Control device, control system, control method, and control program

Abstract

To provide a control device of a movable body which can move and control a movable body by an appropriate information terminal.SOLUTION: A control ECU 20 of a vehicle 10 includes a communication part 24 capable of communicating with smartphones 60A and 60B portable by users MA and MB of the vehicle 10, and an automatic parking control part 55 for moving and controlling the vehicle 10. When receiving predetermined operation from the users MA and MB of the vehicle 10, the automatic parking control part 55 transmits information on determination of an instruction terminal for instructing movement control to the smartphones 60A and 60B around the vehicle 10, and receives predetermined reply information for the information on the determination of the instruction terminal. Then, the automatic parking control part 55 selects an information terminal that is a transmission source of the reply information received first, as the instruction terminal, and moves and controls the vehicle 10 on the basis of movement instruction information from the instruction terminal.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a control device, a control system, a control method, and a control program. [Background technology]

[0002] In recent years, there has been a demand for improved road safety to make cities and human settlements inclusive, safe, resilient and sustainable. From the perspective of improving road safety, for example, it is required for vehicles to ensure road safety even when an abnormality occurs in the vehicle.

[0003] Conventionally, there is known a remote parking system that uses a smartphone to remotely control a vehicle to park the vehicle in a designated parking space and to drive the vehicle out of the parking space. Patent Document 1 describes a remote parking system that, after a remote parking process for the vehicle is set to be executed based on an instruction from a first mobile terminal, prohibits remote parking from being executed by any mobile terminal other than the first mobile terminal while the vehicle is being driven. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-164080 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to the remote parking system of Patent Document 1, when a remote parking operation is being performed on a first mobile terminal, it is possible to prohibit the execution of remote parking operations on other mobile terminals, so it is possible to prevent conflicts between operations from multiple terminals. However, when there are multiple mobile terminals capable of performing remote parking operations, for example, even if a remote parking operation is set to be performed by a first mobile terminal, it may be more appropriate to perform the remote parking operation on another mobile terminal rather than the first mobile terminal. The remote parking system of Patent Document 1 does not state whether the mobile terminal that performs the operation is appropriate.

[0006] An object of the present invention is to provide a control device, a control system, a control method, and a control program for a mobile object, which are capable of controlling the movement of the mobile object using an appropriate information terminal. [Means for solving the problem]

[0007] The present invention relates to A control device for a moving object, a communication unit capable of communicating with an information terminal portable by a user of the mobile body; A control unit that controls the movement of the moving body, The control unit is Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; It is a control device.

[0008] The present invention relates to An information terminal that is portable by a user of a mobile body; A control device including a communication unit capable of communicating with the information terminal and a control unit that controls the movement of the moving object, The control device includes: Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; It is a control system.

[0009] The present invention relates to A control device including a communication unit capable of communicating with an information terminal portable by a user of a mobile body, and a control unit that controls the movement of the mobile body, Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; It is a control method.

[0010] The present invention relates to A processor of a control device including a communication unit capable of communicating with an information terminal portable by a user of a moving body and a control unit that controls the movement of the moving body, Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; This is a control program for executing the processing. Effect of the Invention

[0011] According to the present invention, it is possible to provide a mobile object control device, a control system, a control method, and a control program that are capable of controlling the movement of a mobile object using an appropriate information terminal. [Brief description of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle equipped with a control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a top view of the vehicle shown in FIG. [Diagram 3] 2 is a block diagram showing an internal configuration of the vehicle shown in FIG. 1. [Figure 4] FIG. 13 is a diagram showing a state in which a vehicle is instructed to leave the garage and controlled from outside the vehicle using a smartphone. [Diagram 5] 5 is a flowchart showing control of automatic vehicle departure by an automatic parking control unit. [Figure 6] 11 is a flowchart showing vehicle departure instruction control by a smartphone. [Figure 7] FIG. 13 is a diagram showing an example of an image displayed on a smartphone capable of issuing an instruction to have a vehicle leave the garage; [Figure 8] FIG. 13 is a diagram showing an example of an image displayed on a smartphone when a vehicle leaving instruction is rejected. [Figure 9] FIG. 4 is a sequence diagram showing a first operation example of the control system. [Figure 10] FIG. 11 is a sequence diagram showing a second operation example of the control system. [Figure 11] FIG. 13 is a diagram showing an example of a message displayed when the gear is not in park when an application is started up; [Figure 12] FIG. 13 is a diagram showing an example of a child lock screen displayed when an application is started up; [Figure 13] FIG. 1 is a diagram showing a state in which a parking instruction for a vehicle is controlled using a smartphone from outside the vehicle. [Figure 14] FIG. 13 is a diagram showing how a vehicle is instructed to leave the garage by using a smartphone via a smart key. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the control device of the present invention will be described with reference to the attached drawings. The drawings are to be viewed in the direction of the reference symbols. In this specification and the like, for the sake of simplicity and clarity, the front / rear, left / right, and up / down directions are described according to the direction as seen by the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0014] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view of a vehicle 10 equipped with a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of a moving body of the present invention.

[0015] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Both the front wheels and the rear wheels may be steerable wheels, or one of them may be steerable wheels.

[0016] The vehicle 10 further includes side mirrors 11L, 11R. The side mirrors 11L, 11R are mirrors (rear-view mirrors) provided on the outside of the front doors of the vehicle 10 to allow the driver to check the rear and rear sides. The side mirrors 11L, 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around the rotation shaft.

[0017] The vehicle 10 further includes 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 provided in front of the vehicle 10 and captures an image in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures an image in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures an image in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures an image in the right side of the vehicle 10.

[0018] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further has a driving force control system 26 and a braking force control system 28. The control ECU 20 is an example of a control device of the present invention.

[0019] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The 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. The sensor group 16 also includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the outside world of the vehicle 10. The peripheral 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 composed of the left side image and the right side image may be referred to as a lateral image.

[0021] The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sounds from other objects. The front sonar group 32a includes, for example, four sonars. The sonars constituting the front sonar group 32a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars constituting the left side sonar group 32c are provided diagonally forward left and rear left of the vehicle 10, respectively. The right side sonar group 32d includes, for example, two sonars. The sonars constituting the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0022] The wheel sensors 34a, 34b detect the rotation angle of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured by angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of the vehicle 10 is calculated based on the rotation angle of the wheels. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0023] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the 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 on, for example, the rotation of a countershaft of the transmission.

[0024] The operation detection unit 38 detects the operation contents performed by the user using the operation input unit 14, and outputs the detected operation contents to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (select lever or selector).

[0025] 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 the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0026] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to the movement support of the vehicle 10 via the touch panel 42. The movement support includes parking support and exit support for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control contents of the control ECU 20. For example, the touch panel 42 displays a screen related to the movement support of the vehicle 10. Specifically, the touch panel 42 displays a parking support button for requesting parking support for the vehicle 10 and an exit support button for requesting exit support. The parking support buttons include an automatic parking button for requesting parking by automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by the driver's operation. The exit support buttons include an automatic exit button for requesting exit by automatic steering of the control ECU 20 and an auxiliary exit button for requesting assistance when exiting by the driver's operation. Note that components other than the touch panel 42, such as a smartphone or a tablet terminal, may be used as the input device or the display device.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. In addition, the calculation unit 52 inputs and outputs signals between each unit connected to the control ECU 20 via the input / output unit 50.

[0029] The calculation unit 52 has an automatic parking control unit 55 that controls the movement of the vehicle 10. The automatic parking control unit 55 is an example of a control unit of the present invention. The automatic parking control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is automatically performed under the control of the automatic parking control unit 55. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is automatically performed. In addition, the automatic parking control unit 55 performs auxiliary parking assistance and auxiliary leaving assistance when the driver operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10.

[0030] For example, the automatic parking control unit 55 controls automatic parking to park the vehicle 10 in a specified parking space and automatic withdrawal to withdraw the vehicle 10 from the specified parking space based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R and the specified parking space specified by the user.

[0031] Specifically, when the automatic parking control unit 55 receives an operation from the user of the vehicle 10 to shift to the control of automatic parking or automatic leaving, the automatic parking control unit 55 transmits inquiry information necessary for determining the driver who will perform the instruction operation of automatic parking or automatic leaving to the information terminals around the vehicle 10. The automatic parking control unit 55 transmits the inquiry information to an information terminal in which an application for instructing the movement of the vehicle 10 has been started by a user operation among the information terminals around the vehicle 10. The automatic parking control unit 55 also receives predetermined response information from the user in response to the inquiry information, and selects the information terminal that is the sender of the first received response information as the driver terminal that will execute the instruction control. The automatic parking control unit 55 performs the movement control of the vehicle 10 based on the movement instruction information from the driver terminal. The automatic parking control unit 55 also repeatedly transmits the inquiry information, and stops transmitting the inquiry information when it receives the first predetermined response information. The automatic parking control unit 55 also transmits a rejection response that rejects reception of a signal to information terminals other than the selected driver terminal.

[0032] Furthermore, the automatic parking control unit 55 registers a predetermined parking space designated by the user as a designated parking space in the storage unit 54. The automatic parking control unit 55 registers feature points related to the designated parking space in the storage unit 54 based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The automatic parking control unit 55 controls automatic parking to park the vehicle 10 in the designated parking space and automatic withdrawal to withdraw the vehicle 10 from the designated parking space based on the recognition data of the outside world of the vehicle 10 and the feature points of the designated parking space designated by the user.

[0033] The EPS system 22 has 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 a steering wheel 110. The torque sensor 102 detects a torque TQ applied to the steering wheel 110.

[0034] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the driver in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects a rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0035] The communication unit 24 enables wireless communication with another communication device 120. The other communication device 120 may be a base station, a communication device of another vehicle, or a smartphone or tablet terminal carried by the user of the vehicle 10. The communication unit 24 is an example of a communication unit of the present invention. The smartphone and tablet terminal are examples of information terminals of the present invention.

[0036] The driving force control system 26 is equipped with a driving ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0037] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 executes braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0038] 4 is a diagram showing an example of a state in which users MA and MB of the vehicle 10 perform movement instruction control to automatically exit the vehicle 10 from a parking space P from outside the vehicle 10 using a smartphone 60A carried by the user MA or a smartphone 60B carried by the user MB. The movement instruction control includes, for example, parking instruction control to automatically park the vehicle 10 in the parking space P, and exit instruction control to automatically exit the vehicle 10 from the parking space P. The example shown in FIG. 4 shows an exit instruction control for the vehicle 10.

[0039] An application for instructing the vehicle 10 to move is pre-installed in the smartphones 60A and 60B. When the smartphone screens 61A and 61B of the smartphones 60A and 60B are touched by the users MA and MB, the smartphones 60A and 60B transmit an instruction signal to the vehicle 10 via wireless communication instructing the vehicle 10 to automatically leave the parking lot. For example, BLE (Bluetooth Low Energy: registered trademark) is used as the wireless communication. The vehicle 10 receives the instruction signal transmitted from the smartphones 60A and 60B via the communication unit 24. The automatic parking control unit 55 of the vehicle 10 controls the automatic leaving of the vehicle 10 according to the instruction signal received via the communication unit 24.

[0040] <Movement control by automatic parking control unit 55> Next, the movement control of the vehicle 10 by the automatic parking control unit 55 of the control ECU 20 will be described with reference to FIG.

[0041] Fig. 5 is a flowchart showing the control of automatic leaving of the vehicle 10 by the automatic parking control unit 55 of the control ECU 20. Note that this control of automatic leaving is executed, for example, in a situation as shown in Fig. 4 in which a user M (MA, MB) is trying to automatically leave the vehicle 10 from a parking space P using a smartphone 60 (60A, 60B).

[0042] First, the automatic parking control unit 55 judges whether or not a remote parking instruction operation has been received (step S11). The remote parking instruction operation is an operation for changing the state of the vehicle 10 to a state in which the vehicle can be taken out by automatic leaving control. This instruction operation is received when the user M touches an automatic leaving button (not shown) in the vehicle 10. The automatic leaving button may be provided, for example, as a touch button displayed on the touch panel 42 of the navigation device 18, or may be provided as a mechanical vehicle switch or the like.

[0043] In step S11, if a command operation for remote parking has not been received (step S11: No), the automatic parking control unit 55 waits until a command operation for remote parking is received.

[0044] In step S11, when a remote parking instruction operation is received (step S11: Yes), the automatic parking control unit 55 transitions to a standby state in which a signal from an external smartphone 60 can be received (step S12). This causes the automatic parking control unit 55 to enter a state in which it can receive signals from the smartphones 60A and 60B of the users MA and MB who are outside the vehicle 10, for example. This causes the users MA and MB to enter a state in which they can automatically leave the vehicle 10 using the smartphones 60A and 60B.

[0045] Next, the automatic parking control unit 55 starts transmitting inquiry information regarding automatic leaving to the smartphone 60 (information terminal) of the user M in the vicinity of the vehicle 10 (step S13). The smartphone 60 in the vicinity of the vehicle 10 is, for example, a smartphone in which the communication quality with the communication unit 24 of the vehicle 10 is at a certain level or higher. Specifically, the smartphone 60 is a smartphone carried by the user M within 5 to 10 m of the vehicle 10. The inquiry information regarding automatic leaving is, for example, information inquiring of the user M as to whether or not he agrees to the precautions stipulated regarding automatic leaving. Alternatively, this inquiry information may be, for example, information simply inquiring as to whether or not to execute automatic leaving.

[0046] Next, the automatic parking control unit 55 judges whether or not answer information has been received from the smartphone 60 in response to the inquiry information transmitted in step S13 (step S14). The answer information is, for example, answer information indicating that the user agrees to the inquired notes regarding automatic leaving. Alternatively, the answer information may simply indicate that automatic leaving will be performed.

[0047] In step S14, if the answer information has not been received (step S14: No), the automatic parking control unit 55 waits until the answer information is received.

[0048] In step S14, when answer information is received (step S14: Yes), the automatic parking control unit 55 selects the smartphone 60 that transmitted the answer information as the driver terminal (step S15). The smartphone 60 that transmitted the answer information is the smartphone 60 that transmitted the answer information first received after the automatic parking control unit 55 transmitted the inquiry information. The driver terminal is the smartphone 60 that is permitted to control the automatic leaving of the vehicle 10. Here, the following description will be given assuming that the smartphone 60A carried by the user MA is selected as the driver terminal.

[0049] Next, the automatic parking control unit 55 transitions to a refusal state, and makes a refusal response to a signal from a terminal other than the driver terminal selected in step S15, i.e., a smartphone 60 other than the smartphone 60A of the user MA (step S16). As a result, the automatic parking control unit 55 goes into a state of making a refusal response to a signal from, for example, the smartphone 60B carried by the user MB of the users MA and MB who are outside the vehicle 10. Therefore, the user MB is unable to automatically leave the vehicle 10 using the smartphone 60B.

[0050] Furthermore, the automatic parking control unit 55 stops the transmission of inquiry information regarding automatic leaving to the smartphone 60 of the user M in the vicinity of the vehicle 10, which was started in step S13 (step S17). That is, the automatic parking control unit 55 stops the transmission of the inquiry information regarding automatic leaving because the smartphone 60A has been determined as the driver terminal that controls the automatic leaving of the vehicle 10.

[0051] Furthermore, the automatic parking control unit 55 transmits rejection information to a smartphone 60 that was not selected as the driver terminal, for example, the smartphone 60B of the user MB, to notify the user that the signal from the smartphone 60B is not accepted (step S18). That is, since the user M (smartphone 60) capable of controlling the automatic leaving of the vehicle 10 has been determined, the automatic parking control unit 55 notifies the user MB (smartphone 60B) that the automatic leaving of the vehicle 10 cannot be performed from the smartphone 60B of the user MB.

[0052] Next, the automatic parking control unit 55 starts controlling the automatic exit of the vehicle 10 in response to the movement instruction information sent from the driver's terminal, i.e., a signal instructing the automatic exit of the vehicle 10 sent from the smartphone 60A carried by the user MA (step S19).

[0053] As described above, when the automatic parking control unit 55 of the control ECU 20 receives an instruction operation for remote parking from the user M of the vehicle 10, the automatic parking control unit 55 transmits inquiry information to the smartphone 60 of the user M in the vicinity of the vehicle 10 as to whether the user agrees to the precautions for determining the driver who performs the instruction control of the vehicle 10, and receives information of the agreement response to the inquiry information from the smartphone 60. In this case, the smartphone 60 that is the source of the agreement response information received first is selected as the driver terminal that performs the automatic leaving of the vehicle 10, and the automatic leaving of the vehicle 10 is controlled based on the movement instruction information from the driver terminal. This makes it possible to prevent the movement instructions from the multiple users M from competing with each other even if there are multiple users M who want to perform the instruction operation for the automatic leaving of the vehicle 10. Therefore, it is possible to prevent confusion of the user M caused by multiple users M performing the automatic leaving of the vehicle 10 in parallel. In addition, it is possible to suppress interference caused by two-way communication between the multiple smartphones 60 and the control ECU 20 and the processing load of the control ECU 20. In addition, the movement of the vehicle 10 can be controlled based on a movement instruction from the user M who has responded with an agreement to the inquiry regarding driver determination, that is, the appropriate user M who controls the instruction to automatically leave the vehicle 10.

[0054] In the control ECU 20, the smartphone 60 in the vicinity of the vehicle 10 is a smartphone that satisfies a certain level of communication quality with the communication unit 24 of the vehicle 10. This allows the smartphone 60 with stable communication during movement control of the vehicle 10 to be the driver's terminal. Also, the user M who is near the vehicle 10 and can easily check the status of the vehicle 10 directly can be the instruction driver (user M of the driver's terminal).

[0055] Furthermore, the automatic parking control unit 55 of the control ECU 20 repeatedly transmits inquiry information to the smartphones 60 in the vicinity of the vehicle 10, and after receiving a first response agreeing with the inquiry and selecting the smartphone 60 that has given the agreeing response as the driver terminal, stops transmitting the inquiry information to the smartphone 60. As a result, since the transmission of the inquiry information is stopped after the driver terminal is selected, it is possible to suppress the annoyance of the user M carrying a smartphone 60 other than the driver terminal, that is, the transmission of unnecessary inquiry information, and usability is improved.

[0056] After the driver terminal is determined, the automatic parking control unit 55 of the control ECU 20 does not accept signals from the smartphones 60 other than the driver terminal among the smartphones 60 around the vehicle 10, and transmits a rejection response to notify the fact that the signals are not accepted. This allows the user M of the smartphone 60 other than the driver terminal to recognize that another user M has already become the instructing driver who instructs the vehicle 10 to leave the parking lot, thereby improving usability.

[0057] In addition, the inquiry information transmitted by the control ECU 20 to the surrounding smartphones 60 is information that causes the smartphones 60, among the smartphones 60 in the vicinity of the vehicle 10, in which an application for issuing a command to move the vehicle 10 has been started by a user operation, to execute an inquiry regarding driver determination. As a result, the inquiry regarding driver determination is executed only for the user M who has started the application for issuing a command to move the vehicle 10, so that it is possible to suppress an inquiry regarding driver determination from being made to the user M who does not intend to issue a command to move the vehicle 10, thereby improving usability.

[0058] In steps S15 and S16 in the flowchart of FIG. 5, after a specific smartphone 60 is selected as a driver terminal, the state immediately transitions to a rejection state, but this is not limited thereto. For example, after selecting a specific smartphone 60 as a driver terminal, the automatic parking control unit 55 may transmit a "driver notification" to the selected smartphone 60 to notify the fact that the smartphone 60 has been selected as a driver terminal. This allows the user M to easily recognize that he or she has become the instructing driver who performs the instruction operation for automatic leaving of the vehicle 10, improving usability.

[0059] In the above example of controlling automatic leaving, the case where inquiry information regarding automatic leaving is transmitted to a smartphone having communication quality with the communication unit 24 of the vehicle 10 above a certain level has been described, but the present invention is not limited to this. For example, the automatic parking control unit 55 may transmit inquiry information regarding automatic leaving to all smartphones 60 within its reach without specifying a transmission destination.

[0060] <Movement instruction control of vehicle 10 using smartphone 60> Next, an example of movement instruction control of the vehicle 10 by the smartphone 60 will be described with reference to FIGS.

[0061] Fig. 6 is a flowchart showing the exit instruction control of the vehicle 10 by the smartphone 60. Fig. 7 and Fig. 8 are diagrams showing examples of images displayed on the smartphone screen 61 of the smartphone 60 capable of issuing an exit instruction for the vehicle 10. Note that this exit instruction control is executed, for example, in a situation as shown in Fig. 4 where the user M (MA, MB) is trying to automatically exit the vehicle 10 from the parking space P using the smartphone 60 (60A, 60B).

[0062] The process shown in Fig. 6 is a process performed by an application installed in the smartphone 60 for issuing a movement instruction for the vehicle 10. The application is started, for example, when an automatic leaving button (not shown) displayed on the smartphone screen 61 is touched.

[0063] First, the smartphone 60 determines whether or not an operation to start an application of the vehicle 10 has been accepted (step S21).

[0064] In step S21, if an operation to start an application has not been accepted (step S21: No), the smartphone 60 waits and repeats the process of step S21 until an operation to start an application is accepted.

[0065] In step S21, when an application startup operation is accepted (step S21: Yes), the smartphone 60 determines whether or not inquiry information regarding automatic leaving has been received from the automatic parking control unit 55 of the vehicle 10 (step S22). The inquiry information regarding automatic leaving is information received by the smartphone 60 in which an application that issues a movement instruction for the vehicle 10 is started.

[0066] In step S22, if inquiry information regarding automatic leaving is received (step S22: Yes), the smartphone 60 displays the precautions (disclaimer) specified regarding automatic leaving on the smartphone screen 61 (step S23).

[0067] For example, FIG. 7 is a diagram showing an example of a disclaimer displayed on a smartphone screen 61 of a smartphone 60 that has received inquiry information regarding automatic leaving. As shown in FIG. 7, a disclaimer 62 such as "Note: This function is not fully automated driving" is displayed on the smartphone screen 61. The displayed disclaimer includes an agreement button 63 that the user M operates when agreeing to the notes. When the user M swipes the agreement button 63, a sentence such as "I agree to the notes" is displayed, indicating that the user M agrees to the notes.

[0068] Next, the smartphone 60 determines whether or not an agreement operation (for example, a swipe operation) has been received from the user M on the agreement button 63 displayed in step S23 (step S24).

[0069] In step S24, if an agreement operation has not been received from the user M (step S24: No), the smartphone 60 waits and repeats the process of step S24 until an agreement operation is received from the user M.

[0070] In step S24, when an agreement operation is received from the user M (step S24: Yes), the smartphone 60 transmits agreement response information indicating that the user M has agreed to the precautions to the vehicle 10 (step S25). By transmitting this agreement response information to the vehicle 10, the smartphone 60 that transmitted the agreement response information is determined on the vehicle 10 side as the driver terminal that controls the departure instruction of the vehicle 10.

[0071] Next, the smartphone 60 displays on the smartphone screen 61 a movement operation screen that the user M touches to control the leaving instruction of the vehicle 10 (step S26).

[0072] Next, the smartphone 60 determines whether or not a movement operation for moving the vehicle 10 has been accepted from the user M on the movement operation screen displayed in step S26 (step S27).

[0073] In step S27, if a move operation has not been received from the user M (step S27: No), the smartphone 60 waits and repeats the process of step S27 until a move operation from the user M is received.

[0074] In step S27, when a movement operation is accepted from the user M (step S27: Yes), the smartphone 60 transmits movement instruction information corresponding to the movement operation to the vehicle 10 (step S28). By transmitting this movement instruction information to the vehicle 10, the automatic parking control unit 55 of the vehicle 10 controls the automatic leaving of the vehicle 10 based on the movement instruction information.

[0075] Next, the smartphone 60 determines whether the movement (automatic leaving) of the vehicle 10 is completed (step S29). Completion of the automatic leaving of the vehicle 10 can be recognized by, for example, an automatic leaving completion signal transmitted from the automatic parking control unit 55 of the vehicle 10 to the smartphone 60.

[0076] In step S29, if the automatic leaving of the vehicle 10 has not been completed (step S29: No), the smartphone 60 returns to step S27 and repeatedly executes each process.

[0077] In step S29, if the automatic leaving of the vehicle 10 is completed (step S29: Yes), the smartphone 60 ends the leaving instruction control process.

[0078] On the other hand, if the inquiry information regarding the automatic leaving is not received in step S22 (step S22: No), the smartphone 60 determines whether or not rejection information is received from the automatic parking control unit 55 of the vehicle 10 (step S30). As described in step S18 of Fig. 5 above, the rejection information is information that is transmitted to a smartphone 60 other than the smartphone 60 selected as the driver terminal, that is, a smartphone 60 whose leaving instruction has been rejected.

[0079] In step S30, if rejection information has not been received (step S30: No), the smartphone 60 returns to step S22 and repeats each process.

[0080] In step S30, when rejection information is received (step S30: Yes), the smartphone 60 displays rejection information on the smartphone screen 61 to notify that the smartphone 60 was not selected as the driver terminal (step S31), and ends the control of the departure instruction.

[0081] For example, Fig. 8 is a diagram showing an example of refusal information displayed on the smartphone screen 61 of the smartphone 60 whose leaving instruction has been rejected. As shown in Fig. 8, information refusing the leaving instruction such as "Remote parking is in operation on another smartphone, so it cannot be used" is displayed on the smartphone screen 61. Note that when such refusal information is displayed, for example, if the end button 64 displayed on the smartphone screen 61 is touched by the user M, the leaving instruction control is also terminated.

[0082] As described above, the smartphone 60 is configured to receive inquiry information regarding automatic leaving from the vehicle 10 only when an application that issues a movement instruction for the vehicle 10 is started by the user M. This makes it possible to prevent unnecessary information from being sent to the user M who does not intend to issue a movement instruction for the vehicle 10, thereby improving usability.

[0083] In step S24 in the flowchart of FIG. 6, if the agreement operation is not received from the user M, the process waits until the agreement operation is received, but is not limited to this. For example, if the user M performs a stop operation of the outgoing instruction during the wait, the control of the outgoing instruction may be terminated without waiting for the acceptance of the agreement operation. Specifically, as shown in FIG. 7, a stop button 65 may be displayed on the smartphone screen 61 together with the display of the disclaimer 62, and the control of the outgoing instruction may be terminated when the user M touches the stop button 65. This allows the user to easily exit the outgoing instruction operation when he or she does not agree with the disclaimer 62, improving usability.

[0084] In addition, in step S25 in the flowchart of FIG. 6, after the agreement response information is transmitted, the moving operation screen is displayed in step S26. However, for example, after transmitting the agreement response information, the notification of the driver selection result from the vehicle 10 may be awaited. That is, the moving operation screen may be displayed in step S26 after a "driver notification" transmitted when a specific smartphone 60 is selected as a driver terminal in step S15 in the flowchart of FIG. 5 is received and the "driver notification" is awaited. Furthermore, if the "driver notification" is not transmitted as a driver selection result from the vehicle 10 and "rejection information" is transmitted, the process of the leaving instruction control may be terminated after displaying rejection information informing the user that the smartphone 60 was not selected as a driver terminal, as in step S31.

[0085] <Control system operation> Next, an example of the operation of the control system S (see FIG. 4) configured with the vehicle 10 that controls the automatic departure and the smartphones 60A, 60B that control the departure instruction will be described with reference to FIG. 9 and FIG.

[0086] <First operation example> 9 is a sequence diagram showing a first operation example of the control system S. First, the vehicle (mobile body) 10 receives from the user M a remote parking instruction operation for causing the vehicle 10 parked in the parking space P to leave the parking space by controlling automatic leaving (step S41). The vehicle 10 transitions to a standby state in which it can receive a signal from the smartphone (information terminal) 60 (step S42). The vehicle 10 transmits inquiry information regarding automatic leaving to the smartphone (first information terminal) 60A and smartphone (second information device) 60B carried by the user M in the vicinity of the vehicle 10 (step S43).

[0087] The smartphone 60A accepts a start-up operation of the user MA to start up an application for issuing a movement instruction for the vehicle 10 (step S44). The smartphone 60A displays a disclaimer (a notice prescribed for automatic leaving the garage) 62 on the smartphone screen 61A (step S45). The smartphone 60A accepts an agreement operation of the user MA who agrees to the disclaimer 62 (step S46). The smartphone 60A transmits agreement response information of the user MA who agrees to the disclaimer 62 to the vehicle 10 (step S47).

[0088] The vehicle 10 selects the smartphone 60A that transmitted the agreement response information as the driver terminal (step S48). The vehicle 10 transitions to a refusal state in which the smartphone 60B of the user MB other than the smartphone 60A of the user MA selected as the driver terminal rejects signals from the smartphone 60B (step S49). The vehicle 10 stops sending inquiry information regarding automatic leaving to the smartphone 60B (step S50). The vehicle 10 transmits rejection information to the smartphone 60B that was not selected as the driver terminal, notifying that the smartphone 60B will not accept signals from the smartphone 60B (step S51). This brings the vehicle 10 into a movement instruction possible state in which the smartphone 60A can control the automatic leaving of the vehicle 10 by issuing an instruction to leave (step S52).

[0089] Then, for example, suppose that after the vehicle 10 transmits the rejection information to the smartphone 60B, the smartphone 60B receives an operation by the user MB to start an application for instructing the vehicle 10 to move (step S53). The smartphone 60B displays rejection information on the smartphone screen 61B to notify the user that the smartphone 60B was not selected as the driver terminal (step S54).

[0090] As described above, according to the first operation example of the control system S, when inquiry information regarding automatic leaving is transmitted from the vehicle 10 to the smartphones 60A and 60B, the disclaimer 62 is displayed only on the smartphone on which the application has been started, in this example, the smartphone 60A. Then, when the agreement response information is transmitted from the smartphone 60A to the vehicle 10 before the application of the smartphone 60B is started, for example, even if the application is not started on the smartphone 60B, the smartphone 60A is selected as the driver terminal. Then, in this case, when the application of the smartphone 60B is started thereafter, the disclaimer 62 is not displayed on the smartphone 60B, and the rejection information is displayed. Therefore, the inconvenience of unnecessary inquiry information being transmitted to the smartphone 60B that was not selected as the driver terminal is suppressed, and usability is improved.

[0091] <Second operation example> 10 is a sequence diagram showing a second operation example of the control system S. First, the vehicle (mobile body) 10 receives from the user M a remote parking instruction operation for causing the vehicle 10 parked in the parking space P to leave the parking space by controlling automatic leaving (step S61). The vehicle 10 transitions to a standby state in which it can receive a signal from the smartphone (information terminal) 60 (step S62). The vehicle 10 transmits inquiry information regarding automatic leaving to the smartphone (first information terminal) 60A and smartphone (second information device) 60B carried by the user M in the vicinity of the vehicle 10 (step S63).

[0092] The smartphone 60A accepts a start-up operation by the user MA to start up an application for instructing the vehicle 10 to move (step S64). The smartphone 60B accepts a start-up operation by the user MB to start up an application for instructing the vehicle 10 to move (step S65).

[0093] The smartphone 60A displays the disclaimer (a notice prescribed for automatic leaving) 62 on the smartphone screen 61A (step S66). The smartphone 60B displays the disclaimer 62 on the smartphone screen 61B (step S67).

[0094] The smartphone 60A accepts an agreement operation of the user MA who agrees to the disclaimer 62 (step S68). The smartphone 60A transmits agreement response information of the user MA who agrees to the disclaimer 62 to the vehicle 10 (step S69).

[0095] The vehicle 10 selects the smartphone 60A that transmitted the agreement response information as the driver terminal (step S70). The vehicle 10 transitions to a refusal state in which the smartphone 60B of the user MB other than the smartphone 60A of the user MA selected as the driver terminal is refused signals from the smartphone 60B (step S71). The vehicle 10 stops sending inquiry information regarding automatic leaving the garage to the smartphone 60B (step S72). The vehicle 10 transmits refusal information to the smartphone 60B that was not selected as the driver terminal, informing that the vehicle 10 will not accept signals from the smartphone 60B (step S73).

[0096] The smartphone 60B displays rejection information on the smartphone screen 61 to notify the user that the smartphone 60B has not been selected as the driver's terminal (step S74).

[0097] The smartphone 60A is brought into a movement instruction possible state in which the smartphone 60A can control the automatic leaving of the vehicle 10 by issuing a leaving instruction between the smartphone 60A and the vehicle 10 (step S75).

[0098] As described above, according to the second operation example by the control system S, after the vehicle 10 transmits the inquiry information regarding the automatic leaving to the smartphones 60A and 60B, in a state where the driver terminal has not yet been selected, the disclaimer 62 is displayed on both the smartphones on which the application was started, in this example, the smartphones 60A and 60B. Then, for example, when the agreement response information is transmitted from the smartphone 60A to the vehicle 10 first, the smartphone 60A is selected as the driver terminal, and rejection information is transmitted to the smartphone 60B. Therefore, the user MB of the smartphone 60B other than the driver terminal can recognize that another user has already become the instructed driver who instructs the vehicle 10 to leave the garage, thereby improving usability.

[0099] <Modification of movement control by the automatic parking control unit 55> Next, a modified example of the movement control of the vehicle 10 by the automatic parking control unit 55 of the control ECU 20 will be described.

[0100] <First Modification> In the above-mentioned movement control by the automatic parking control unit 55, the control of the automatic leaving of the vehicle 10 has been described. For example, when the manual leaving of the vehicle 10 is started by the manual operation of the user M, the following control is performed. When the manual leaving of the vehicle 10 is being performed by the manual operation of the user M, the automatic parking control unit 55 of the vehicle 10 sets the vehicle 10 to a prohibited state in which the leaving instruction control by the instruction operation from the external smartphone 60 is prohibited. Then, the automatic parking control unit 55 notifies the smartphone 60 that the communication quality with the vehicle 10 is equal to or higher than a certain level or that is within a predetermined distance (for example, within 5 to 10 m) from the vehicle 10 that the leaving instruction control by the instruction operation is prohibited. This makes it possible to prevent the leaving instruction from the smartphone 60 from being accepted during the manual leaving by the user M. Also, it is possible to recognize that the state in which the leaving instruction of the vehicle 10 cannot be given using the smartphone 60. This improves usability.

[0101] <Second Modification> In the above-mentioned control of automatic leaving in FIG. 5, an example has been described in which, when a remote parking instruction operation is not accepted in step S11, the control waits until the instruction operation is accepted, but the present invention is not limited to this. For example, when a remote parking instruction operation is not accepted, the user M may be notified that the remote parking function is available. Specifically, when a predetermined period of time has elapsed during which a remote parking instruction operation is not accepted, the automatic parking control unit 55 may notify the smartphone 60 of the user M that the remote parking function is available, or may display on the navigation device 18 of the vehicle 10 that the remote parking function is available. This allows the user M to be notified when, for example, the user M has forgotten to issue a remote parking instruction operation, thereby improving usability.

[0102] <Modification of Movement Instruction Control Using Smartphone 60> Next, a modified example of the movement instruction control of the vehicle 10 by the smartphone 60 will be described.

[0103] <First Modification> In the above-mentioned leaving instruction control of FIG. 6, first, in step S21, it is determined whether or not a start operation of an application that instructs the vehicle 10 to move has been received, and if it has been received, in step S22, it is determined whether or not the inquiry information has been received. However, this is not limited to this. For example, when the start operation of the application is started, the smartphone 60 may determine whether or not the gear state of the vehicle 10 is shifted to the parking state. Then, as a result of the determination, if the gear is not shifted to the parking state, for example, a message image 66 such as "Please shift to P when starting the app" as shown in FIG. 11 may be displayed on the smartphone screen 61. In addition, an end button 64 may be displayed together with the message image 66, and the leaving instruction control may be ended when the end button 64 is touched. This, for example, can eliminate the forgetting of the user M who is trying to instruct the automatic leaving control of the vehicle 10 from the smartphone 60 to shift the gear to the parking state, thereby improving usability.

[0104] <Second Modification> In the above-mentioned leaving instruction control of FIG. 6, it is determined in step S21 whether or not an application start operation has been accepted, and if accepted, it is determined in step S22 whether inquiry information has been received. However, this is not limited to this. For example, if an application start operation has been accepted, a child lock screen 67 as shown in FIG. 12 may be displayed on the smartphone screen 61 of the smartphone 60. Then, after a predetermined authentication process is performed using the child lock screen 67, it may be determined in step S22 whether inquiry information has been received. This makes it possible to control the movement of the vehicle 10 based on a movement instruction from a more appropriate user M who performs the leaving instruction control.

[0105] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and improvements are possible as appropriate.

[0106] For example, in the above embodiment, the case of controlling automatic leaving of the vehicle 10 has been described, but similar control is possible for automatic parking of the vehicle 10. Fig. 13 is a diagram showing an example of a state in which the users MA and MB of the vehicle 10 perform parking instruction control to automatically park the vehicle 10 in the parking space P from outside the vehicle 10 using the smartphones 60A and 60B carried by the users MA and MB. In this case, even if there are multiple users M who wish to perform an instruction operation for automatic parking of the vehicle 10, the automatic parking of the vehicle 10 can be controlled based on the parking instruction from the appropriate user M who has responded with an agreement to the inquiry regarding driver determination.

[0107] In the above embodiment, the automatic parking control unit 55 of the vehicle 10 communicates with the smartphone 60 of the user M, and the automatic parking control unit 55 communicates directly with the vehicle 10 and the smartphone 60. However, the present invention is not limited to this. The automatic parking control unit 55 may communicate with the smartphone 60 carried by the user M via a smart key owned by the user M. FIG. 14 is a diagram showing an example of a situation in which the user MA of the vehicle 10 uses the smartphone 60A of the user MA from outside the vehicle 10 to perform an exit instruction control to automatically exit the vehicle 10 from the parking space P via a smart key 68 carried by the user MA. The user MB uses the smartphone 60B to directly communicate with the vehicle 10 and performs an exit instruction control to automatically exit the vehicle 10.

[0108] In the above embodiment, the moving body is a vehicle (four-wheeled automobile), but the present invention is not limited to this. For example, the moving body may be a two-wheeled vehicle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move by the power of the drive source.

[0109] The control method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-transient storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0110] This specification also describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0111] (1) A control device (control ECU 20) for a moving body (vehicle 10), A communication unit (communication unit 24) capable of communicating with an information terminal (smartphone 60) that is portable by a user (user M) of the mobile body; A control unit (automatic parking control unit 55) that controls the movement of the moving body, The control unit is When a predetermined operation is received from a user of the mobile object, Transmitting inquiry information regarding driver determination to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; Selecting the information terminal that is the source of the response information that is first received as the driver terminal; performing movement control of the moving body based on movement instruction information from the driver terminal; Control device.

[0112] According to (1), it is possible to prevent conflicts between movement instructions from multiple users. This prevents user confusion due to conflicts. In addition, it is possible to suppress interference and processing load on the control device due to two-way communication between multiple information terminals and the control device. In addition, unlike the case where the information terminal that was operated first simply becomes the driver terminal, it is possible to control the movement of the moving object based on a movement instruction from a more appropriate user who has given a predetermined response to an inquiry regarding driver determination.

[0113] (2) The control device according to (1), The information terminals in the vicinity of the moving object are information terminals whose communication quality with the communication unit satisfies a predetermined condition. Control device.

[0114] According to (2), an information terminal with stable communication during movement control can be the driver terminal. Also, a user who is close to the moving object and can easily check the status of the moving object can be the driver (user of the driver terminal).

[0115] (3) The control device according to (1) or (2), The control unit is Repeatedly transmitting the inquiry information; when the response information is first received, the transmission of the inquiry information is stopped. Control device.

[0116] According to (3), after the driver terminal is selected, the transmission of inquiry information is stopped, so that the inconvenience to users of information terminals other than the driver terminal can be reduced, and usability is improved.

[0117] (4) A control device according to any one of (1) to (3), The control unit transmits a rejection response to information terminals other than the driver terminal among information terminals in the vicinity of the moving object. Control device.

[0118] According to (4), users of information terminals other than the driver's terminal can recognize that another user is already the driver, thereby improving usability.

[0119] (5) A control device according to any one of (1) to (4), The inquiry information is information for making an inquiry regarding the driver determination be made to an information terminal in which an application for instructing the moving body to move is started by a user operation, among information terminals in the vicinity of the moving body. Control device.

[0120] According to (5), an inquiry regarding driver determination is made only to a user who has launched an application for instructing a moving object to move, thereby preventing an inquiry regarding driver determination from being made to a user who does not intend to instruct a moving object to move, thereby improving usability.

[0121] (6) an information terminal portable by a user of a mobile body; A control device including a communication unit capable of communicating with the information terminal and a control unit that controls the movement of the moving object, The control device includes: When a predetermined operation is received from a user of the mobile object, Transmitting inquiry information regarding driver determination to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; Selecting the information terminal that is the source of the response information that is first received as the driver terminal; performing movement control of the moving body based on movement instruction information from the driver terminal; Control system.

[0122] According to (6), it is possible to prevent conflicts between movement instructions from multiple users. This prevents user confusion due to conflicts. In addition, it is possible to suppress interference and processing load on the control device due to two-way communication between multiple information terminals and the control device. In addition, unlike the case where the information terminal that was operated first simply becomes the driver terminal, it is possible to control the movement of the moving object based on a movement instruction from a more appropriate user who has given a predetermined response to an inquiry regarding driver determination.

[0123] (7) A control device including a communication unit capable of communicating with an information terminal portable by a user of a moving body, and a control unit that controls the movement of the moving body, When a predetermined operation is received from a user of the mobile object, Transmitting inquiry information regarding driver determination to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; Selecting the information terminal that is the source of the response information that is first received as the driver terminal; performing movement control of the moving body based on movement instruction information from the driver terminal; Control methods.

[0124] According to (7), it is possible to prevent conflicts between movement instructions from multiple users. This prevents user confusion due to conflicts. In addition, it is possible to suppress interference and processing load on the control device due to two-way communication between multiple information terminals and the control device. In addition, unlike the case where the information terminal that was operated first simply becomes the driver terminal, it is possible to control the movement of the moving object based on movement instructions from a more appropriate user who has given a predetermined response to an inquiry regarding driver determination.

[0125] (8) A processor of a control device including a communication unit capable of communicating with an information terminal portable by a user of a moving body and a control unit that controls the movement of the moving body, When a predetermined operation is received from a user of the mobile object, Transmitting inquiry information regarding driver determination to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; Selecting the information terminal that is the source of the response information that is first received as the driver terminal; performing movement control of the moving body based on movement instruction information from the driver terminal; A control program for executing processing.

[0126] According to (8), it is possible to prevent conflicts between movement instructions from multiple users. This prevents user confusion due to conflicts. In addition, it is possible to suppress interference and processing load on the control device due to two-way communication between multiple information terminals and the control device. In addition, unlike the case where the information terminal that was operated first simply becomes the driver terminal, it is possible to control the movement of the moving object based on a movement instruction from a more appropriate user who has given a predetermined response to an inquiry regarding driver determination. [Explanation of symbols]

[0127] 10 Vehicles (moving objects) 20 Control ECU (control device) 24 Communications Department 55 Automatic parking control unit (control unit) 60 (60A, 60B) Smartphone (information terminal)

Claims

1. A control device for a moving object, a communication unit capable of communicating with an information terminal portable by a user of the mobile body; A control unit that controls the movement of the moving body, The control unit is Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; Control device.

2. The control device according to claim 1 , The control unit is When a predetermined operation is received from a user of the mobile object, transmitting information regarding the determination of the instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; Control device.

3. The control device according to claim 1 , The information terminals in the vicinity of the moving object are information terminals whose communication quality with the communication unit satisfies a predetermined condition. Control device.

4. The control device according to any one of claims 1 to 3, The control unit is Repeatedly transmitting information regarding the determination of the instruction terminal; When the answer information is received for the first time, the transmission of information regarding the determination of the instruction terminal is stopped. Control device.

5. The control device according to any one of claims 1 to 4, the control unit transmits a rejection response to information terminals other than the instruction terminal among information terminals in the vicinity of the moving object. Control device.

6. The control device according to any one of claims 1 to 5, The information regarding the determination of the instruction terminal is information for causing an information terminal in which an application for instructing the moving body to move is started by a user operation among information terminals in the vicinity of the moving body to execute determination of the instruction terminal that instructs the moving control. Control device.

7. An information terminal that is portable by a user of a mobile body; A control device including a communication unit capable of communicating with the information terminal and a control unit that controls the movement of the moving object, The control device includes: Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; Control system.

8. A control device including a communication unit capable of communicating with an information terminal portable by a user of a mobile body, and a control unit that controls the movement of the mobile body, Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; Control methods.

9. A processor of a control device including a communication unit capable of communicating with an information terminal portable by a user of a moving body and a control unit that controls the movement of the moving body, Transmitting information regarding the determination of an instruction terminal that instructs the movement control to information terminals in the vicinity of the moving object; receiving predetermined response information to the information regarding the determination of the instruction terminal; Selecting an information terminal that is a source of the response information that is first received as the instruction terminal; performing movement control of the moving object based on movement instruction information from the instruction terminal; A control program for executing processing.

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