vehicle 10 is during automated extension.In this way, people around vehicle 10 can be prevented from feeling anxious because they are unable to recognize the vehicle's movement status, and from experiencing a sense of crisis as vehicle 10 enters a movement state without giving any indication. Therefore, it is possible to improve safety and user-friendliness for road users.

[0085] The notification control unit 56 provides the second notification with a higher notification intensity than the first notification. This makes it possible to inform people around the vehicle 10 more accurately about its movement status during the stage the vehicle 10 is in while automatically extending. <steuerungssystem-betrieb>

[0086] Next, an operational example of a control system S will be presented (see Fig. 5), which is formed by the vehicle 10, which performs the automated extension control, and the information terminals 60A and 60B, which perform the extension instruction control, with reference to Fig. 8 to 11 are described. As described above, the situation in Fig. 5 a situation in which the user M (MA, MB) attempts to cause the vehicle 10 to perform an automated exit from the parking space P using the information terminal 60 (60A, 60B). [First operational example]

[0087] Fig. Figure 8 is a sequence diagram illustrating a first operational example of the control system S. First, vehicle 10 receives a remote-controlled parking instruction from user M, prompting the automated extension control to extend the vehicle 10, which is parked in parking space P (step S41). Vehicle 10 then enters a standby state, enabling it to receive a signal from information terminal 60 (step S42). Vehicle 10 transmits the query information regarding automated extension, for example, to information terminal 60A, which is carried by user MA, and to information terminal 60B, which is carried around vehicle 10 by user MB (step S43).

[0088] The information terminal 60A receives a start command from user MA, who starts the application to issue a movement instruction for vehicle 10 (step S44). The information terminal 60A displays a disclaimer (cautions regarding automated deployment) on the terminal screen 61A (step S45). Examples of the disclaimer screen include a screen that is in Fig. Figure 12 is shown. The information terminal 60A receives an consent operation from user MA, who agrees to the disclaimer (step S46). The information terminal 60A transmits the consent response information about user MA, who agrees to the disclaimer, to vehicle 10 (step S47). Examples of a screen that is displayed when user MA's consent operation is received include a screen that is shown in Fig. 13 is shown.

[0089] Vehicle 10 selects the information terminal that initially transmits the consent response information, in this example information terminal 60A, as the driver terminal (step S48). Vehicle 10 then enters a rejection state, refusing to receive signals from information terminal 60B belonging to user MB, which is different from information terminal 60A belonging to user MA, which was selected as the driver terminal (step S49). Vehicle 10 stops transmitting the query information regarding automated deployment to information terminal 60B (step S50). Vehicle 10 then transmits rejection information to information terminal 60B, which was not selected as the driver terminal, indicating that the signal from information terminal 60B is not being received (step S51).As a result, the information terminal 60A is in communication link with the vehicle 10, which is the driver terminal capable of issuing an exit instruction for the automated exit of the vehicle 10 (step S52). The vehicle 10 receives the exit instruction from the driver terminal and executes the motion control. Examples of a screen displayed in communication link include a screen that is in . Fig. 14 is shown.

[0090] Then, after the rejection information is transmitted from vehicle 10 to information terminal 60B, it is assumed, for example, that information terminal 60B receives a start command from user MB, who starts an application to issue a movement instruction for vehicle 10 (step S53). Information terminal 60B displays the rejection information on terminal screen 61B, indicating that information terminal 60B is not selected as the driver terminal (step S54). [Second operational example]

[0091] Fig. Figure 9 is a sequence diagram representing a second operational example of the control system S. First, vehicle 10 receives a remote-controlled parking instruction from user M, prompting the automated extension control to extend the vehicle 10, which is parked in parking space P (step S61). Vehicle 10 then enters a standby state, enabling it to receive a signal from information terminal 60 (step S62). Vehicle 10 transmits the query information regarding automated extension, for example, to information terminal 60A, which is carried by user MA, and to information terminal 60B, which is carried around vehicle 10 by user MB (step S63).

[0092] Information terminal 60A receives a start command from user MA, who starts the application to issue a movement instruction for vehicle 10 (step S64). Information terminal 60B receives a start command from user MB, who starts the application to issue a movement instruction for vehicle 10 (step S65).

[0093] Information terminal 60A displays a disclaimer (precautions regarding automated extension) on terminal screen 61A (step S66). Information terminal 60B displays the disclaimer on terminal screen 61B (step S67). Examples of the disclaimer screen include a screen that appears in Fig. 12 is shown.

[0094] Information terminal 60A receives an consent operation from user MA, who agrees to the disclaimer (step S68). Information terminal 60A transmits the consent response information about user MA, who agrees to the disclaimer, to vehicle 10 (step S69). Examples of a screen that is displayed when user MA's consent operation is received include a screen that is in Fig. 13 is shown.

[0095] Vehicle 10 selects information terminal 60A, which transmits the consent response information, as the driver terminal (step S70). Vehicle 10 enters a rejection state, refusing to receive signals from information terminal 60B of user MB, which is different from information terminal 60A of user MA, which was selected as the driver terminal (step S71). Vehicle 10 stops transmitting the query information regarding automated deployment to information terminal 60B (step S72). Vehicle 10 transmits rejection information to information terminal 60B, which is not selected as the driver terminal, indicating that the signal from information terminal 60B is not being received (step S73).

[0096] The information terminal 60B displays the rejection information on the terminal screen 61B, which notifies that the information terminal 60B is not selected as the driver terminal (step S74).

[0097] As a result, the information terminal 60A is in communication link with the vehicle 10 as the driver terminal, which is capable of issuing an exit instruction for the automated exit of the vehicle 10 (step S75). Examples of a screen displayed in communication link include a screen which is in Fig. 14 is shown.

[0098] As described above, according to the first and second operating examples of the control system S, when the query information regarding automated driving is transmitted from vehicle 10 to information terminals 60A and 60B, the information terminal that initially transmits the consent response information to vehicle 10 in response to the query information (in this example, information terminal 60A) is selected as the driver terminal, and the rejection information is transmitted to the information terminal that does not transmit the consent response information (in this example, information terminal 60B). Therefore, the user MB of information terminal 60B, which is different from the driver terminal, can recognize that another user is becoming the instructing driver, issuing a driving instruction for vehicle 10, thus improving usability. [Third operational example]

[0099] Fig. Figure 10 is a sequence diagram representing a third operating example of the control system S. This third operating example involves the vehicle 10's extension control being carried out by the information terminal 60A, which is selected as the driver terminal, and the vehicle 10 itself.

[0100] The information terminal 60A receives the query information regarding automated extension, which is transmitted by the vehicle 10, and the information terminal 60A transmits the consent response information to the vehicle 10, thereby selecting the information terminal 60A as the driver terminal, and the information terminal 60A and the vehicle 10 are in a connected state in which they are able to communicate with each other (step S81). The above case corresponds to the state of step S52 in Fig. 8 or the state of step S75 in Fig. 9.

[0101] In order to cause the terminal screen 61A of the information terminal 60A to display a receiving screen of an ignition-ON instruction for an operation to turn on the ignition of the vehicle 10, the vehicle 10, which is in communication link with the information terminal 60A, transmits a display instruction to the information terminal 60A (step S82).

[0102] If the display instruction is received from vehicle 10 in step S82, the information terminal 60A displays the ignition-on instruction reception screen on terminal screen 61A and receives the ignition-on instruction from user MA on the reception screen (step S83). Examples of the ignition-on instruction reception screen include the screens shown in Fig. Figures 15 to 17 are shown. If the ON instruction is received by the user MA in step S83, the information terminal 60A transmits the ignition ON instruction to switch on the ignition to the vehicle 10 (step S84).

[0103] If the ignition-ON instruction is received from information terminal 60A in step S84, vehicle 10 switches on its ignition (step S85). When vehicle 10's ignition is switched on, vehicle 10 initiates the first notification (step S86). In this example, vehicle 10 initiates the first notification when user MA's information terminal 60A is selected as the driver terminal and vehicle 10's ignition is switched on. As described above, the first notification is, for example, a notification by switching on the position light. Vehicle 10 starts the charging control to charge the battery of vehicle 10's partial power supply 142 (step S87).In order to cause the terminal screen 61A of the information terminal 60A to display an action plan reception screen, which enables the user MA to perform an input operation of the action plan of the vehicle 10, the vehicle 10 transmits a display instruction to the information terminal 60A (step S88).

[0104] If the display instruction is received from vehicle 10 in step S88, the information terminal 60A displays the action plan reception screen on terminal screen 61A and receives an action plan instruction from user MA on the reception screen (step S89). Examples of the action plan reception screen include the screen shown in Fig. Figure 18 shows examples of the screen for receiving the action plan instruction, including the screen shown in Fig. Figure 19 is shown. Next, if the action plan instruction is received by user MA in step S89, the information terminal 60A transmits the action plan to vehicle 10 (step S90).

[0105] If the action plan is received by the information terminal 60A in step S90, vehicle 10 initiates the second notification (step S91). In this example, vehicle 10 initiates the second notification when its exit direction is selected by operating the terminal screen 61A of the information terminal 60A. As described above, the second notification is, for example, a notification in a mode that combines the illumination of the position light (first notification) with the illumination of the headlight. The second notification is, for example, a notification with a higher intensity than the first notification. If the second notification is initiated, vehicle 10 determines whether the charging control initiated in step S87 at the partial power supply 142 is complete.In a case where the loading of the partial power supply 142 is not yet complete, in order to cause the terminal screen 61A of the information terminal 60A to display the loading waiting screen in order to make the user MA wait for the loading, a display instruction is transmitted to the information terminal 60A (step S92).

[0106] If the display instruction is received from vehicle 10 in step S92, the information terminal 60A displays the charging wait screen on the terminal screen 61A (step S93). Examples of the charging wait screen include the one shown in Fig. 20 displayed on the screen.

[0107] After waiting to charge for a predetermined period of time, in a case where the charging of the partial power supply 142 started in step S87 is completed, in order to cause the terminal screen 61A of the information terminal 60A to display the receiving screen of the motion control execution instruction to execute the motion control on the vehicle 10, the vehicle 10 transmits a display instruction to the information terminal 60A (step S94).

[0108] If the display instruction is received from vehicle 10 in step S94, the information terminal 60A displays the motion control execution instruction reception screen on terminal screen 61A and receives the motion control execution instruction from user MA on the reception screen (step S95). Examples of the motion control execution instruction reception screen include the screen shown in Fig. 21 is shown. If the motion control execution instruction is received by the user MA in step S95, the information terminal 60A transmits the motion control execution instruction to the vehicle 10 (step S96) to execute the motion control.

[0109] When the motion control execution instruction is received from the information terminal 60A, vehicle 10 starts the motion control to cause vehicle 10 to perform an automated exit from parking space P in accordance with the motion control execution instruction (step S97). [Fourth operational example]

[0110] Fig. Figure 11 is a sequence diagram representing a fourth operational example of the control system S. It is similar to the third operational example, which refers to... Fig. As described in section 10, the fourth operating example is one in which the vehicle 10's deployment control is carried out by the information terminal 60A, which has been selected as the driver terminal, and the vehicle 10 itself. In the third operating example, however, the charging of the partial power supply 142 is not yet complete when the action plan is transmitted from the information terminal 60A to the vehicle 10, whereas the fourth operating example differs from the third in that the charging of the partial power supply 142 is complete when the action plan is transmitted.

[0111] As in Fig. As shown in Figure 11, in the fourth operating example, processing step S101 to step S111 is the same as processing step S81 to step S91 in the third operating example, which refers to Fig. It was described in section 10. Therefore, the description of steps S101 to S111 will be omitted.

[0112] If the second notification is initiated in step S111, vehicle 10 determines whether the charging control of the partial power supply 142, initiated in step S107, is complete. If the charging of the partial power supply 142 is complete, a display instruction is transmitted to the information terminal 60A (step S112) to cause the terminal screen 61A of the information terminal 60A to display the receiving screen of the motion control execution instruction for executing the motion control on vehicle 10. That is, if the charging of the partial power supply 142 is complete when vehicle 10 receives the action plan from the information terminal 60A and initiates the second notification, vehicle 10 does not cause the terminal screen 61A of the information terminal 60A to display the charging waiting screen (see Fig. 20) to indicate that you are waiting for the load.

[0113] It should be noted that the processing of steps S113 to S115 is the same as the processing of steps S95 to S97 in the [document / section]. Fig. The third operating example shown in point 10 is similar. Therefore, the description of steps S111 to S115 will be omitted.

[0114] As described above, according to the third and fourth operating examples of the control system S, vehicle 10 receives the ignition-on instruction from the information terminal 60A, which is in communication with vehicle 10 as the driver terminal. When the ignition is switched on according to the instruction, vehicle 10 initiates the first notification. After the first notification is initiated, when the action plan (exit direction) of vehicle 10 is received from the information terminal 60A, vehicle 10 initiates the second notification. Therefore, it is possible to accurately inform people in the vicinity of vehicle 10 about its movement status at a given stage during automated exit.In this way, people in the vicinity of vehicle 10 can be prevented from feeling anxious because they are unable to recognize the vehicle's movement status, and from experiencing a sense of crisis as vehicle 10 enters a movement state without giving any indication. Therefore, it is possible to improve safety and user-friendliness for road users.

[0115] Even if a waiver of liability is granted by an occupant (e.g., user MB), who is different from the driver (e.g., user MA) of vehicle 10, using an information terminal (e.g., information terminal 60B), it is possible to notify the driver that vehicle 10 is in a standby state before vehicle 10 starts driving by automated deployment, by executing the initial notification. Therefore, it is possible to improve safety and usability for road users. <Beispiel von Bild, welches auf Informationsendgerät angezeigtes wird>

[0116] Fig. Figures 12 to 21 are diagrams that represent examples of images displayed on the terminal screen 61 of the information terminal 60 during automated deployment of the vehicle 10.

[0117] Fig. 12 is a disclaimer screen displayed on the terminal screen 61 of the information terminal 60, which receives the query information regarding automated extension. The processor 81 of the information terminal 60 displays the disclaimer screen 62 on the terminal screen 61 when, for example, an application for issuing a movement instruction is started. The processor 81 of the information terminal 60 displays an consent set 62a on screen 62, which specifies consent content such as "Caution: this function is not fully automatic operation." The processor 81 also displays an consent button 62b for the user M to operate the function if they agree to the precautions.When the consent button 62b is subjected to a swipe operation (specific operation), the processor 81 displays a phrase such as "Considerations accepted," indicating acceptance of the warnings. The disclaimer screen 62 in . Fig. 12 is a screen, which is used, for example, in step S45 in Fig. 8 or in steps S66 and S67 in Fig. 9 is displayed.

[0118] Fig. 13 is a receiving screen 63, which is displayed on the terminal screen 61 of the information terminal 60 during the processing of the communication link between the vehicle 10 and the information terminal 60 during an automated deployment of the vehicle 10. For example, if an acceptance request from user M regarding the disclaimer is received, the processor 81 displays the receiving screen 63 on the terminal screen 61. The processor 81 displays a connection message 63a on the receiving screen 63, indicating that connection processing between the information terminal 60 and the vehicle 10 is in progress, such as "Connecting to vehicle," and displays a stop button 63b to stop this connection processing. The receiving screen 63 in Fig. 13 is a screen, which is used, for example, in step S46 in Fig. 8 or step S68 in Fig. 9 is displayed.

[0119] Fig. Figure 14 shows the receiving screen 63, which is displayed on the terminal screen 61 of the information terminal 60 when the communication link between the vehicle 10 and the information terminal 60 is completed. The processor 81 displays a connection completion message 63c on the receiving screen 63, indicating that the connection processing between the information terminal 60 and the vehicle 10 is complete, such as "Connection with vehicle is complete". The receiving screen 63 in Fig. 14 is a screen, which is used, for example, in step S52 in Fig. 8 or in step S75 in Fig. 9 is displayed.

[0120] Fig. 15 is a receiving screen 64, which is displayed on the terminal screen 61 of the information terminal 60 when the ignition-ON instruction is received. The processor 81 displays an ignition-ON button 64a and a start message 64b on the receiving screen 64, prompting the vehicle 10 to be started, such as "Starting to extend. Please press the power button".

[0121] Each of Fig. 16 and Fig. 17 is the receiving screen 64, which is displayed on the terminal screen 61 of the information terminal 60 when the ignition-ON button 64a is pressed. As in Fig. As shown in Figure 16, the processor 81 displays a start message 64c on the receiving screen 64, indicating that the vehicle 10 is being started, such as "Starting vehicle", and a start sign 64d. As shown in Fig. As shown in Figure 17, the processor 81 displays a Start-Complete message 64e on the receive screen 64, indicating that the vehicle 10 has started, such as "started". The receive screen 64 of Fig. 15 to Fig. 17 is a screen, which is used, for example, in step S83 in Fig. 10 or in step S103 in Fig. 11 is displayed.

[0122] Fig. 18 and Fig. Figure 19 shows a receiving screen 65, which is displayed on the terminal screen 61 of the information terminal 60 when the action plan of the vehicle 10 is received. As in Fig. As shown in Figure 18, at the beginning of the action plan reception, the processor 81 displays a direction selection message 65a on the reception screen 65, prompting the selection of a direction for the vehicle 10 to exit, such as "Please select exit direction", and exit direction arrows 65b to 65e, indicating the exit directions of the vehicle 10. As shown in Fig. As shown in Figure 19, when the action plan is received, the processor 81 displays a direction confirmation message 65f on the receiving screen 65, indicating the extension direction selected by the user M, such as "extend forward," and a selected extension direction arrow 65g, indicating the extension direction. The processor 81 also displays an OK button 65h on the receiving screen 65 for confirming the extension direction and a reselect button 65i for reselecting the extension direction. The receiving screen 65 in Fig. 18 and Fig. 19 is a screen, which is used, for example, in step S89 in Fig. 10 or step S109 in Fig. 11 is displayed.

[0123] Fig. 20 is a charging wait screen 66, which is displayed on the terminal screen 61 of the information terminal 60 when waiting for the partial power supply 142 to charge. The processor 81 displays a charging wait message 66a on the charging wait screen 66, which provides a notification about waiting for the partial power supply 142 to charge, such as "Preparing for remote deployment, it will take up to 20 seconds", and a progress bar 66b, which indicates the progress status of a charge. The in Fig. The displayed charging wait message 66a indicates that the time until charging control on the partial power supply 142 is complete is 20 seconds. The progress bar 66b shows that the charging progress rate of the partial power supply 142 is currently 60%. The charging wait screen 66 of Fig. For example, 20 is a screen which is shown in step S93 of Fig. 10 is displayed.

[0124] Fig. 21 is a receiving screen 67, which is displayed on the terminal screen 61 of the information terminal 60 when the motion control execution instruction is received by the user M. For example, the processor 81 displays a moving symbol 67a on the receiving screen 67, which moves in response to a touch position of the user M via a rotational swipe operation. The processor 81 displays a guidance message 67b for executing the automated extension of the vehicle 10 or for stopping the automated extension of the vehicle 10, such as "Extend by rotational swipe" or "Release finger to stop". The processor 81 displays an execution state image 67c, which shows the execution state of the extension control for the vehicle 10 (how the vehicle is moving) over an area in which the moving symbol 67a is displayed.Furthermore, on the right side of the execution state screen 67c, the processor 81 displays a warning message 67d to warn the user M performing the operation, such as "please check the environment immediately," and a stop button 67e to stop the automated extension control. The receiving screen 67 in . Fig. 21 is a screen, which is used, for example, in step S95 in Fig. 10 or in step S113 in Fig. 11 is displayed. When a specific operation, such as a continuous swipe operation, is received by the user M on the receiving screen 67 or a rotational swipe operation in a predetermined direction of rotation, the processor 81 transmits a motion control execution instruction to the vehicle 10.

[0125] It should be noted that the control method described in the embodiment above can be implemented by executing a control program that has been prepared in advance by a computer. The control program is stored in a computer-readable storage medium and executed by reading it from that medium. Additionally, the control program can be provided in a form stored in a non-transient storage medium, such as flash memory, or it can be provided via a network, such as the internet.The computer executing the present control program may be provided in the control device, may be provided in an electronic device such as a smartphone, a tablet device or a personal computer that can communicate with the control device, or may be provided in a server device that can communicate with the control device and the electronic device.

[0126] Although the embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and modifications, improvements and the like may be made in a suitable manner.

[0127] For example, the computing unit 52 can further include a windshield wiper control unit. The windshield wiper control unit causes the windshield wiper of vehicle 10 to operate based on the operation of a windshield wiper switch by the user M of vehicle 10. When the windshield wiper of vehicle 10 is operating and the user M exits the vehicle 10, and the motion control unit 55 controls the vehicle 10 to perform automated parking (automated entry) in a predetermined parking space, the windshield wiper control unit enables the windshield wiper to operate during automated parking and causes the windshield wiper to operate continuously.Subsequently, when a control action is performed to cause the vehicle, which is parked in the designated parking space, to perform an automated exit from the designated parking space, if the vehicle's windshield wiper switch 10 is moved to an operating position in which the windshield wipers are active, the windshield wiper control unit prevents the windshield wipers from operating during the automated exit and stops them. In this way, even if the user M forgets to turn off the windshield wiper switch when exiting the vehicle, it is possible to prevent the windshield wipers from starting operation when the vehicle is in an automated exit sequence.Therefore, for example, if there is an environment or weather condition that requires the operation of the windshield wiper during automated parking (automated entry) of the vehicle 10, or an environment or weather condition that does not require the operation of the windshield wiper during automated exit of the vehicle 10, it is possible to prevent a malfunction or damage to the windshield wiper or the vehicle 10 due to the operation of the windshield wiper during automated exit.

[0128] The present specification describes at least the following points. Although corresponding components or the like are shown in parentheses in the embodiment described above, the present invention is not limited thereto. (1) Control device (calculation unit 52) ​​for a moving object (vehicle 10), the control device comprising: a motion control unit (motion control unit 55) which is configured to perform motion control of the moving object; and a notification control unit (notification control unit 56) which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein The notification control unit provides the first notification when a motion control instruction is received, and The notification control unit provides the second notification after the first notification has been provided and then executes the motion control.

[0129] According to (1), the first notification is provided when an instruction for the motion control of the moving object is received, and the second notification is provided after the first, so that people around the moving object can be accurately informed about the motion state of a stage of motion control in which the moving object is. Therefore, people around the moving object can be prevented from feeling anxious because they are unable to recognize the motion state of the moving object, and from experiencing a sense of crisis because the moving object enters a motion state without giving any notification. In this way, safety and usability for road users are improved.

[0130] (2) Control device according to (1), wherein The notification control unit provides the first notification in a case where the motion control becomes executable based on the instruction, and provides the second notification at least at one start of the motion control or during the execution of the motion control.

[0131] According to (2), the timing for providing the first notification and the second notification is preferably when it becomes possible to execute the motion control, at the start of the motion control and during the execution of the motion control.

[0132] (3) Control device according to (2), wherein The case in which motion control can be executed based on the instruction is a case in which a user who provides the instructions is determined and the moving object has been started.

[0133] According to (3), the time to provide the first notification is preferably when the user giving the instruction is acknowledged and the moving object is started.

[0134] (4) Control device according to (1), wherein The second notification has a notification intensity that is higher than that of the first notification.

[0135] According to (4), since the first notification and the second notification have different notification intensities, it is possible to inform the people around the moving object more accurately about the state of motion at a stage of motion control in which the moving object is.

[0136] (5) Control device according to (4), wherein the first notification is a notification implemented by switching on a first lighting device of the moving object, and The second notification is a notification implemented by switching on the first lighting device and a second lighting device of the moving object, which is different from the first lighting device.

[0137] According to (5), it is advantageous to differentiate the notification intensity between the first notification and the second notification by changing the number of lighting devices switched on.

[0138] (6) Control device according to (4), wherein The first notification is a notification implemented by switching on a lighting device of the moving object, and The second notification is a notification which is implemented by switching on the lighting device and a different type of procedure for switching on the lighting device.

[0139] According to (6), it is advantageous to differentiate the notification intensity between the first notification and the second notification by using different notification procedures for different notification types.

[0140] (7) Control device according to one of (1) to (6), wherein the moving object includes daytime running lights, and The notification control unit provides the first notification by activating the daytime running lights when the brightness around the moving object meets a predetermined condition, and provides the first notification by activating a lighting device of the moving object, which is different from the daytime running lights, when the brightness around the moving object does not meet the predetermined condition.

[0141] According to (7) it is advantageous to provide a notification by switching on the daytime running lights depending on the brightness around the moving object.

[0142] (8) Control device according to (1) to (7), wherein the notification control unit provides the second notification by switching on a headlight of the moving object, and The motion control unit performs a limitation of the motion control when an operating unit of the headlight of the moving object is in a state of instructing a specific operation of the headlight.

[0143] According to (8), when the headlight is placed in a state of instructing a particular operation, it is advantageous to limit the motion control which provides a notification for a change in the headlight's setting.

[0144] (9) Control device according to (8), wherein Limiting motion control includes preventing the execution of motion control, restricting a movement speed in the motion control, or restricting a movement distance in the motion control.

[0145] According to (9) it is advantageous to limit the moving object by preventing the execution of motion control, limiting the speed of movement, limiting the distance of movement and the like.

[0146] (10) Control device according to (8) or (9), further comprising: a notification unit which notifies the user of an operation to remove the restriction of the motion control unit when the motion control performs the restriction of the motion control.

[0147] According to (10), it is advantageous that the limited state of motion control can be lifted by user operation.

[0148] (11) Control device according to one of (1) to (10), further comprising: a communication unit which is set up to communicate with an information terminal which is portable by a user of the moving object, wherein The notification control unit provides the first notification when a motion control instruction is received through communication with the information terminal, and provides the second notification after the first notification has been provided and then performs the motion control.

[0149] According to (11), it is advantageous that the first notification and the second notification can be provided after a motion control instruction is given based on the operation of the information device worn by the user.

[0150] (12) Control device according to (11), wherein The notification control unit provides the first notification when a driver determination for motion control has been made, and the second notification when a direction of movement for motion control has been determined, and then performs the motion control.

[0151] According to (12), the time to provide the first notification is preferably when the driver of the motion control is confirmed, and the time to provide the second notification is preferably when the direction of movement of the motion control is confirmed.

[0152] (13) Control method by a control device which is configured to perform motion control of a moving object and which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control method comprises: Providing, through a processor of the control device, the first notification when a motion control instruction is received; and The processor delivers the second notification after delivering the first notification and then executes the motion control.

[0153] According to (13), the first notification is provided when an instruction for the motion control of the moving object is received, and the second notification is provided after the first, so that people around the moving object can be accurately informed about the motion state of a stage of motion control in which the moving object is. Therefore, people around the moving object can be spared feeling anxious because they are unable to recognize the motion state of the moving object and experiencing a sense of crisis because the moving object enters a motion state without giving any notification. In this way, safety and usability for road users are improved.

[0154] (14) Control program of a control device which is configured to perform motion control of a moving object and which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control program causes a processor of the control device to perform a process comprising: Providing the first notification when a motion control instruction is received; and Providing the second notification after providing the first notification, and then performing the motion control.

[0155] According to (14), the first notification is provided when an instruction for the motion control of the moving object is received, and the second notification is provided after the first, so that people around the moving object can be accurately informed about the motion state of a stage of motion control in which the moving object is. Therefore, people around the moving object can be spared feeling anxious because they are unable to recognize the motion state of the moving object and experiencing a sense of crisis because the moving object enters a motion state without giving any notification. In this way, safety and usability for road users are improved. Reference symbol list 10 Vehicle (moving object) 24 communication units 52 Calculation unit (control device) 55 Motion control unit 56 Notification control unit 57 Notification Unit 60 Information terminal QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 4754883

[0003] JP 6773477B

[0003] JP 4114435B

[0003]

Claims

[1] Control device for a moving object, wherein the control device comprises: a motion control unit which is designed to perform motion control of the moving object; and a notification control unit which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein The notification control unit provides the first notification when a motion control instruction is received, and The notification control unit provides the second notification after the first notification has been provided and then executes the motion control. [2] Control device according to claim 1, wherein the notification control unit provides the first notification in a case in which the motion control becomes executable on the basis of the instruction, and provides the second notification at least at a start of the motion control or during the execution of the motion control. [3] Control device according to claim 2, wherein the case in which the motion control can be executed on the basis of the instruction is a case in which a user who provides the instructions is determined and the moving object has been started. [4] Control device according to claim 1, wherein: The second notification has a notification intensity that is higher than that of the first notification. [5] Control device according to claim 4, wherein the first notification is a notification implemented by switching on a first lighting device of the moving object, and The second notification is a notification implemented by switching on the first lighting device and a second lighting device of the moving object, which is different from the first lighting device. [6] Control device according to claim 4, wherein: The first notification is a notification implemented by switching on a lighting device of the moving object, and The second notification is a notification which is implemented by switching on the lighting device and a different type of procedure for switching on the lighting device. [7] Control device according to claim 1, wherein the moving object includes daytime running lights, and The notification control unit provides the first notification by activating the daytime running lights when the brightness around the moving object meets a predetermined condition, and provides the first notification by activating a lighting device of the moving object, which is different from the daytime running lights, when the brightness around the moving object does not meet the predetermined condition. [8] Control device according to claim 1, wherein the notification control unit provides the second notification by switching on a headlight of the moving object, and The motion control unit performs a limitation of the motion control when an operating unit of the headlight of the moving object is in a state of instructing a specific operation of the headlight. [9] Control device according to claim 8, wherein the limitation of the motion control comprises preventing the execution of the motion control, limiting a movement speed in the motion control or limiting a movement distance in the motion control. [10] Control device according to claim 8, further comprising: a notification unit which notifies the user of an operation to remove the restriction of the motion control unit when the motion control performs the restriction of the motion control. [11] Control device according to any one of claims 1 to 10, further comprising: a communication unit which is set up to communicate with an information terminal which is portable by a user of the moving object, wherein The notification control unit provides the first notification when a motion control instruction is received through communication with the information terminal, and provides the second notification after the first notification has been provided and then performs the motion control. [12] Control device according to claim 11, wherein the notification control unit provides the first notification when a driver determination for motion control has been made, and provides the second notification when a direction of movement for motion control has been determined, and then performs the motion control. [13] Control method by a control device which is configured to perform motion control of a moving object and which is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control method comprises: Providing, through a processor of the control device, the first notification when a motion control instruction is received; and Providing, by the processor, the second notification after providing the first notification and then performing the motion control. [14] Control program of a control device which is configured to perform motion control of a moving object and is configured to provide a first notification from the moving object and a second notification from the moving object in a manner different from the first notification, wherein the control program causes a processor of the control device to perform a process comprising: Providing the first notification when a motion control instruction is received; and Providing the second notification after providing the first notification, and then performing the motion control.

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