Control device, and mobile body

Abstract

To provide a control device which enables a user to grasp a moving pattern when a mobile body is moved to a target position designated by the user.SOLUTION: An operation determination part 74 receives operation of selecting a candidate position image indicating a parking possible position set as a target parking position, among a plurality of candidate position images displayed on a touch panel 42. In the case where a parking possible position indicated by the selected candidate position image is defined as a target parking position, a display control part 70 displays a parking pattern image indicating a parking pattern capable of being executed by a vehicle 10 on the touch panel 42.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control device and a moving body including the control device.

Background Art

[0002] In recent years, in order to make cities and human habitats inclusive, safe, resilient, and sustainable, improvement of traffic safety has been demanded. From the viewpoint of improving traffic safety, the development of driving support technologies and autonomous driving technologies for moving bodies (for example, vehicles) has been promoted. For example, in Patent Document 1 below, when a user selects the left automatic steering start button, a target parking position corresponding to the left candidate position image is set and parking by automatic steering is started. On the other hand, when the user selects the right automatic steering start button, a target parking position corresponding to the right candidate position image is set and parking by automatic steering is started.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Among users of a moving body that moves to a target position by automatic steering, there are some who desire to determine the target position with priority over the movement pattern when the moving body moves to the target position. In order to meet the demands of such users, it is conceivable to enable the user to specify the target position with priority over the movement pattern. However, in the prior art, when this is done, there is a possibility that the user cannot grasp the movement pattern when the moving body moves to the target position specified by the user.

[0005] The present invention provides a control device that enables a user to grasp a movement pattern when a moving body moves to a target position designated by the user, and a moving body including the control device.

Means for Solving the Problems

[0006] The first invention is a control device that controls a display device mounted on a moving body that moves to a target position designated by a user by automatic steering, wherein the moving body is configured to be movable by a plurality of types of movement patterns, and when moving to the target position, moves by a movement pattern corresponding to the target position among the plurality of types of movement patterns, and the control device a display control unit that displays a candidate position image indicating the candidate position on the display device when a candidate position that is a candidate for the target position is detected based on a detection result of an external sensor provided in the moving body; a reception unit that receives an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images when the plurality of candidate position images are displayed on the display device; and when any one of the candidate position images is selected, the display control unit displays a movement pattern image representing the movement pattern executable by the moving body when the candidate position indicated by the candidate position image is set as the target position on the display device, the movement pattern image is displayed in an overhead view image that is an overhead view of the moving body and its surroundings, and is displayed below a moving body image indicating the moving body in the overhead view image, below the moving body image in the overhead view image corresponds to the rear of the moving body, which is a control device.

[0007] The second invention is the control device of the first invention, the display device, the external sensor, and moves to the target position by automatic steering, It is a moving body.

Advantages of the Invention

[0008] According to the present invention, it is possible to provide a control device that enables a user to grasp a movement pattern when a moving body moves to a target position designated by the user, and a moving body including the control device.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the control device of the present invention and a moving body including the control device will be described in detail with reference to the drawings. Hereinafter, an embodiment in the case where the moving body in the present invention is a vehicle will be described. In this specification and the like, for the sake of simplicity and clarity of explanation, the front-rear, left-right, and up-down directions are described according to the directions seen from the driver of the vehicle. Also, hereinafter, the same or similar elements may be given the same or similar reference numerals, and the description thereof may be omitted or simplified as appropriate.

[0011] [Vehicle] The vehicle 10 of this embodiment is an automobile having a drive source and wheels (both not shown in the drawings) including drive wheels driven by the power of the drive source and steerable steering wheels. For example, 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 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Also, 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 four wheels including a pair of left and right front wheels and rear wheels. Either one of the front wheels and the rear wheels may be a steerable steering wheel, or both may be steerable steering wheels.

[0012] The vehicle 10 is configured to be able to move to a target position specified by the user by automatic steering. As the target position, for example, a parking position where the vehicle 10 can be parked can be set. That is, the vehicle 10 is configured to be able to park at the parking position specified by the user by automatic steering. At this time, the vehicle 10 moves to the parking position according to the parking pattern corresponding to the parking position (i.e., the target position) specified by the user from among a plurality of types of parking patterns. Here, the parking pattern defines the moving mode of the vehicle 10 to the parking position (i.e., the target position). For example, as the above-mentioned plurality of types of parking patterns, there can be mentioned a forward parking pattern in which the vehicle 10 parks forward with respect to the parking position that is the target position, a reverse parking pattern in which the vehicle 10 parks in reverse with respect to the parking position that is the target position, and a parallel parking pattern in which the vehicle 10 parks in parallel with respect to the parking position that is the target position. Note that the forward parking pattern is an example of the first moving pattern, the reverse parking pattern is an example of the second moving pattern, and the parallel parking pattern is an example of the third moving pattern.

[0013] The parking pattern corresponding to each parking position is, for example, set in advance in a control device (for example, the control device 20 described later) that controls the vehicle 10. This setting may be performed, for example, by the manufacturer of the vehicle 10, or by the user of the vehicle 10 (for example, a passenger of the vehicle 10 including the driver. Hereinafter, also simply referred to as "user"). Further, the control device that controls the vehicle 10 may appropriately derive and set the parking pattern corresponding to the parking position based on, for example, the image analysis result of the scenery around the parking position.

[0014] As shown in FIG. 1, the vehicle 10 includes a sensor group 16, a navigation device 18, a control device 20, an EPS system (electric power steering system) 22, a communication unit 24, a driving force control system 26, and a braking force control system 28.

[0015] The sensor group 16 acquires various detection values related to the vehicle 10 or the surroundings of the vehicle 10. The detection values acquired by the sensor group 16 are used, for example, for parking assistance of the vehicle 10. Here, the parking assistance is to park by automatic steering at a parking possible position designated by the user. For example, the parking assistance includes a step of detecting a parking possible position where the vehicle 10 can be parked, a step of displaying (i.e., presenting to the user) the detected parking possible position, a step of setting the selected parking possible position as a target position (hereinafter also referred to as "target parking position") when any of the displayed parking possible positions is selected by the user, and a step of moving the vehicle 10 to the set target parking position by automatic steering (i.e., parking the vehicle 10 at the target parking position by automatic steering).

[0016] The sensor group 16 includes a front camera 30a, a rear camera 30b, a left side camera 30c, a right side camera 30d, a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. These cameras and sonar groups can function as external sensors for acquiring the surrounding information of the vehicle 10.

[0017] The front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d output the image data of the surrounding image obtained by imaging the surroundings of the vehicle 10 to the control device 20. The surrounding images imaged by the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d are respectively referred to as a front image, a rear image, a left side image, and a right side image. The image composed of the left side image and the right side image is also referred to as a side image.

[0018] 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 respectively provided at the front left diagonal, the front left side, the front right side, and the front right diagonal of the vehicle 10. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are respectively provided at the rear left diagonal, the rear left side, the rear right side, and the rear right diagonal of the vehicle 10. The left side sonar group 32c includes, for example, two sonars. The sonars constituting the left side sonar group 32c are respectively provided at the front of the left side part and the rear of the left side part of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars constituting the right side sonar group 32d are respectively provided at the front of the right side part and the rear of the right side part of the vehicle 10.

[0019] Furthermore, the sensor group 16 includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38. The wheel sensors 34a, 34b respectively detect the rotation angles of wheels (not shown). The wheel sensors 34a, 34b may be constituted by angle sensors or may be constituted by displacement sensors. The wheel sensors 34a, 34b output detection pulses every time the wheels rotate by a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b can be used to calculate the rotation angle and the rotation speed of the wheels. Based on the rotation angle of the wheels, the moving distance of the vehicle 10 can be calculated. 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.

[0020] The vehicle speed sensor 36 detects the traveling speed of the vehicle body (not shown) of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control device 20. The vehicle speed sensor 36 detects the vehicle speed V based on the rotation of the countershaft of the transmission, for example.

[0021] The operation detection unit 38 detects the operation content by the user performed using the operation input unit 14, and outputs the detected operation content to the control device 20. The operation input unit 14 may include, for example, an operation button that receives an operation for executing parking support. Note that the operation input unit 14 may be integrated with a touch panel 42 described later. Further, the operation input unit 14 may include a shift lever (select lever, selector) used when switching between forward and reverse of the vehicle 10.

[0022] The navigation device 18 detects the current position of the vehicle 10 using, for example, GPS (Global Positioning System), and guides the user to the route to the destination. The navigation device 18 has a storage device (not shown) provided with map information database.

[0023] The navigation device 18 is provided with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device that receives input of various information to the control device 20, and a display device controlled by the control device 20. That is, the user can input various commands to the control device 20 via the touch panel 42. Further, various screens are displayed on the touch panel 42. As an example, a screen related to parking support (hereinafter also referred to as "parking support screen PS") is displayed on the touch panel 42. The parking support screen PS will be described later.

[0024] The speaker 44 outputs various guidance information to the user by voice. As an example, during parking support, voice guidance via the speaker 44 may be performed. Specifically, when the movement to the target parking position by automatic steering is started, the start of the movement of the vehicle 10 may be performed by voice guidance via the speaker 44. That is, the speaker 44 may function as a notification unit that notifies the passengers of the vehicle 10 that the movement of the vehicle 10 by automatic steering has started.

[0025] The control device 20 comprehensively controls the entire vehicle 10. The control device 20 includes, for example, an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The input / output unit 50 is an interface that performs data input / output between the inside and outside of the control device 20 according to the control of the arithmetic unit 52. The storage unit 54 is composed of a non-volatile storage medium such as a flash memory, and stores various types of information (such as data and programs) for controlling the operation of the vehicle 10.

[0026] The arithmetic unit 52 is composed of, for example, a CPU (Central Processing Unit) or the like, and controls each unit by executing the program stored in the storage unit 54. Thereby, the above-described parking support is realized. For example, when the arithmetic unit 52 receives an operation for executing parking support via the operation input unit 14 or the like, it executes the parking support.

[0027] As functional units related to parking support, the arithmetic unit 52 includes a display control unit 70, a parking available position detection unit 72, an operation determination unit 74, and a vehicle control unit 76. The display control unit 70 controls the display content of the touch panel 42. For example, the display control unit 70 causes the touch panel 42 to display a parking support screen PS along with the execution of parking support.

[0028] The parking available position detection unit 72 detects a parking available position where the vehicle 10 can be parked based on the detection results of the sensor group 16 along with the execution of parking support. For example, as shown in FIG. 2, there are five parking spaces partitioned by the white line 93, and among these five parking spaces, other vehicles 10a are parked in three of the parking spaces, and it is assumed that no other vehicle 10a is parked in the remaining two parking spaces indicated by reference numeral 90 in FIG. 2. In such a case, the parking available position detection unit 72 detects the parking spaces where no other vehicle 10a is parked (the parking spaces indicated by reference numeral 90 in FIG. 2) as the parking available positions.

[0029] In addition, the parking available position detection unit 72 may also detect a location other than the parking space demarcated by a white line 93 or the like as a parking available position. As an example, the parking available position detection unit 72 may detect an arbitrary location set as a parking available position by the user as a parking available position. As another example, the parking available position detection unit 72 may detect an arbitrary location where the vehicle 10 can be physically parked as a parking available position. Note that the parking available position is an example of a candidate position.

[0030] When the parking available position detection unit 72 detects a parking available position, the display control unit 70 causes the touch panel 42 to display a candidate position image (hereinafter referred to as "candidate position image GF1") indicating the detected parking available position. The candidate position image GF1 is, for example, a frame image representing the outline of the detected parking available position (see, for example, FIGS. 3 to 5). By displaying the candidate position image GF1 on the touch panel 42, it becomes possible to guide the user to the parking available position detected by the parking available position detection unit 72.

[0031] Details will be described later, but the display control unit 70 causes the touch panel 42 to display a parking support screen PS including an overhead image (hereinafter also referred to as "overhead image PS1") of the vehicle 10 and the surroundings of the vehicle 10 viewed from directly above. Then, the display control unit 70 displays the candidate position image GF1 on this overhead image PS1. Thereby, the parking available position detected by the parking available position detection unit 72 can be intuitively and easily guided to the user. Note that the overhead image PS1 can be generated, for example, from peripheral images obtained by the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d.

[0032] By the way, the parking available position detection unit 72 may detect a plurality of parking available positions. In such a case, the display control unit 70 causes the touch panel 42 to display a candidate position image GF1 corresponding to each of the detected plurality of parking available positions. That is, in such a case, the display control unit 70 causes the touch panel 42 to display a plurality of candidate position images GF1.

[0033] When a plurality of candidate position images GF1 are displayed on the touch panel 42, the operation determination unit 74 receives an operation of selecting a candidate position image GF1 indicating a parkable position to be set as the target parking position from among these plurality of candidate position images GF1. Since the method of receiving this operation will be described later, detailed description here is omitted. Note that the operation determination unit 74 is an example of a reception unit.

[0034] The vehicle control unit 76 includes a target setting control unit 80 and an automatic steering control unit 82. When the operation determination unit 74 receives an operation of selecting a candidate position image GF1 indicating a parkable position to be set as the target parking position, the target setting control unit 80 sets the parkable position indicated by the candidate position image GF1 selected by the operation as the target parking position.

[0035] When the target parking position is set by the target setting control unit 80, the automatic steering control unit 82 determines a parking pattern that the vehicle 10 can execute when parking the vehicle 10 at the target parking position, and automatically operates the steering 110 so that the vehicle 10 reaches the target parking position 92 according to the parking pattern. The automatic operation of the steering 110 is performed by the EPS system 22 controlling the EPS motor 104.

[0036] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU (EPS electronic control unit) 108. The steering angle sensor 100 detects the steering angle θst of the steering 110. The torque sensor 102 detects the torque TQ applied to the steering 110.

[0037] The EPS motor 104 enables operation assistance of the steering 110 by the driver or automatic steering during parking assistance by applying a driving force or a reaction force to the steering column 112 connected to the steering 110. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire EPS system 22. The EPS ECU 108 is provided with an input / output section, a calculation section, and a storage section (none of which are shown in the figure).

[0038] The communication section 24 enables wireless communication with other communication devices 120. The other communication devices 120 include a base station, communication devices of other vehicles, and information terminals such as smartphones held by users of the vehicle 10. The control device 20 can communicate with the communication device 120 via the communication section 24.

[0039] The driving force control system 26 includes a drive ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The drive ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) or the like based on an operation by the user on an accelerator pedal (not shown) or an instruction from the control device 20.

[0040] The braking force control system 28 is provided with a brake ECU 132. The braking force control system 28 executes braking force control of the vehicle 10. The brake ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) or the like based on an operation by the user on a brake pedal (not shown) or an instruction from the control device 20.

[0041] [Parking Assistance Screen] Next, with reference to FIGS. 3 to 5, a specific example of the parking support screen PS will be described. Note that FIG. 3 shows an example of the parking support screen PS displayed when the parking available position detection unit 72 has not detected a parking available position (for example, immediately after the start of execution of parking support). FIG. 4 shows an example of the parking support screen PS displayed when the parking available position detection unit 72 has detected a plurality of parking available positions and none of the candidate position images GF1 have been selected. And FIG. 5 shows an example of the parking support screen PS displayed when the parking available position detection unit 72 has detected a plurality of parking available positions and one of the candidate position images GF1 has been selected.

[0042] As shown in FIGS. 3 to 5, the parking support screen PS includes an overhead image PS1 and a direction image PS2. As an example, the overhead image PS1 is displayed in a region on one side (the right half region in the illustrated example) of the left and right in the parking support screen PS, and the direction image PS2 is displayed in a region on the other side (the left half region in the illustrated example) of the left and right in the parking support screen PS.

[0043] As described above, the overhead image PS1 is an image obtained by looking down on the vehicle 10 from directly above. The direction image PS2 is a three-dimensional image that virtually shows the space including the vehicle 10 and its surroundings. The viewpoint position of the direction image PS2 is set so that the direction image PS2 becomes an image including the scenery in a predetermined direction (for example, the front or side) of the vehicle 10. Note that the direction image PS2 can be generated, for example, by performing image processing for three-dimensionally reconstructing a composite image obtained by synthesizing peripheral images obtained by the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d, respectively.

[0044] As shown in FIG. 3, when a parkable position is not detected, the candidate position image GF1 is not displayed on the parking support screen PS. On the other hand, as shown in FIGS. 4 and 5, when a parkable position is detected, the candidate position image GF1 is displayed on the parking support screen PS. For example, it is assumed that a plurality of parkable positions 90 are detected around the vehicle 10 by the parkable position detection unit 72. In this case, as shown in FIGS. 4 and 5, an overhead image PS1 including the own vehicle image GF10 indicating the vehicle 10 and a plurality of candidate position images GF1 each indicating the detected parkable position 90 is displayed.

[0045] Specifically, in the examples shown in FIGS. 4 and 5, since three parkable positions 90 are detected on the left side of the vehicle 10, three candidate position images GF1 corresponding to these parkable positions 90 are displayed on the left side of the own vehicle image GF10 in the overhead image PS1. Also, in the examples shown in FIGS. 4 and 5, since two parkable positions 90 are detected on the right side of the vehicle 10, two candidate position images GF1 corresponding to these parkable positions 90 are displayed on the right side of the own vehicle image GF10 in the overhead image PS1.

[0046] In addition, as shown in FIGS. 4 and 5, when there is a detected parkable position 90 in the direction represented by the direction image PS2, the candidate position image GF1 indicating this parkable position 90 is also displayed on the direction image PS2. Thereby, the display contents of the overhead image PS1 and the direction image PS2 can be made consistent.

[0047] In this way, when a plurality of candidate position images GF1 are being displayed, assume that the user has performed an operation of selecting any one of these plurality of candidate position images GF1. In this case, as shown in FIG. 5, one of the plurality of candidate position images GF1 is highlighted as the candidate position image GF2 being selected so as to be distinguishable from the other candidate position images GF1. This candidate position image GF2 being selected indicates the parking available position 90 that is set as the target parking position 92. Note that examples of the highlighting mode include making the thickness of the outer contour line of the candidate position image GF2 being selected thicker than that of the other candidate position images GF1, and making the display color of the outer contour line of the candidate position image GF2 being selected different from the display color of the other candidate position images GF1, and the like.

[0048] Also, when the user has performed an operation of selecting any one of the candidate position images GF1, as shown in FIG. 5, the viewpoint position of the direction image PS2 is set such that the direction represented by the direction image PS2 becomes the direction in which the parking available position 90 indicated by the candidate position image GF2 being selected exists. For example, as shown in FIG. 5, when the parking available position 90 indicated by the candidate position image GF2 being selected exists on the left side of the vehicle 10, the viewpoint position of the direction image PS2 is set such that the direction image PS2 becomes an image including the scenery on the left side of the vehicle 10.

[0049] Also, when the user performs an operation to select any candidate position image GF1, as shown in FIG. 5, a parking pattern image GP is displayed below the display position of the own vehicle image GF10 in the bird's-eye view image PS1. The parking pattern image GP includes a first image GA representing the parking available position 90 indicated by the candidate position image GF2 being selected (i.e., the parking available position 90 that becomes the target parking position 92), a second image GB representing the vehicle 10, and a third image AL representing the traveling path of the vehicle 10. And the parking pattern image GP shows the parking pattern corresponding to the parking available position 90 indicated by the candidate position image GF2 being selected by the combination of the first image GA, the second image GB, and the third image AL. Although details will be described later, as the parking pattern image GP, a parking pattern image GP1 showing a forward parking pattern, a parking pattern image GP2 showing a reverse parking pattern, and a parking pattern image GP3 showing a parallel parking pattern may be displayed.

[0050] By displaying such a parking pattern image GP below the display position of the vehicle 10 (own vehicle image GF10) in the bird's-eye view image PS1 on the side opposite to the area where the direction image PS2 is displayed, it is possible to effectively utilize the limited display area of the touch panel 42 and display the parking pattern image GP.

[0051] Note that, although details will be described later, when the candidate position image GF2 being selected is being displayed, the user can change the candidate position image GF1 being displayed as the candidate position image GF2 from one candidate position image GF1 to another candidate position image GF1 by performing a predetermined operation. And by changing the candidate position image GF1 being displayed as the candidate position image GF2 in this way, the user can change the parking available position 90 set as the target parking position 92.

[0052] [Display Control Process] Next, an example of the display control process executed by the control device 20 during the execution of parking support will be described with reference to the flowchart shown in FIG. 6, and also referring to FIGS. 3 to 5 and FIGS. 7 to 10.

[0053] As shown in FIG. 6, the control device 20 determines whether or not a parkable position 90 has been detected (step S1). If the parkable position 90 has not been detected (step S1: No), the control device 20 repeats the process of step S1. At this point, since the parkable position 90 has not been detected, the control device 20 causes the touch panel 42 to display a parking support screen PS on which a candidate position image GF1 as shown in FIG. 3 is not displayed.

[0054] Then, when the control device 20 determines that the parkable position 90 has been detected (step S1: Yes), it causes the touch panel 42 to display a candidate position image GF1 indicating the detected parkable position 90 (step S2). As a result, a parking support screen PS on which a candidate position image GF1 as shown in FIG. 4 is displayed is displayed on the touch panel 42.

[0055] Next, the control device 20 determines whether or not there has been an operation by the user on the touch panel 42 (step S3). In step S3, the control device 20 determines whether or not there has been an operation for selecting any one of the candidate position images GF1, in other words, an operation for selecting a candidate position image GF1 indicating a parkable position 90 to be set as the target parking position 92. An example of this operation can be an operation (touch) on an arbitrary position on the bird's-eye view image PS1 on the touch panel 42.

[0056] In step S3, when the control device 20 determines that there has been no operation by the user (step S3: No), it returns to the process of step S1. On the other hand, when the control device 20 determines that there has been an operation by the user (step S3: Yes), it determines whether or not there are candidate position images GF1 that overlap each other among the candidate position images GF1 being displayed on the touch panel 42 (step S4).

[0057] When the control device 20 determines that there is no overlapping candidate position image GF1 (step S4: No), it determines whether the user operation performed in step S3 was an operation to select any of the candidate position images GF1 being displayed (step S5). For example, in this case, if the user operation is an operation (touch) on any of the candidate position images GF1 in the bird's-eye view image PS1, the control device 20 determines that there was an operation to select the candidate position image GF1.

[0058] If the user operation is not an operation to select the candidate position image GF1 (step S5: No), the control device 20 returns to the process of step S1. On the other hand, if the user operation is an operation to select the candidate position image GF1 (step S5: Yes), the control device 20 sets the selected candidate position image GF1 as the candidate position image GF2 being selected (step S6). As a result, a parking support screen PS in which one of the candidate position images GF1 is displayed as the candidate position image GF2 being selected, as shown in FIG. 5, is displayed on the touch panel 42.

[0059] On the other hand, when the control device 20 determines in step S4 that there is an overlapping candidate position image GF1 (step S4: Yes), it determines whether the user operation performed in step S3 was an operation on a predetermined operation valid region (hereinafter also referred to as "operation valid region ED") that includes the overlapping candidate position image GF1 (step S7).

[0060] As shown in FIGS. 7 to 10, here, the operation valid region ED is, for example, a rectangular region that includes a plurality of candidate position images GF1. Thereby, the operation valid region ED can be made easily understandable intuitively by the user.

[0061] Then, for example, the upper end, lower end, right end, and left end of the operation effective area ED respectively coincide with the upper end, lower end, right end, and left end of a plurality of candidate position images GF1 included by the operation effective area ED. Thereby, the operation effective area ED can be made easier for the user to intuitively understand. Further, even when the user operates an end of any one of the candidate position images GF1 included by the operation effective area ED, it is possible to surely accept it as an operation on the operation effective area ED.

[0062] Also, as shown in FIGS. 7 to 10, when a plurality of parking possible positions 90 are detected on each of the left and right sides of the vehicle 10, and accordingly a plurality of candidate position images GF1 are respectively displayed on the left and right sides of the own vehicle image GF10 in the bird's-eye view image PS1, the operation effective area ED is provided on the left and right sides sandwiching the vehicle 10 (i.e., the own vehicle image GF10) in the bird's-eye view image PS1.

[0063] Specifically, in the example shown in FIGS. 7 to 10, three overlapping candidate position images GF1 are displayed on the left side of the own vehicle image GF10 in the bird's-eye view image PS1. Therefore, an operation effective area ED1 including these three candidate position images GF1 is provided on the left side of the own vehicle image GF10. Also, in the example shown in FIGS. 7 to 10, two overlapping candidate position images GF1 are displayed on the right side of the own vehicle image GF10 in the bird's-eye view image PS1. Therefore, an operation effective area ED2 including these two candidate position images GF1 is provided on the right side of the own vehicle image GF10. In this way, by providing the candidate position image GF1 and the operation effective area ED separately on the left side and the right side of the vehicle 10 (i.e., the own vehicle image GF10) in the bird's-eye view image PS1 according to the positional relationship between the vehicle 10 and the parking possible position 90, it becomes possible for the user to more easily select a desired candidate position image GF1 (described later).

[0064] In step S7, the control device 20 determines whether the user operation performed in step S3 is an operation on such an operation valid area ED (an operation to a position corresponding to the operation valid area ED). If the control device 20 determines that it is not an operation on the operation valid area ED (step S7: No), it returns to the process of step S1. On the other hand, if the control device 20 determines that it is an operation on the operation valid area ED (step S7: Yes), it executes a process of changing the selected candidate position image GF2 (step S8).

[0065] For example, in the state shown in FIG. 7, that is, in the state where the middle candidate position image GF1 among the three candidate position images GF1 in the left operation valid area ED1 is the selected candidate position image GF2, assume that there is an operation on the operation valid area ED1. In this case, in the process of step S8, as shown in FIG. 8, the control device 20 changes the selected candidate position image GF2 to one of the other two candidate position images GF1 in the operation valid area ED1 (in the illustrated example, the candidate position image GF1 closer to the rear of the vehicle 10).

[0066] Also, in the state shown in FIG. 8, if there is an operation on the operation valid area ED1 again, the control device 20 changes the selected candidate position image GF2 to the other of the two candidate position images GF1 (the candidate position image GF1 closer to the front of the vehicle 10) in the process of step S8. That is, when there is an operation on the operation valid area ED1 in a state where any one of the candidate position images GF1 in the operation valid area ED1 is the selected candidate position image GF2, each time, the control device 20 sequentially switches the candidate position image GF1 that becomes the selected candidate position image GF2 among the candidate position images GF1 in the operation valid area ED1.

[0067] On the one hand, for example, in the state shown in FIG. 7, it is assumed that there is an operation on the right operation effective area ED2. In this case, in the process of step S8, as shown in FIG. 9, the control device 20 changes the currently selected candidate position image GF2 to any one of the candidate position images GF1 within the operation effective area ED2 (in the illustrated example, the candidate position image GF1 indicating the parking possible position 90 extending toward the right side of the vehicle 10). Thereby, the user can switch the candidate position image GF1 that can be selected as the currently selected candidate position image GF2 from the one within the operation effective area ED1 to the one within the operation effective area ED2.

[0068] Then, in the state shown in FIG. 9, if there is an operation on the operation effective area ED2, the control device 20 changes the currently selected candidate position image GF2 to another candidate position image GF1 within the operation effective area ED2 in the process of step S8. That is, when there is an operation on the operation effective area ED2 in a state where any one of the candidate position images GF1 within the operation effective area ED2 is the currently selected candidate position image GF2, the control device 20 sequentially switches the candidate position image GF1 that becomes the currently selected candidate position image GF2 among the candidate position images GF1 within the operation effective area ED2 each time.

[0069] In this way, when there is an operation on the left operation effective area ED1, the currently selected candidate position image GF2 sequentially switches among the plurality of candidate position images GF1 on the left side. When there is an operation on the right operation effective area ED2, the currently selected candidate position image GF2 sequentially switches among the plurality of candidate position images GF1 on the right side. Even when a plurality of candidate position images GF1 overlap and are displayed on the left and right sides of the vehicle 10 (own vehicle image GF10) in the bird's-eye view image PS1, it is possible to suppress the selection of an unintended candidate position image GF1 as the currently selected candidate position image GF2 and facilitate the selection of a desired candidate position image GF1. For example, when the user intends to select any one of the candidate position images GF1 on the left side, as long as the user performs an operation on the left operation effective area ED1, the candidate position image GF1 on the right side will not be selected. Therefore, it is possible to suppress the selection of an unintended candidate position image GF1 on the right side and easily select any one of the candidate position images GF1 on the left side.

[0070] Further, every time there is an operation on the operation effective area ED, by sequentially changing the currently selected candidate position image GF2 among the plurality of candidate position images GF1 within the operation effective area ED, the user can surely select a desired candidate position image GF1 by adjusting the number of operations on the operation effective area ED.

[0071] Here, every time there is an operation on the operation effective area ED, the currently selected candidate position image GF2 is sequentially changed among the plurality of candidate position images GF1 within the operation effective area ED. However, the present invention is not limited to this. For example, when there is an operation on the operation effective area ED, the control device 20 may change the candidate position image GF1 that becomes the currently selected candidate position image GF2 to the one that is closest to the operation position among the candidate position images GF1 within the operation effective area ED. Here, the candidate position image GF1 that is closest to the operation position may be the one whose center position is closest to the operation position, or the one that has a side closest to the operation position. This enables the user to perform an intuitive selection operation of the candidate position image GF1.

[0072] Further, when the control device 20 changes the currently selected candidate position image GF2, for example, the control device 20 changes the viewpoint position of the direction image PS2 so that the direction represented by the direction image PS2 becomes the direction in which the parking available position 90 indicated by the changed currently selected candidate position image GF2 exists. As a result, the direction image PS2 changes to represent the scenery in the direction in which the parking available position 90 indicated by the changed currently selected candidate position image GF2 exists. Thereby, the scenery in the direction in which the parking available position 90 serving as the target parking position 92 exists can be intuitively and easily guided to the user.

[0073] Further, when the control device 20 causes the currently selected candidate position image GF2 to be displayed by executing the process of step S6 or step S8, the control device 20 causes a parking pattern image GP corresponding to the parking available position 90 indicated by the currently selected candidate position image GF2 to be displayed on the touch panel 42 (step S9).

[0074] For example, as shown in FIG. 7, assume that the parking available position 90 indicated by the currently selected candidate position image GF2 is a parking available position 90 where both forward parking and reverse parking are possible (however, parallel parking is not possible). In this case, the control device 20 displays a parking pattern image GP1 indicating a forward parking pattern and a parking pattern image GP2 indicating a reverse parking pattern as the parking pattern image GP. In this case, the user can perform an operation (touch) on the displayed parking pattern image GP1 to set the parking available position 90 indicated by the currently selected candidate position image GF2 as the target parking position 92 and instruct the control device 20 to perform forward parking to the target parking position 92. Also, in this case, if the user performs an operation on the displayed parking pattern image GP2, the user can set the parking available position 90 indicated by the currently selected candidate position image GF2 as the target parking position 92 and instruct the control device 20 to perform reverse parking to the target parking position 92.

[0075] On the one hand, as shown in FIG. 8, assume that the parking available position 90 indicated by the candidate position image GF2 during selection is a parking available position 90 where only reverse parking is possible. In this case, although the control device 20 displays the parking pattern image GP1 and the parking pattern image GP2 as the parking pattern image GP in the same manner as the example shown in FIG. 7, for the parking pattern image GP1 representing an infeasible parking pattern, it is displayed with a lower brightness, for example, than the parking pattern image GP2 representing a feasible parking pattern. And in this case, even if there is an operation on the parking pattern image GP1 (that is, the parking pattern image displayed with low brightness) representing an infeasible parking pattern, the control device 20 does not accept the operation. In this way, the control device 20 displays the parking pattern image (here, the parking pattern image GP2) representing a feasible parking pattern separately from the parking pattern image (here, the parking pattern image GP1) representing an infeasible parking pattern. Note that the control device 20 may, instead of or in addition to the brightness, make the transmittance of the parking pattern image representing a feasible parking pattern and the parking pattern image representing an infeasible parking pattern different, for example. Even in this way, the parking pattern image representing a feasible parking pattern and the parking pattern image representing an infeasible parking pattern can be displayed separately. Further, the control device 20 may, for example, superimpose and display a mark indicating non-selectability (for example, a mark representing "NG") on the parking pattern image representing an infeasible parking pattern, etc., so as to display the parking pattern image representing a feasible parking pattern and the parking pattern image representing an infeasible parking pattern separately.

[0076] Also, as shown in FIG. 10, assume that the parking available position 90 indicated by the candidate position image GF2 during selection is a parking available position 90 where only parallel parking is possible. In this case, the control device 20 displays a parking pattern image GP3 indicating a parallel parking pattern as the parking pattern image GP. In this case, the parking pattern image GP1 and the parking pattern image GP2 are not displayed, and only the parking pattern image GP3 is displayed large and alone.

[0077] In this way, the control device 20 can guide the user to the parking pattern by displaying a parking pattern image GP indicating a parking pattern that can be executed when the parking available position 90 indicated by the currently selected candidate position image GF2 is set as the target parking position 92. Therefore, the user can grasp the parking pattern when the vehicle 10 moves to the target parking position 92 designated by the user.

[0078] Further, when the parking pattern executable for the parking available position 90 indicated by the currently selected candidate position image GF2 is a parallel parking pattern, the control device 20 displays a parking pattern image GP3 indicating the parallel parking pattern with a display size different from the display sizes of the parking pattern image GP1 indicating the forward parking pattern and the parking pattern image GP2 indicating the reverse parking pattern (for example, it is displayed larger). Thereby, when the parking available position 90 indicated by the currently selected candidate position image GF2 is set as the target parking position 92, the user can be clearly guided that the vehicle 10 parks in parallel at the target parking position 92.

[0079] In addition, for the parking pattern image GP representing a parking pattern that cannot be executed for the parking available position 90 indicated by the currently selected candidate position image GF2, by displaying it in a non-selectable state, the non-selectable parking pattern image GP can be guided to the user, and it is possible to avoid the parking pattern indicated by the parking pattern image GP from being selected.

[0080] By the way, as described above, the parking pattern image GP includes a first image GA representing the parking available position 90 indicated by the currently selected candidate position image GF2, a second image GB representing the vehicle 10, and a third image AL representing the traveling route of the vehicle 10. In the process of step S9, the control device 20 displays a parking pattern image GP in which the first image GA and the second image GB are arranged at positions according to the positional relationship between the vehicle 10 and the parking available position 90 indicated by the currently selected candidate position image GF2.

[0081] For example, in the state shown in FIG. 7, the parking available position 90 indicated by the candidate position image GF2 being selected exists on the left side of the vehicle 10. Thus, when the parking available position 90 indicated by the candidate position image GF2 being selected exists on the left side of the vehicle 10, as shown in FIG. 7, the control device 20 causes to display a parking pattern image GP in which the first image GA is arranged on the left side of the second image GB. And in this case, the second image GB of the parking pattern image GP1 indicating the forward parking pattern represents the vehicle 10 facing left. Further, the third image AL of this parking pattern image GP1 is an image of an arrow extending from the second image GB (the vehicle 10 facing left) toward the first image GA arranged on its left side. Also, in this case, the second image GB of the parking pattern image GP2 indicating the reverse parking pattern represents the vehicle 10 facing right. Further, the third image AL of this parking pattern image GP2 is an image of an arrow extending from the second image GB (the vehicle 10 facing right) toward the first image GA arranged on its left side.

[0082] On the other hand, in the state shown in FIG. 9, the parking available position 90 indicated by the candidate position image GF2 being selected exists on the right side of the vehicle 10. Thus, when the parking available position 90 indicated by the candidate position image GF2 being selected exists on the right side of the vehicle 10, as shown in FIG. 9, the control device 20 causes to display a parking pattern image GP that is horizontally inverted with respect to the parking pattern image GP shown in FIG. 7.

[0083] In this way, by displaying the parking pattern image GP in which the first image GA and the second image GB are arranged at positions according to the positional relationship between the vehicle 10 and the parking available position 90 indicated by the candidate position image GF2 being selected, it becomes possible to display the parking pattern image GP in accordance with the user's sense, and it is possible to avoid giving the user a sense of discomfort by the displayed parking pattern image GP.

[0084] After the control device 20 executes the process of step S9, it determines whether there is an instruction to start parking, that is, whether there is an operation on any of the parking pattern images GP (step S10). If the control device 20 determines that there is no instruction to start parking (step S10: No), it returns to the process of step S1. On the other hand, if the control device 20 determines that there is an instruction to start parking (step S10: Yes), it sets the parking possible position 90 indicated by the currently selected candidate position image GF2 as the target parking position 92, and moves to the target parking position 92 by automatic steering (i.e., automatic parking) according to the parking pattern indicated by the selected parking pattern image GP (step S11), and ends a series of processes.

[0085] As described above, according to the control device 20 of the present embodiment, even when a plurality of candidate position images GF1 overlap and are displayed on the touch panel 42, the user can easily select a desired candidate position image GF1. In the present embodiment, an example in which an operation effective area ED including these plurality of candidate position images GF1 is provided when the plurality of candidate position images GF1 are overlappingly displayed has been described, but the present invention is not limited to this. If the plurality of candidate position images GF1 are not overlapping but are densely arranged to a certain extent, it is assumed that it will be as difficult for the user to select a desired candidate position image GF1 as when they are overlapping. Therefore, the control device 20 may provide an operation effective area ED including these plurality of candidate position images GF1 not only when the plurality of candidate position images GF1 are overlappingly displayed, but also when the plurality of candidate position images GF1 are densely (i.e., highly densely) displayed to a certain extent. The density at which the plurality of candidate position images GF1 are displayed and at which the operation effective area ED including them is provided can be appropriately determined by the manufacturer of the vehicle 10 or the control device 20.

[0086] In addition, according to the vehicle 10 of the present embodiment that includes the control device 20, the touch panel 42, and the sensor group 16 and moves to the target parking position 92 by automatic steering, even when a plurality of candidate position images GF1 overlap and are displayed on the touch panel 42, it is easy for the user to select a desired candidate position image GF1, and parking (i.e., automatic parking) can be performed by automatic steering to the target parking position 92 indicated by the selected candidate position image GF1.

[0087] Further, according to the control device 20 and the vehicle 10 of the present embodiment, the user can grasp the parking pattern when parking by automatic steering to the target parking position 92 (i.e., the target parking position 92 designated by the user) indicated by the selected candidate position image GF1.

[0088] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. can be made as appropriate.

[0089] For example, in the above-described embodiment, the touch panel 42 provided in the vehicle 10 is used as the display device in the present invention, but it is not limited to this. For example, the display device of the communication device 120 realized by a smartphone or the like carried by the user who is a passenger in the vehicle 10 may be used as the display device in the present invention.

[0090] In addition, in the above-described embodiment, an example in which the moving body in the present invention is the vehicle 10, which is a four-wheel automobile, has been described, but it is not limited to this. The moving body in the present invention may be a two-wheel automobile (so-called motorcycle), or may be a Segway (registered trademark), a ship, an aircraft, or the like.

[0091] At least the following matters are described in this specification. Although the corresponding components, etc. in the above-described embodiments are shown in parentheses, it is not limited to this.

[0092] (1) A control device (control device 20) that controls a display device (touch panel 42) mounted on a moving body (vehicle 10) that moves to a target position (target parking position 92) specified by a user by automatic steering, The moving body is configured to be movable by a plurality of types of movement patterns (parking patterns), and when moving to the target position, it moves by a movement pattern corresponding to the target position among the plurality of types of movement patterns, The control device is, When a candidate position that is a candidate for the target position is detected based on the detection result of an external sensor (sensor group 16) provided on the moving body, a candidate position image (candidate position image GF1) indicating the candidate position is displayed on the display device. A display control unit (display control unit 70), When a plurality of the candidate position images are displayed on the display device, an accepting unit (operation determination unit 74) that accepts an operation of selecting the candidate position image indicating the candidate position to be set as the target position from among the plurality of candidate position images, Comprising, When any of the candidate position images is selected, the display control unit displays a movement pattern image (parking pattern image GP) representing the movement pattern that the moving body can execute when the candidate position indicated by the candidate position image is set as the target position on the display device. Control device.

[0093] (1) According to, when any candidate position image is selected by the user, a movement pattern image representing the movement pattern that the moving body can execute when the candidate position indicated by the candidate position image is set as the target position can be displayed. Thereby, the movement pattern when the candidate position indicated by the selected candidate position image is set as the target position can be guided to the user. Therefore, it is possible for the user to grasp the movement pattern when the moving body moves to the target position specified by the user.

[0094] (2) The control device according to (1), The moving pattern image includes a first image (first image GA) representing the candidate position and a second image (second image GB) representing the moving body. The display control unit displays the moving pattern image in which the first image and the second image are arranged at a position corresponding to the positional relationship between the moving body and the candidate position indicated by the selected candidate position image. Control device.

[0095] According to (2), it is possible to display a moving pattern image having content corresponding to the positional relationship between the moving body and the candidate position indicated by the selected candidate position image. Thereby, it is possible to display a moving pattern image that conforms to the user's sense, and it is possible to avoid giving the user a sense of discomfort with the displayed moving pattern image.

[0096] (3) The control device according to (1) or (2), The display control unit displays, separately from a moving pattern image representing a moving pattern that is not executable by the moving body when the candidate position indicated by the selected candidate position image is set as the target position, a moving pattern image representing an executable moving pattern. Control device.

[0097] According to (3), since it is possible to display separately a moving pattern image representing an executable moving pattern and a moving pattern image representing a non-executable moving pattern, it is possible to intuitively and easily guide the user to the moving pattern image representing the executable moving pattern.

[0098] (4) The control device according to (3), The plurality of types of moving patterns include a first moving pattern (forward parking pattern) in which the moving body moves to the target position forward and a second moving pattern (backward parking pattern) in which the moving body moves to the target position backward. The display control unit When one of the first movement pattern and the second movement pattern is the executable movement pattern and the other is the non-executable movement pattern, a first movement pattern image (first parking pattern image GP1) representing the first movement pattern and a second movement pattern image (second parking pattern image GP2) representing the second movement pattern are displayed, and among the first movement pattern image and the second movement pattern image, the movement pattern image representing the executable movement pattern is displayed separately from the movement pattern image representing the non-executable movement pattern. Control device.

[0099] (4) According to this, it is possible to easily guide the user whether the moving body moves to the target position forward or the moving body moves to the target position backward.

[0100] (5) The control device according to (4), The plurality of types of movement patterns further includes a third movement pattern (vertical parking pattern), The first movement pattern is a movement pattern in which the moving body moves forward and parks at the target position, The second movement pattern is a movement pattern in which the moving body moves backward and parks at the target position, The third movement pattern is a movement pattern in which the moving body parks vertically at the target position, The display control unit, When the third movement pattern is the executable movement pattern, a third movement pattern image (third parking pattern image GP3) representing the third movement pattern is displayed, while the first movement pattern image and the second movement pattern image are not displayed, The display size of the third movement pattern image is different from the display sizes of the first movement pattern image and the second movement pattern image. Control device.

[0101] (5) According to this, it is possible to easily guide the user that the moving body parks vertically at the target position.

[0102] (6) The control device according to any one of (1) to (5), wherein the display control unit displays an overhead image (overhead image PS1) obtained by looking down on the moving body and the periphery of the moving body, and displays the movement pattern image below the moving body in the overhead image. Control device.

[0103] According to (6), by displaying the movement pattern image below the moving body in the overhead image, the movement pattern image can be created by effectively using the limited display area.

[0104] (7) The control device according to (6), wherein the display control unit displays the overhead image in a region on one side, either the left or the right, of the display screen of the display device, and displays a direction image (direction image PS2) including a view in a predetermined direction from the moving body in a region on the other side, either the left or the right, of the display screen, and displays the movement pattern image in the region on the one side and below the moving body in the overhead image. Control device.

[0105] According to (7), by displaying the movement pattern image below the moving body in the overhead image on the side opposite to the region where the direction image is displayed, the movement pattern image can be created by effectively using the limited display area.

[0106] (8) A moving body comprising the control device according to any one of (1) to (7), the display device, the external sensor, and configured to move to the target position by automatic steering. Moving body.

[0107] ​According to (8), when any candidate position image is selected by the user, a movement pattern image representing a movement pattern that the moving body can execute when the candidate position indicated by the candidate position image is set as the target position can be displayed. Thereby, the user can be guided to the movement pattern when the candidate position indicated by the selected candidate position image is set as the target position. Therefore, it is possible for the user to grasp the movement pattern when the moving body moves to the target position specified by the user.

Explanation of Signs

[0108] 10 Vehicle (Moving Body) 16 Sensor Group (External Sensor) 20 Control Device 42 Touch Panel (Display Device) 70 Display Control Unit 74 Operation Determination Unit (Reception Unit) 90 Parkable Position (Candidate Position) 92 Target Parking Position (Target Position) GA First Image GB Second Image GF1 Candidate Position Image GP Parking Pattern Image (Movement Pattern Image) GP1 First Parking Pattern Image (First Movement Pattern Image) GP2 Second Parking Pattern Image (Second Movement Pattern Image) GP3 Third Parking Pattern Image (Third Movement Pattern Image) PS1 Overhead Image PS2 Direction Image

Claims

1. A control device for controlling a display device mounted on a moving body that moves by automatic steering to a target position designated by a user, the moving body is configured to be movable according to a plurality of types of movement patterns, and when moving to the target position, the moving body moves according to a movement pattern corresponding to the target position among the plurality of types of movement patterns; The control device includes: a display control unit that displays, when a candidate position that is a candidate for the target position is detected based on a detection result of an external sensor provided in the moving object, a candidate position image indicating the candidate position on the display device; a reception unit that receives an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images when the plurality of candidate position images are displayed on the display device; Equipped with when any one of the candidate position images is selected, the display control unit displays, on the display device, a movement pattern image representing the movement pattern that can be executed by the moving object when the candidate position indicated by the candidate position image is set as the target position; the movement pattern image is displayed in an overhead image of the moving object and a periphery of the moving object, and is displayed below a moving object image showing the moving object in the overhead image; A lower side of the moving object image in the overhead image corresponds to a rear side of the moving object. Control device.

2. The control device according to claim 1 , the moving pattern image is displayed below the moving object image so that at least a portion of the moving pattern image overlaps with the moving object image in the left-right width direction of the moving object image; Control device.

3. The control device according to claim 1 or 2, the movement pattern image includes a first image representing the candidate position and a second image representing the moving object; the display control unit displays the movement pattern image in which the first image and the second image are arranged at positions according to a positional relationship between the moving object and the candidate position indicated by the selected candidate position image. Control device.

4. The control device according to any one of claims 1 to 3, the display control unit displays the movement pattern image representing the executable movement pattern in a manner distinguished from the movement pattern image representing the movement pattern which is not executable by the moving body when the candidate position indicated by the selected candidate position image is set as the target position. Control device.

5. The control device according to claim 4, the plurality of types of movement patterns include a first movement pattern in which the moving body moves forward to the target position, and a second movement pattern in which the moving body moves backward to the target position, The display control unit is when one of the first and second movement patterns is the executable movement pattern and the other is the unexecutable movement pattern, a first movement pattern image representing the first movement pattern and a second movement pattern image representing the second movement pattern are displayed, and, of the first and second movement pattern images, the movement pattern image representing the executable movement pattern is displayed in a manner distinguished from the movement pattern image representing the unexecutable movement pattern. Control device.

6. The control device according to claim 5, The plurality of types of movement patterns further includes a third movement pattern, the first movement pattern is a movement pattern in which the moving body is forward parked at the target position, the second movement pattern is a movement pattern in which the moving body is parked in reverse at the target position, the third movement pattern is a movement pattern in which the moving body is parallel parked at the target position, The display control unit is When only the third movement pattern is the executable movement pattern, a third movement pattern image representing the third movement pattern is displayed, while the first movement pattern image and the second movement pattern image are not displayed, When only the third movement pattern image is displayed, the display size of the third movement pattern image is larger than the display sizes of the first movement pattern image and the second movement pattern image. Control device.

7. The control device according to any one of claims 1 to 6, The display control unit is displaying the overhead image in one of the left and right regions of a display screen of the display device, and displaying a directional image including a view in a predetermined direction from the moving body in the other of the left and right regions of the display screen; the movement pattern image is displayed in the one side area and below the moving object in the overhead image. Control device.

8. A control device according to any one of claims 1 to 7; The display device; The external sensor; Equipped with Move to the target position by automatic steering. Mobile body.

Images