Vehicle control device

Abstract

To provide a vehicle control device which can reduce a possibility that a user will not become aware of a notification and can reduce a possibility that the user will feel the notification to be troublesome, by providing an appropriate notification according to a situation of the user when a cancellation condition is established.SOLUTION: A vehicle control device performs automatic travel control which causes a vehicle to automatically travel toward a target space based on an instruction sent by a remote control device operated by a user outside the vehicle. The vehicle control device is configured to stop the vehicle and cause the remote control device to give a first notification if a predetermined cancellation condition is established while the automatic travel control is executed, and cause the remote control device to give a second notification in a mode different from the first notification if the user does not approach the vehicle after the first notification.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle control device that executes automatic driving control in which a user outside the vehicle operates a remote control device to automatically drive the vehicle toward a target space.

Background Art

[0002] Conventionally, a vehicle control device that executes automatic driving control, which is a type of autonomous driving, is known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") executes remote parking control as automatic driving control. The remote parking control is control for moving the vehicle to a target space and parking it in response to a parking command transmitted from a remote control device operated by a user outside the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In such automatic driving control in which a user outside the vehicle operates a remote control device to move the vehicle to a target space, when a predetermined stop condition is satisfied, the vehicle stops. For example, the stop condition is satisfied when the travel distance traveled under automatic driving control becomes equal to or greater than a threshold value. When the stop condition is satisfied and the vehicle stops, the user needs to board the vehicle.

[0005] When the stop condition is satisfied, it has been considered to notify the user to that effect by the remote control device. However, if this notification is made uniformly regardless of the user's situation, a user who is not approaching the vehicle may not notice the notification, and a user who is approaching the vehicle may find the notification bothersome.

[0006] The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to reduce the possibility that a user does not notice the notification and to reduce the possibility that the user feels bothered by the notification by appropriately notifying according to the user's situation when the stop condition is satisfied, and to provide a vehicle control device.

[0007] The vehicle control device of the present invention (hereinafter referred to as "the device of the present invention") executes automatic driving control to automatically drive the vehicle toward a target space based on an instruction transmitted by a remote operation device operated by a user outside the vehicle (Steps 200 to 295). The vehicle control device When a predetermined stop condition is satisfied during the execution of the automatic driving control (Step 230 "Yes"), the vehicle is stopped (Step 255), and the remote operation device is caused to give a first notification (Step 415 "Yes", Step 420). When the user does not approach the vehicle after the first notification (Step 315 "No", Step 345), the remote operation device is caused to give a second notification in a mode different from the first notification (Step 415 "No", Step 425). It is configured as described above.

[0008] According to the device of the present invention, when the user does not approach the vehicle after the first notification, a second notification in a mode different from the first notification is given, so that the possibility that a user who does not approach the vehicle does not notice the notification can be reduced. Note that since the second notification is not given when the user is approaching the vehicle, the possibility that a user who is approaching the vehicle feels bothered by the notification can be reduced.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0010] As shown in FIG. 1, the vehicle control system according to the present embodiment includes "vehicle control device 10 applied to vehicle VA" and remote operation device 40. The vehicle control device 10 and the remote operation device 40 are communicably connected via network NW.

[0011] The vehicle control device 10 includes the components shown in FIG. 1. In this specification, "ECU 20" is an electronic control device mainly including a microcomputer. ECU 20 is also referred to as a control unit, a controller, and a computer. The microcomputer includes a CPU (processor), a ROM, a RAM, an interface, and the like. The functions realized by ECU 20 may be realized by a plurality of ECUs.

[0012] The camera 22 acquires image data by photographing the scenery around the vehicle VA. The ECU 20 acquires the image data from the camera 22. The sonar 24 acquires sonar data regarding the position of an object existing around the vehicle VA with respect to the vehicle VA. The ECU 20 acquires the sonar data from the sonar 24. Note that the ECU 20 detects the target space and the objects located around the vehicle VA based on the image data and the sonar data. The communication interface (I / F) 28 is an interface for connecting to the network NW.

[0013] The display 28 is disposed inside the vehicle. For example, the display 28 is a multi-information display. The in-vehicle speaker 30 is disposed inside the vehicle and emits a warning sound inside the vehicle. The horn 32 emits a warning sound outside the vehicle.

[0014] The remote operation device 40 is a device that can be operated even when the user is outside the vehicle, and as an example, it is a smartphone. The remote operation device 40 includes a display 42, a GNSS (Global Navigation Satellite System) receiver 44, and a speaker 46. The display 42 is a touch panel type display that allows the user to input to the remote operation device 40 by touching the display 42. When the display 42 is not a touch panel type, the remote operation device 40 includes an input device.

[0015] The GNSS receiver 44 receives signals from a plurality of artificial satellites and identifies the current position (latitude and longitude) of the remote operation device 40 based on the received signals. The speaker 46 emits a warning sound. The vibration motor 48 is a motor for vibrating the remote operation device 40.

[0016] (Outline of operation) In this embodiment, an example in which the summon control is executed as the automatic driving control will be described. The summon control includes a smart summon control and a reverse summon control.

[0017] In the smart summon control, the vehicle VA sets the current position of the remote operation device 40 or the designated position specified by the user as the target space, automatically drives to the target space, and stops at the target space. In the reverse summon control, when the user gets out of the vehicle at the entrance of the parking lot or the like and operates the remote operation device 40, the vehicle VA automatically drives while searching for a parking space where the vehicle VA can park, and parks in the parking space when the parking space is found. That is, the smart summon control and the reverse summon control are common in that the vehicle VA automatically drives to the target space and stops at the target space while the user is outside the vehicle.

[0018] When a user outside the vehicle operates the remote control device 40 to start the app for summon control and operates the start button for smart summon control, the vehicle control device 10 starts the smart summon control. Similarly, when the user operates the start button for reverse summon control, the vehicle control device 10 starts the reverse summon control. After the start of the summon control, a drive button is displayed on the display 42. When the user is operating the drive button, the remote control device 40 transmits a permission signal to the vehicle control device 10. The vehicle control device 10 automatically drives the vehicle VA based on this permission signal.

[0019] When a predetermined cancellation condition is satisfied while the vehicle control device 10 is executing the summon control, the vehicle control device 10 cancels the summon control and stops the vehicle VA. In this case, the vehicle control device 10 transmits a first notification signal to the remote control device 40. When the remote control device 40 receives the first notification signal, it gives the first notification. In the first notification, the remote control device 40 displays a first message on the display 42. The first message is a message saying "The summon control has been cancelled."

[0020] After the cancellation condition is satisfied, if a non-approach state where the user does not approach the vehicle VA (the remote control device 40 does not approach the vehicle VA) continues for a predetermined time or more, the vehicle control device 10 transmits a second notification signal to the remote control device 40. When the remote control device 40 receives the second notification signal, it gives a second notification in a mode different from the first notification. In the second notification, the remote control device 40 displays a second message on the display 42. The second message is a message saying "The summon control has been cancelled. Please board the vehicle immediately." Further, the remote control device 40 controls the vibration motor 48 so that the remote control device 40 vibrates in a first vibration pattern described later and makes a warning sound be emitted from the speaker 46 in a first sound emission pattern described later.

[0021] The second message has an additional message for the user to board promptly, i.e., "Please board the vehicle promptly.", added to the first message. Therefore, the second notification is in a form that attracts more attention from the user than the first notification. Further, in the second notification, in order to attract more attention from the user, in addition to the display on the display 42, a warning sound is emitted and the remote control device 40 is vibrated.

[0022] As described above, since the vehicle control device 10 makes the second notification different from the first notification, it is possible to reduce the possibility that a user who does not approach the vehicle VA after the first notification will notice the "notification that the cancellation condition has been satisfied". Further, since the vehicle control device 10 gives the first notification without giving the second notification when the user is approaching the vehicle VA, it is possible to reduce the possibility that the user approaching the vehicle VA will feel bothered by the "notification that the cancellation condition has been satisfied".

[0023] (Specific operation) The CPU of the ECU 20 executes the routine shown by the flowchart in FIGS. 2 to 4 every time a predetermined time elapses.

[0024] When an appropriate time arrives, the CPU starts processing from step 200 in FIG. 2 and determines whether the value of the execution flag Xexe is "0" at step 205. The value of the execution flag Xexe is set to "1" when starting the summons control, and is set to "0" when ending or canceling the reverse summons control. Note that the value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when an ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0025] When the value of the execution flag Xexe is "0", the CPU determines "Yes" in step 205, and the process proceeds to step 210. In step 210, the CPU determines whether the vehicle control device 10 has received the start signal transmitted by the remote operation device 40. The remote operation device 40 transmits the start signal to the vehicle control device 10 when the start button for smart summon control or reverse summon control is operated.

[0026] If the vehicle control device 10 has not received the start signal, the CPU determines "No" in step 210, and the process proceeds to step 295 where the CPU temporarily ends this routine. If the vehicle control device 10 has received the start signal, the CPU determines "Yes" in step 210, and the process proceeds to step 215. In step 215, the CPU sets the value of the execution flag Xexe to "1", and sets the values of the stop flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0".

[0027] The value of the stop flag Xst is set to "1" when the summon control is stopped due to the establishment of the stop condition. The value of the first warning flag Xa1 is set to "1" when the non-approach state continues for a predetermined time or more after the establishment of the stop condition. The value of the second warning flag Xa2 is set to "1" when there is an approaching object approaching the vehicle VA after the establishment of the stop condition. The values of the stop flag Xst, the first warning flag Xa1, and the second warning flag Xa2 are set to "0" when the user boards the vehicle VA or when the next summon control is started. Note that the value of the second warning flag Xa2 is also set to "0" when the approaching object no longer exists.

[0028] Thereafter, the process proceeds to step 295 and the CPU temporarily ends this routine.

[0029] When the value of the execution flag Xexe is "1" when the process proceeds to step 205, the CPU determines "No" in step 205, and the process executes steps 220 and 225.

[0030] Step 220: The CPU automatically drives the vehicle VA so that the vehicle VA stops in the target space. While the vehicle VA is automatically driving, the CPU acquires image data and sonar data, and determines whether there is a contact object that may come into contact with the vehicle VA. If there is a contact object, the CPU determines whether the contact object can be avoided. If the contact object can be avoided, the CPU creates an avoidance route and drives the vehicle VA along the avoidance route. If the contact object cannot be avoided, the CPU stops the vehicle VA.

[0031] Step 225: The CPU determines whether the vehicle VA has stopped in the target space. If the vehicle VA has not stopped in the target space, the CPU determines "No" in step 225, and the process proceeds to step 230.

[0032] In step 230, the CPU determines whether the termination condition is satisfied. For example, when the travel distance from the start point of the summon control is equal to or greater than the threshold distance, the CPU determines that the termination condition is satisfied. Further, when the vehicle VA stops because the contact object cannot be avoided, the CPU determines that the termination condition is satisfied. Further, when the state where the vehicle control device 10 does not receive the permission signal continues for a predetermined time or more, the CPU determines that the termination condition is satisfied.

[0033] If the termination condition is not satisfied, the CPU determines "No" in step 230, and the process proceeds to step 295 and the CPU temporarily ends this routine.

[0034] When the vehicle VA stops in the target space when the process proceeds to step 225, the CPU determines "Yes" in step 225 and executes steps 235 and 240. Step 235: The CPU sets the value of the execution flag Xexe to "0". Step 240: The CPU transmits a completion signal to the remote control device 40. When the remote operation device 40 receives the completion signal, it gives a completion notice. In the completion notice, the remote operation device 40 causes the display 42 to display a completion message "Summon control has been completed." Thereafter, the process proceeds to step 295 and the CPU temporarily ends this routine.

[0035] When the termination condition is satisfied when the process proceeds to step 230, the CPU determines "Yes" at step 230 and executes steps 245 to 255. Step 245: The CPU sets the value of the execution flag Xexe to "0" and sets the value of the termination flag Xst to "1". Step 250: The CPU sets the value of the timer Ta to "0". The timer Ta is a timer for counting the duration of the non-approach state. Step 255: The CPU controls a brake actuator (not shown) to stop the vehicle VA. Thereafter, the process proceeds to step 295 and the CPU temporarily ends this routine.

[0036] <Flag setting routine> When an appropriate time point arrives, the CPU starts the process from step 300 in FIG. 3 and determines whether the value of the termination flag Xst is "1" at step 305.

[0037] When the value of the termination flag Xst is "0", the CPU determines "No" at step 305 and the process proceeds to step 395 to temporarily end this routine. When the value of the termination flag Xst is "1", the CPU determines "Yes" at step 305 and the process proceeds to step 310. At step 310, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0038] When the value of the first warning flag Xa1 is "0", the CPU determines "Yes" in step 310, and the process proceeds to step 315. In step 315, the CPU determines whether the user is approaching the vehicle VA. Specifically, the CPU has acquired the current position of the remote control device 40 from the remote control device 40 after the cancellation condition is satisfied, and determines whether the remote control device 40 is approaching the vehicle VA based on the history of the current position. If the remote control device 40 is approaching the vehicle VA, the CPU determines that the user is approaching the vehicle VA.

[0039] If the user is approaching the vehicle VA, the CPU determines "Yes" in step 315 and executes steps 318 and 320. Step 318: The CPU sets the value of the timer Ta to "0". Step 320: The CPU determines whether the value of the second warning flag Xa2 is "0".

[0040] When the value of the second warning flag Xa2 is "0", the CPU determines "Yes" in step 320, and the process proceeds to step 325. In step 325, the CPU determines whether there is an approaching target based on the image data and the sonar data.

[0041] If there is no approaching target, the CPU determines "No" in step 325, and the process proceeds to step 330. In step 330, the CPU determines whether the user has boarded the vehicle VA. Specifically, if the door of the vehicle VA is unlocked after the current position of the remote control device 40 is within a predetermined distance from the vehicle VA, the CPU determines that the user has boarded the vehicle VA.

[0042] If the user has not boarded the vehicle VA, the CPU determines "No" in step 330, and the process proceeds to step 395 where the CPU temporarily ends this routine.

[0043] If the user is not approaching when the process advances to step 315, the CPU determines "No" in step 315 and executes steps 335 and 340. Step 335: The CPU adds "1" to timer Ta. Step 340: The CPU determines whether timer Ta is greater than or equal to the threshold value Tath. Note that the threshold value Tath is set to a value such that the non-approach state continues for a predetermined time or longer when timer Ta becomes greater than or equal to the threshold value Tath.

[0044] If timer Ta is less than the threshold value Tath, the CPU determines "No" in step 340 and the process advances to step 320. On the other hand, if timer Ta is greater than or equal to the threshold value Tath, the CPU determines "Yes" in step 340 and the process advances to step 345. In step 345, the CPU sets the value of the first warning flag Xa1 to "1", and the process advances to step 320.

[0045] If a target is approaching when the process advances to step 325, the CPU determines "Yes" in step 325 and the process advances to step 350. In step 350, the CPU sets the value of the second warning flag Xa2 to "1". Thereafter, the process advances to step 330.

[0046] If the value of the second warning flag Xa2 is "1" when the process advances to step 320, the CPU determines "No" in step 320 and the process advances to step 355. In step 355, the CPU determines whether a target is approaching.

[0047] If a target is approaching, the CPU determines "Yes" in step 355 and the process advances to step 330. If a target is not approaching, the CPU determines "No" in step 355 and the process advances to step 360. In step 360, the CPU sets the value of the second warning flag Xa2 to "0". Thereafter, the process advances to step 330.

[0048] When the user boards the vehicle VA when the process proceeds to step 330, the CPU determines "Yes" at step 330, and the process proceeds to step 365. At step 365, the CPU sets the values of the stop flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0". Thereafter, the process proceeds to step 395 and the CPU temporarily ends this routine.

[0049] <Stop notification routine> When an appropriate time point arrives, the CPU starts the process from step 400 in FIG. 4, and determines whether the value of the stop flag Xst is "1" at step 405.

[0050] When the value of the stop flag Xst is "0", the CPU determines "No" at step 405, and the process proceeds to step 495 and the CPU temporarily ends this routine. When the value of the stop flag Xst is "1", the CPU determines "Yes" at step 405, and the process proceeds to step 410.

[0051] At step 410, the CPU determines whether the value of the second warning flag Xa2 is "0". When the value of the second warning flag Xa2 is "0", the CPU determines "Yes" at step 410, and the process proceeds to step 415. At step 415, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0052] When the value of the first warning flag Xa1 is "0", the CPU determines "Yes" at step 415, and the process proceeds to step 420. At step 420, the CPU transmits the first notification signal to the remote control device 40. Thereafter, the process proceeds to step 495 and the CPU temporarily terminates this routine. When the remote control device 40 receives the first notification signal, it gives the first notification. Specifically, as shown in FIG. 5, the remote control device 40 causes the first message to be displayed on the display 42. Note that when the remote control device 40 receives the first notification signal, it does not activate the speaker 46 and the vibration motor 48. Further, when transmitting the first notification signal, the CPU gives the first notification on the vehicle VA side. In this first notification, the CPU causes a warning sound "beep" to be emitted from the in-vehicle speaker 30 of the vehicle VA, and causes a cancellation message "Control has been cancelled." to be displayed on the display 28 of the vehicle VA.

[0053] When the process proceeds to step 415 shown in FIG. 4 and the value of the first warning flag Xa1 is "1", the CPU determines "No" at step 415, and the process proceeds to step 425. At step 425, the CPU transmits the second notification signal to the remote control device 40. Thereafter, the process proceeds to step 495 and the CPU temporarily terminates this routine. When the remote control device 40 receives the second notification signal, it gives the second notification.

[0054] Specifically, as shown in FIG. 5, the remote control device 40 causes the second message to be displayed on the display 42. Further, the remote control device 40 causes a warning sound to be emitted from the speaker 46 in the first sound emission pattern. When the remote control device 40 causes a warning sound to be emitted from the speaker 46, the remote control device 40 repeats a predetermined sound emission time during which a warning sound (beep) is emitted from the speaker 46 and a non-sound emission time Ts during which nothing is emitted from the speaker 46. In the first sound emission pattern, the non-sound emission time Ts is set to the first time Ts1.

[0055] Furthermore, the remote control device 40 vibrates the vibration motor 48 in the first vibration pattern. When the remote control device 40 vibrates the vibration motor 48, it repeats a predetermined vibration time for operating the vibration motor 48 and a non-vibration time Tv during which the vibration motor 48 is not operated. In the first vibration pattern, the non-vibration time Tv is set to the first time Tv1.

[0056] When the CPU transmits the second notification signal, the vehicle VA side performs the second notification. In this second notification, the CPU controls the in-vehicle speaker 30 and the display 28 in the same manner as in the first notification, and operates the horn 32 in the first operation pattern. Specifically, the CPU repeats a predetermined operation time for operating the horn 32 to generate a warning sound (fan) and a non-operation time To during which the horn 32 is not operated. In the first operation pattern, the non-operation time To is set to the first time To1.

[0057] When the value of the second warning flag Xa2 is "1" when the process proceeds to step 410 shown in FIG. 4, the CPU proceeds to step 430. At step 430, the CPU transmits a third notification signal to the remote control device 40. Thereafter, the process proceeds to step 495 and the CPU temporarily ends this routine. When the remote control device 40 receives the third notification signal, it performs the third notification.

[0058] Specifically, as shown in FIG. 5, the remote control device 40 causes the third message to be displayed on the display 42. The third message is a message that says, "Summon control has been canceled. Since it may obstruct the passage of others, please immediately board the vehicle and move the vehicle."

[0059] Furthermore, the remote control device 40 causes the speaker 46 to emit a warning sound in a second sound emission pattern. In the second sound emission pattern, the non-sounding time Ts is set to "a second time Ts2 that is shorter than the first time Ts1". Therefore, in the second sound emission pattern, the time (non-sounding time Ts) between the sounding times becomes shorter than that in the first sound emission pattern. Generally, when the time between the sounding times becomes shorter, it tends to attract people's attention more strongly. Thus, the second sound emission pattern is a mode that attracts the user's attention more than the first sound emission pattern.

[0060] Furthermore, the remote control device 40 causes the vibration motor 48 to vibrate in a second vibration pattern. In the second vibration pattern, the non-vibration time Tv is set to "a second time Tv2 that is shorter than the first time Tv1". Therefore, the second vibration pattern is a mode that attracts the user's attention more than the first vibration pattern.

[0061] Thus, the third notification is performed in a mode that attracts the user's attention more than the first and second notifications. If the value of the second warning flag Xa2 is "1", the third notification is performed regardless of whether the value of the first warning flag Xa1 is "0" or "1". That is, the third notification is given priority over the second notification.

[0062] Furthermore, when the CPU transmits the third notification signal, the vehicle VA side performs the third notification. In this third notification, the CPU controls the in-vehicle speaker 30 and the display 28 in the same manner as in the first notification, and operates the horn 32 in a second operation pattern. In the second operation pattern, the non-operation time To is set to "a second time To2 that is shorter than the first time To1". Therefore, the third notification on the vehicle VA side is performed in a mode that attracts the user's attention more than the second notification on the vehicle VA side.

[0063] As described above, according to the present embodiment, when the cancellation condition is satisfied during the execution of the summon control, the remote control device 40 is made to perform the first notification. Thereafter, if the user does not approach the vehicle VA, the remote control device 40 is made to perform the second notification in a mode different from the first notification. Thereby, it is possible to increase the possibility that the user becomes aware that it is necessary to board the vehicle VA.

[0064] Furthermore, since the third notification is made prior to the second notification, the user can be promptly informed that the user may cause trouble to others.

[0065] (Modification example) In this modification example, when the non-boarding condition that the user does not board the vehicle VA until a predetermined boarding time has elapsed after the cancellation condition is satisfied (that is, after the remote control device 40 issues the first notification) is satisfied, the first to third notifications are made in a manner that attracts the user's attention more than when the non-boarding condition is not satisfied. The notification made when the non-boarding condition is satisfied is referred to as an "emphasis notification".

[0066] Specifically, as shown in FIG. 5, the remote control device 40 causes the speaker 46 to emit a warning sound in the third sound emission pattern. In the third sound emission pattern, the non-sound emission time Ts is set to "a third time Ts3 shorter than the second time Ts2". Furthermore, the remote control device 40 vibrates the vibration motor 48 in the third vibration pattern. In the third vibration pattern, the non-vibration time Tv is set to "a third time Tv3 shorter than the second time Tv2". In the emphasis notification, the remote control device 40 causes the display 42 to display a message displayed in "any one of the first to third notifications according to the user's approach situation and the presence situation of approaching objects".

[0067] Furthermore, the vehicle control device 10 according to this modification example performs an emphasis notification on the vehicle VA side when the non-boarding condition is satisfied. As shown in FIG. 5, in this emphasis notification, the CPU controls the in-vehicle speaker 30 and the display 28 in the same manner as the first notification, and operates the horn 32 in the third operation pattern. In the third operation pattern, the non-operation time To is set to "a third time To3 shorter than the second time To2".

[0068] The CPU of the ECU 20 of the vehicle control device 10 according to this modification example executes the routines shown in FIGS. 2 and 3, and executes the routine shown in FIG. 6 instead of the routine shown in FIG. 4. In FIG. 6, the same processes as those in FIG. 4 are given the same reference numerals and their descriptions are omitted.

[0069] When an appropriate time arrives, the CPU starts processing from step 600 in FIG. 6. When the value of the stop flag Xst is "1" (step 405 "Yes" shown in FIG. 6), the value of the second warning flag Xa2 is "0" (step 410 "Yes" shown in FIG. 6), and the value of the first warning flag Xa1 is "0" (step 415 "Yes" shown in FIG. 6), the process proceeds to step 605.

[0070] At step 605, the CPU determines whether the value of the emphasis flag Xem is "0". The value of the emphasis flag Xem is set to "1" when the above non-boarding condition is satisfied, and is set to "0" when the user boards the vehicle VA or when the next summon control is started.

[0071] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" at step 605 and transmits a first notification signal to the remote control device 40 at step 420 shown in FIG. 6. Thereafter, the process proceeds to step 695 and the CPU temporarily ends this routine.

[0072] On the other hand, when the value of the emphasis flag Xem is "1", the CPU determines "No" at step 605 and the process proceeds to step 610. At step 610, the CPU transmits an emphasized first notification signal to the remote control device 40. Thereafter, the process proceeds to step 695 and the CPU temporarily ends this routine. When the remote control device 40 receives the emphasized first notification signal, it performs an emphasized first notification that emphasizes the first notification. The emphasized first notification is a kind of the above-mentioned emphasized notification, a first message is displayed on the display 42, the speaker 46 emits a warning sound in a third pronunciation pattern, and the vibration motor 48 vibrates in a third vibration pattern.

[0073] When the value of the stop flag Xst is "1" (step 405 "Yes" shown in FIG. 6), the value of the second warning flag Xa2 is "0" (step 410 "Yes" shown in FIG. 6), and the value of the first warning flag Xa1 is "1" (step 415 "No" shown in FIG. 6), the process proceeds to step 615. At step 615, the CPU determines whether the value of the emphasis flag Xem is "0".

[0074] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" at step 615 and transmits a second notification signal to the remote control device 40 at step 425. Thereafter, the process proceeds to step 695 and the CPU temporarily ends this routine.

[0075] When the value of the emphasis flag Xem is "1", the CPU determines "No" at step 615 and the process proceeds to step 620. At step 620, the CPU transmits an emphasized second notification signal to the remote control device 40. Thereafter, the process proceeds to step 695 and the CPU temporarily ends this routine. When the remote control device 40 receives the emphasized second notification signal, it performs an emphasized first notification that emphasizes the second notification. The emphasized second notification is a type of the above-mentioned emphasized notification. A second message is displayed on the display 42, the speaker 46 emits a warning sound in a third pronunciation pattern, and the vibration motor 48 vibrates in a third vibration pattern.

[0076] When the value of the stop flag Xst is "1" (step 405 "Yes" shown in FIG. 6) and the value of the second warning flag Xa2 is "1" (step 410 "No" shown in FIG. 6), the process proceeds to step 625. At step 625, the CPU determines whether the value of the emphasis flag Xem is "0".

[0077] When the value of the emphasis flag Xem is "0", the CPU determines "Yes" at step 625 and transmits a third notification signal to the remote control device 40 at step 430. Thereafter, the process proceeds to step 695 and the CPU temporarily ends this routine.

[0078] When the value of the emphasis flag Xem is "1", the CPU determines "No" in step 625, and the process proceeds to step 630. In step 630, the CPU transmits an emphasis third notification signal to the remote control device 40. Thereafter, the process proceeds to step 695 and the CPU temporarily terminates this routine. When the remote control device 40 receives the emphasis third notification signal, it performs an emphasis third notification that emphasizes the third notification. The emphasis third notification is a kind of the above-mentioned emphasis notification. A third message is displayed on the display 42, the speaker 46 emits a warning sound in a third pronunciation pattern, and the vibration motor 48 vibrates in a third vibration pattern.

[0079] As described above, according to this modification, when the non-boarding condition is satisfied, the first to third notifications are performed in a manner that attracts the user's attention more than when the non-boarding condition is not satisfied. Thereby, even if the boarding time has elapsed after the cancellation condition is satisfied, if the user does not board the vehicle VA, it is possible to increase the possibility of causing the user to hurry towards the vehicle VA.

[0080] In the above embodiment, the summons control has been described as an example, but the present invention is applicable to an automatic driving control in which a user outside the vehicle operates the remote control device 40 to automatically drive the vehicle VA to the target space.

[0081] The vehicle device 10 is applicable to vehicles such as engine vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles.

Explanation of Reference Numerals

[0082] 10... Vehicle control device, 20... ECU, 22... Camera, 24... Sonar, 40... Remote control device, 42... Display, 46... Speaker, 48... Vibration motor.

Claims

1. In a vehicle control device that executes automatic driving control to automatically drive a vehicle toward a target space based on an instruction transmitted by a remote operation device operated by a user outside the vehicle, the vehicle control device, when a predetermined stop condition is satisfied during the execution of the automatic driving control, stops the vehicle and causes the remote operation device to issue a first notification, when the user does not approach the vehicle after the first notification, causes the remote operation device to issue a second notification in a mode different from the first notification, A vehicle control device configured as described above.

2. In the vehicle control device according to Claim 1, the vehicle control device is configured to cause the remote operation device to issue the second notification in a manner that attracts the user's attention more than the first notification, Vehicle control device.

3. In the vehicle control device according to Claim 1, when there is an object approaching the vehicle after the first notification, the vehicle control device is configured to cause the remote operation device to issue a third notification in a mode different from the first notification and the second notification, with priority given to the third notification over the second notification, Vehicle control device.

4. In the vehicle control device according to Claim 3, when a non-boarding condition that the user does not board the vehicle is satisfied even after a predetermined time has elapsed after the first notification, the vehicle control device is configured to cause the remote operation device to issue the first to third notifications in a manner that attracts the user's attention more than when the non-boarding condition is not satisfied, Vehicle control device.

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