Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program capable of appropriately notifying a user of a fact that software related to stop control of a movable body can be updated.SOLUTION: A control ECU 20 of a vehicle 10 includes: an operation part 52 that can perform stop control of stopping the vehicle 10 at a target position in a state where a user of the vehicle 10 is not on board; and a storage part 54 that stores software for movement control of the vehicle 10. When the stop control is executed in a state where the software can be updated, the operation part 52 performs a first notification for notifying the user of a fact that the software can be updated after determination of an information terminal 60 that instructs stop control.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] A remote parking system is known that uses a smartphone to remotely control a vehicle to park the vehicle in a designated parking space and to move the vehicle out of the parking space. Another known method involves updating software related to the remote parking system by having the user respond to a data update suggestion displayed on the vehicle's navigation system.

[0004] For example, Patent Document 1 describes an automatic parking system that communicates with the cloud and notifies the vehicle owner if there is updated information about automatic parking. If the owner selects to download the updated information, an upgrade package is downloaded to the vehicle's control unit, updating the information. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Chinese Patent Application Publication No. 113823113 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in a method in which a user updates software by inputting a response to a data update suggestion displayed on a navigation device while in the vehicle, the user cannot input a response to the data update suggestion while in the vehicle while remotely operating the vehicle's remote parking function outside the vehicle, and therefore the software cannot be updated. It is also conceivable to notify a predetermined user when a remote parking instruction is received, but in that case, there is a possibility that the authorized driver will not be notified. Furthermore, Patent Document 1 does not disclose software updates during such remote parking.

[0007] An object of the present invention is to provide a control device, a control method, and a control program that can appropriately notify a user that software related to stop control of a moving object is available for updating. [Means for solving the problem]

[0008] The present invention provides A control device for a moving body, a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; a storage unit in which software for controlling the movement of the moving object is stored, When the control unit executes the stop control in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, the control unit performs a first notification that notifies the user that the software update is possible. It is a control device.

[0009] The present invention provides A control method for a control device of a moving body, the control device including: a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, the control method comprising: a processor of the control device, When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is made to notify the user that the software update is possible. It is a control method.

[0010] The present invention provides A control program for a control device of a moving body, the control program comprising: a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, a processor of the control device; When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is made to notify the user that the software update is possible. It is a control program that executes the process. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that can appropriately notify a user that software related to stop control of a moving object is available for updating. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of a vehicle 10 shown in FIG. 1. FIG. [Figure 4] 1 is a diagram illustrating an example of the configuration of a FoD (Function on Demand) system 1 including a control device according to the present embodiment. [Figure 5] 2 is a diagram illustrating an example of a hardware configuration of an information terminal 60 owned by a user of a vehicle 10. FIG. [Figure 6]1 is a diagram showing an example of how the movement of a vehicle 10 is controlled from outside the vehicle 10 using an information terminal 60. FIG. [Figure 7] 1 is a sequence diagram (part 1) showing a first operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 8] 10 is a sequence diagram (part 2) showing a first operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 9] FIG. 10 is a diagram showing an example of a disclaimer screen 72 displayed on an information terminal 60. [Figure 10] 10 is a diagram showing an example of an update acceptance screen 73 displayed on the information terminal 60. FIG. [Figure 11] 10 is a diagram showing an example of a get-off guidance screen 74 displayed on the information terminal 60. FIG. [Figure 12] 10 is a diagram showing an example of a reception screen 75 displayed on the information terminal 60. FIG. [Figure 13] 10 is a sequence diagram showing a second operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 14] FIG. 10 is a diagram showing an example of an update completion screen 76 displayed on the information terminal 60. [Figure 15] 10 is a sequence diagram (part 1) showing a third operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 16] 10 is a sequence diagram (part 2) showing a third operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 17] 10 is a diagram showing an example of an update available notification screen 77 displayed on the information terminal 60. FIG. [Figure 18] 10 is a diagram showing an example of an update acceptance screen 78 displayed on the information terminal 60. FIG. [Figure 19] 10 is a sequence diagram (part 1) showing a fourth operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 20] 10 is a sequence diagram (part 2) showing a fourth operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 21] FIG. 10 is a diagram showing an example of a power-on screen 79 displayed on the information terminal 60. [Figure 22] 10 is a diagram showing an example of an exit direction reception screen 80 displayed on the information terminal 60. FIG. [Figure 23] 10 is a sequence diagram showing a fifth operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 24] 10 is a sequence diagram showing a sixth operation example of the vehicle 10 and the information terminal 60. FIG. [Figure 25] 10 is a diagram showing an example of a remote leaving unavailable screen 81 displayed on the information terminal 60. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0013] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

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

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

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

[0017] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

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

[0019] The sensor group 16 acquires various detection values used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

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

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

[0023] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

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

[0025] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that has a map information database.

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

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

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

[0029] The calculation unit 52 has a reception unit 55 that receives instructions to execute movement control from outside the vehicle 10 via the terminal of the user of the vehicle 10, a movement control unit 56 that controls the movement of the vehicle 10, a drive control unit 57 that drives and stops the drive of the vehicle 10, and a notification unit 58.

[0030] The reception unit 55 receives an instruction to execute movement control from outside the vehicle 10 by communicating with a terminal of the user of the vehicle 10 via the communication unit 24, for example.

[0031] The movement control unit 56 performs remote parking assistance and remote leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the movement control unit 56. In remote parking assistance and remote leaving assistance, the operation of the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 is performed automatically. In addition, the movement control unit 56 performs assisted parking assistance and assisted leaving assistance when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and manually leave the vehicle 10. Note that during remote parking assistance and remote leaving assistance, the user may be in the vehicle 10, or may have gotten out of the vehicle 10 and be outside (not in the vehicle). Getting in the vehicle is an example of "boarding" in the present invention.

[0032] For example, the movement control unit 56 performs movement control to move the vehicle 10 based on recognition data of the external environment of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and a predetermined parking space designated by the user. The movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (target parking position) and exit control to remotely exit the vehicle 10 from the predetermined parking space to a target position (target movement position). The movement control unit 56 can execute the parking control and the exit control in accordance with instruction signals input from the outside via the input / output unit 50. The input from the outside includes input via wireless communication from an information terminal or the like portable by the user of the vehicle 10. The movement control unit 56 can also transmit information related to the parking control and the exit control to an external information terminal via the input / output unit 50.

[0033] Specifically, when the movement control unit 56 receives an operation from the user of the vehicle 10 to transition to remote parking control or remote leaving control, it transmits inquiry information necessary to determine the driver who will instruct the remote parking or remote leaving operation to information terminals in the vicinity of the vehicle 10. The movement control unit 56 transmits the inquiry information to an information terminal in the vicinity of the vehicle 10 on which an application for instructing the execution of movement control of the vehicle 10 has been launched by a user operation. The movement control unit 56 also determines the driver terminal that will instruct the execution of movement control of the vehicle 10 based on a predetermined operation on the information terminal held by the user. The movement control unit 56 receives predetermined response information from the user in response to the inquiry information of the movement control unit 56, and determines the information terminal that transmitted the first received response information as the driver terminal. The movement control unit 56 performs movement control of the vehicle 10 based on movement instruction information, which is an instruction to execute movement control from the driver terminal. The predetermined response information is, for example, information on an agreement response to a disclaimer. The driver terminal is an example of an "instruction terminal" in the present invention.

[0034] The movement control unit 56 also registers a predetermined parking space designated by the user as a designated parking space in the memory unit 54. The movement control unit 56 registers feature points related to the designated parking space in the memory unit 54 based on recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The movement control unit 56 controls remote parking, which parks the vehicle 10 in a designated parking space, and remote exit, which exits the vehicle 10 from the designated parking space, based on the recognition data of the outside world of the vehicle 10 and the feature points of the designated parking space designated by the user.

[0035] In response to a user operation (for example, pressing an ignition button), the drive control unit 57 starts (for example, turns on the ignition) and stops (for example, turns off the ignition) the vehicle 10. The drive control unit 57 can also set an automatic stop mode that automatically stops the start of the vehicle 10 based on the end of movement control (for example, the above-mentioned remote parking).

[0036] The notification unit 58 provides various notifications to the user of the vehicle 10 by, for example, communicating with an information terminal of the user of the vehicle 10 via the communication unit 24. The notification unit 58 also provides various notifications to the user of the vehicle 10 by, for example, controlling the touch panel 42 or the speaker 44 of the navigation device 18.

[0037] Specifically, when stop control is executed to stop the vehicle 10 at a target position in a state where software for movement control (parking control, exit control) of the vehicle 10 is available for update, the notification unit 58 issues a first notification to notify the user that a software update is available after determining the driver terminal that will instruct the stop control. Similarly, when stop control is executed in a state where software update is available, the notification unit 58 may issue the first notification after determining the driver terminal and before starting the stop control. After determining the driver terminal, for example, this refers to after agreement on a disclaimer. Stop control refers to remote parking, and remote parking in this example refers to remote parking. A state where software update is available refers to, for example, a state where software with a newer version than the software currently installed in the vehicle 10 is available for download in a server. Alternatively, a state where software update is available may refer to a state where new software has already been downloaded to the storage unit 54 of the vehicle 10 but has not yet been updated. An update refers to putting the vehicle 10 into a state where movement control is available using that software.

[0038] The first notification by the notification unit 58 is, for example, a notification that software update is possible when stop control to stop the vehicle 10 at a target position is stopped and the vehicle 10 is powered off. Powering off means turning off the ignition. In response to the first notification, the movement control unit 56 receives an instruction from the user's information terminal (driver's terminal) as to whether or not to update the software, and if the instruction is to update the software, that is, when stop control of the vehicle 10 is stopped and the vehicle 10 is powered off, the movement control unit 56 executes the software update.

[0039] The first notification by the notification unit 58 may be a notification that a software update is possible if a response is made to a second notification that is sent when stop control to stop the vehicle 10 at the target position is completed and the power of the vehicle 10 is turned off. The second notification is a notification that accepts an instruction as to whether or not to update the software. When the movement control unit 56 accepts an instruction to update the software in response to the second notification, the movement control unit 56 executes the software update.

[0040] Furthermore, if the movement control unit 56 does not receive a software update instruction for a predetermined period of time after issuing a notification to accept the software update instruction, the movement control unit 56 executes a software update. The predetermined period of time may be actual time (for example, 10 minutes, a period of a predetermined number of notifications) or the accumulated time of driving cycles. The movement control unit 56 updates the software even if there is no software update instruction, for example, if there is no update instruction for 10 minutes after issuing a notification to accept the software update instruction. Note that the movement control unit 56 does not accept instructions for movement control of the vehicle 10 from the user during the software update period.

[0041] Furthermore, when software updating is possible and the vehicle 10 is being moved from a parking position to a target position, the movement control unit 56 does not update the software even if the vehicle 10 is powered off after the parking position control is completed. The parking position is the position where the vehicle 10 is parked.

[0042] Even when a software update is possible and the vehicle 10 is being controlled to move from a parked position to a target position, if the target position of the vehicle 10 is a predetermined position, the notification unit 58 issues a third notification notifying that a software update is possible when the parking control is completed and the vehicle 10 is powered off. When the movement control unit 56 receives an instruction to update the software in response to the third notification, the movement control unit 56 executes the software update. The predetermined position is, for example, a charging position within the home for charging the vehicle 10, the position of a charging station provided near the parking position where the vehicle 10 was parked, a car wash position within the home for washing the vehicle 10, etc. In other words, the predetermined position is a position to which the vehicle 10 is moved for charging, etc., and is a position to which the vehicle 10 is not expected to start traveling after the movement.

[0043] If an instruction to control vehicle 10 out of the garage is given from the information terminal carried by the user during the software update, notification unit 58 issues a fourth notification notifying that control of vehicle 10 out of the garage is not possible. In this case, movement control unit 56 does not control vehicle 10 out of the garage until the software update is completed.

[0044] 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 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0045] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0046] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and information terminals such as smartphones or tablets that can be carried by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface that enables UWB communication with the information terminal.

[0047] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0048] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0049] <Fod system including the control device of the present invention> Fig. 4 is a diagram showing an example of the configuration of an FoD (Function on Demand) system 1 including the control device of this embodiment. As shown in Fig. 4, the FoD system 1 includes a server 90, a vehicle 10 capable of communicating with the server 90, and an information terminal 60. In this example, one vehicle 10 is shown, but the number of vehicles may be multiple.

[0050] The server 90 is an external server installed in a facility such as a management center. The server 90 manages authority information related to the execution authority of the vehicle, which is acquired when a user uses the vehicle 10, in association with the user (user ID). The software for controlling the movement of the vehicle 10 described above is managed by the server 90. Use of this software is one piece of authority information related to the execution authority of the vehicle 10. The user can download updated software from the server 90.

[0051] The server 90 controls the enabling / disabling (ON / OFF) of functions provided in the vehicle 10 when a user uses the vehicle 10. Specifically, the server 90 controls the switching between enabling / disabling of functions in the vehicle 10 by transmitting to the vehicle 10 a function ON signal that enables a function or a function OFF signal that disables a function.

[0052] The information terminal 60 is, for example, a smartphone or tablet owned by the user. After purchasing the vehicle 10, the user purchases execution authority for a predetermined function of the vehicle 10 online, for example, using the information terminal 60. The user can use the purchased function of the vehicle 10 by transmitting the execution authority ID obtained through the purchase from the information terminal 60 to the server 90.

[0053] Vehicle 10 is a vehicle capable of so-called automatic driving or assisted driving. Vehicle 10 may be a vehicle whose users are limited, such as a vehicle owned by an individual, or may be a vehicle whose users are not limited, such as a vehicle owned by a corporation. Those who can use a privately owned vehicle include, for example, the vehicle owner, their family, relatives, friends, etc. Vehicles owned by a corporation include vehicles that can be used by an unspecified number of users who have signed a specified contract, such as for rental cars or shared cars.

[0054] <Hardware Configuration of User's Information Terminal 60> 5 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected by, for example, a bus 65.

[0055] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information terminal 60. The processor 61 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 61 may also be realized by combining a plurality of digital circuits.

[0056] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 61.

[0057] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. The auxiliary memory stores various programs that operate the information terminal 60. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0058] The auxiliary memory may also include a portable memory that is removable from the information terminal 60. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive and an SD (Secure Digital) memory card, and external hard disk drives.

[0059] The communication interface 63 is a communication interface that performs wireless communication with the outside of the information terminal 60 (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0060] The user interface 64 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized by, for example, a touch panel. The output device can be realized by, for example, a display or a speaker. The user interface 64 is controlled by the processor 61.

[0061] The processor 61 performs movement control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement control (including parking control and leaving control) of the vehicle 10 based on a specific operation by the user on the terminal screen of the information terminal 60. The specific operation includes, for example, a slide operation for moving the vehicle 10, a tap operation for reserving parking and leaving plans, etc. The slide operation includes a continuous position instruction operation (for example, a swipe operation), a rotation instruction operation in a predetermined rotation direction (for example, a rotational swipe operation), etc. The processor 61 also generates a guidance image that prompts the user to perform an instruction operation on the terminal screen of the information terminal 60, and performs control to display the generated guidance image on the terminal screen.

[0062] The processor 61 transmits to the vehicle 10 a parking instruction for remotely parking the vehicle 10 and an exit instruction for remotely exiting the vehicle 10, based on a specific operation on the terminal screen of the information terminal 60. An application is installed in the information terminal 60 that is capable of controlling the movement of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10.

[0063] <Control by Information Terminal 60> 6 is a diagram showing an example of how movement of vehicle 10 is controlled using an information terminal 60 from outside vehicle 10. User M of vehicle 10 issues a movement control execution instruction to remotely park vehicle 10 in a parking space P from outside vehicle 10 using the information terminal 60 carried by user M. The movement control execution instruction includes, for example, a parking instruction to remotely park vehicle 10 in the parking space P and an exit instruction to remotely exit vehicle 10 from the parking space P. The example shown in FIG. 6 shows how parking instructions for vehicle 10 are issued.

[0064] When the user M performs a specific operation on the terminal screen 71 of the information terminal 60, the information terminal 60 transmits an instruction signal to the vehicle 10 via wireless communication, instructing the vehicle 10 to remotely park the vehicle 10. As the wireless communication with the vehicle 10, in addition to UWB communication, for example, BLE (Bluetooth Low Energy: registered trademark), NFC (Near Field Communication: registered trademark), etc. may be used. The vehicle 10 receives the instruction signal transmitted from the information terminal 60 via the communication unit 24. The movement control unit 56 of the vehicle 10 controls the remote parking of the vehicle 10 in accordance with the received instruction signal.

[0065] [First operation example] 7 and 8 are sequence diagrams showing a first operation example of the vehicle 10 and the information terminal 60. Note that each operation in the vehicle 10 is executed by control of the control ECU 20.

[0066] 7, the vehicle 10 receives from the user M a remote parking instruction operation for parking the vehicle 10 in a parking space P by remote parking control (step S11). The remote parking instruction operation is an operation for changing the state of the vehicle 10 to a state in which the vehicle 10 can be parked by remote parking control. This instruction operation is received when the user M touches a remote parking button (not shown) inside the vehicle 10. The remote parking button may be provided as a touch button displayed on the touch panel 42 of the navigation device 18, for example, or may be provided as a mechanical vehicle switch or the like.

[0067] Next, the vehicle 10 transitions to a standby state in which it can receive an instruction signal from the information terminal 60 (step S12). The vehicle 10 transmits inquiry information regarding the disclaimer for remote parking to an information terminal in the vicinity of the vehicle 10 (for example, the information terminal 60 carried by the user M) (step S13). The information terminal 60 in the vicinity of the vehicle 10 is, for example, an information terminal that has communication quality with the communication unit 24 of the vehicle 10 at a certain level or higher. Specifically, the information terminal 60 is a smartphone or the like carried by the user M who is within 5 to 10 meters of the vehicle 10. The inquiry information regarding the disclaimer is, for example, information that asks the user M whether or not he agrees to the precautions stipulated for remote parking.

[0068] The information terminal 60 accepts a start-up operation by the user M to start up an application for issuing an instruction to execute movement control of the vehicle 10 (step S14). The information terminal 60 displays a disclaimer (notes prescribed for remote parking) on the terminal screen 71, and accepts an agreement operation by the user M who agrees to the disclaimer (step S15). An example of the disclaimer screen is a disclaimer screen 72, which will be described later with reference to FIG. 9.

[0069] Next, the information terminal 60 transmits the agreement response information received in step S15 and operated by the user M to the vehicle 10 (step S16). The agreement response information is, for example, information on a response that agrees with the inquired notes regarding remote parking.

[0070] Next, the vehicle 10 selects the information terminal that first transmitted the agreement response information, in this example, the information terminal 60, as the driver terminal (step S17). The driver terminal is an information terminal that is permitted to control the remote parking of the vehicle 10. As a result, the information terminal 60 is communicatively connected to the vehicle 10 as a driver terminal that can instruct the remote parking of the vehicle 10.

[0071] Next, vehicle 10 determines whether there is software to be updated (step S18). The existence of software to be updated means that new software is available for download on server 90, or that new software has been downloaded to vehicle 10 but has not yet been updated. Here, the description will be given assuming that there is software to be updated. Vehicle 10 transmits update inquiry information to information terminal 60 to inquire whether or not to update the software (step S19).

[0072] Next, the information terminal 60 notifies the user M that a software update is possible by displaying on the terminal screen 71, and accepts the user M's decision on whether or not to update in response to the notification (step S20). Here, it is assumed that the user M continues remote parking without updating the software. An example of the screen for accepting the decision on whether or not to update is an update acceptance screen 73, which will be described later with reference to FIG. 10.

[0073] Next, the information terminal 60 transmits the non-update response information of the user M who does not want to update the software, which was received in step S20, to the vehicle 10 (step S21).

[0074] Next, the vehicle 10 that has received the non-updated response information from the information terminal 60 transmits to the information terminal 60 alighting guidance information for encouraging the user M to alight (step S22).

[0075] Next, the information terminal 60 displays on the terminal screen 71 a disembarking guidance screen that prompts the user M of the information terminal 60 to disembark (step S23). The user M of the information terminal 60 opens the door of the vehicle 10, disembarks, and closes the door of the vehicle 10 in accordance with the disembarking guidance screen. An example of the disembarking guidance screen is a disembarking guidance screen 74, which will be described later with reference to FIG. 11.

[0076] In this example, the alighting guidance information is transmitted in step S22 to prompt the user M to alight, but this is not limiting. For example, the alighting guidance information may be transmitted in step S12 to prompt the user M to alight, and the process may proceed to step S13 when it is detected that the door of the vehicle 10 has been opened.

[0077] Next, in FIG. 8, the vehicle 10 detects that a door of the vehicle 10 is opened (step S24). The door opening here may refer to the door of the vehicle 10 being opened, or may include the door of the vehicle 10 being opened and then closed. The door of the vehicle 10 is opened and closed, for example, by an operation of the user M. In this case, the door opening is detected using a sensor or the like that detects the opening and closing of the door. The door of the vehicle 10 may also be opened and closed automatically using an actuator provided in the vehicle 10. In this case, the door opening is detected by determining whether the door of the vehicle 10 has been automatically opened and closed.

[0078] Next, the vehicle 10 transmits to the information terminal 60 an instruction to display a screen for accepting instructions to execute movement control (step S25).

[0079] The information terminal 60 displays a screen for accepting an instruction to execute movement control on the terminal screen 71, and accepts the instruction to execute movement control from the user M (step S26). An example of the screen for accepting an instruction to execute movement control is a acceptance screen 75, which will be described later with reference to FIG. 12.

[0080] Next, the information terminal 60 transmits an instruction to execute movement control to the vehicle 10 in response to the operation of the user M on the reception screen 75 (step S27). For example, the information terminal 60 transmits an instruction to execute movement control instructing the vehicle 10 to move while accepting a specific operation (rotational swipe operation) on the reception screen 75, and transmits an instruction to execute movement control instructing the vehicle 10 to stop when the rotational swipe operation on the reception screen 75 stops.

[0081] The vehicle 10 starts the movement control (remote parking) in response to the instruction to execute the movement control transmitted from the information terminal 60 (step S28). When the movement control is completed (step S29), the vehicle 10 turns off the ignition (stops activation) (step S30).

[0082] In this way, when the information terminal 60 responds to the update inquiry information inquiring whether or not to update the software by replying that remote parking will continue without updating the software, the vehicle 10 performs remote parking in accordance with the instruction to execute movement control from the information terminal 60, and does not perform a software update during the remote parking of the vehicle 10 at that time.

[0083] Note that, for example, if there is no response from the user regarding whether to update in step S20 for 10 minutes (a predetermined period) in response to the update inquiry information in step S19 described above, vehicle 10 may temporarily suspend acceptance of remote parking and perform a software update. Also, for example, if the above-described remote parking of vehicle 10 is performed multiple times and the user repeatedly responds in step S20 that they will not update the software in response to the update inquiry information in step S19 (a predetermined period), vehicle 10 may temporarily suspend acceptance of remote parking and perform a software update.

[0084] 9 is a diagram showing an example of a disclaimer screen 72 displayed on the information terminal 60. The disclaimer screen 72 is displayed on the terminal screen 71 of the information terminal 60 that has received, for example, disclaimer inquiry information regarding remote parking. The disclaimer screen 72 is displayed, for example, in step S15 of FIG. 7.

[0085] As shown in Fig. 9, the disclaimer screen 72 includes an agreement sentence 72a indicating the content of the agreement, such as "Note: This function is not a fully automated driving function." The disclaimer screen 72 also includes an agreement button 72b that the user M operates when agreeing to the notes. The disclaimer screen 72 further includes a sentence such as "I agree to the notes," which is displayed when the agreement button 72b is swiped (specific operation) and indicates that the user M has agreed to the notes.

[0086] 10 is a diagram showing an example of an update yes / no acceptance screen 73 displayed on the information terminal 60. The update yes / no acceptance screen 73 is displayed on the terminal screen 71 of the information terminal 60 that has received, for example, inquiry information regarding whether or not to update software. The update yes / no acceptance screen 73 is displayed, for example, in step S20 of FIG. 7.

[0087] As shown in FIG. 10 , the update confirmation screen 73 includes an update sentence 73a indicating update requirements, such as "Software update is possible. Software update will not be performed after parking using remote parking. To update the software, remote parking must be stopped and the power must be turned off." The update confirmation screen 73 also includes a query sentence such as "Do you want to continue remote parking?", a continue button 73b that user M operates to continue remote parking, and a sentence such as "Please perform a software update the next time you exit the vehicle" that indicates what to do after continuing remote parking. The update confirmation screen 73 also includes a cancel button 73c that user M operates to cancel remote parking, and a sentence such as "Software update will be performed" that indicates what to do after canceling remote parking. The notification via the update confirmation screen 73 is an example of a "first notification" of the present invention.

[0088] 11 is a diagram showing an example of a disembarking guidance screen 74 displayed on the information terminal 60. The disembarking guidance screen 74 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received disembarking guidance information encouraging the user to disembark from the vehicle 10. The disembarking guidance screen 74 is displayed, for example, in step S23 of FIG.

[0089] As shown in FIG. 11, the getting-off guidance screen 74 includes a message urging the user to get off, such as "Please get off."

[0090] 12 is a diagram showing an example of a reception screen 75 displayed on the information terminal 60. The reception screen 75 is displayed on the terminal screen 71 of the information terminal 60 that has received, for example, an instruction to display a reception screen for accepting an instruction to execute movement control. The reception screen 75 is displayed, for example, in step S26 of FIG. 8.

[0091] As shown in FIG. 12, the reception screen 75 includes a movement icon 75a that moves by following the touch position of the user M, for example, by a rotational swipe operation. The reception screen 75 also includes a guidance message 75b for executing remote parking of the vehicle 10 or temporarily suspending remote parking of the vehicle 10, such as, for example, "Rotate swipe to park" or "Remove your finger to stop." The movement icon 75a and the guidance message 75b are examples of a notification (guidance image) that prompts the user M to issue an instruction to execute movement control. The reception screen 75 also includes an execution status image 75c above the area where the movement icon 75a is displayed, which indicates the execution status of parking control for the vehicle 10 (how the vehicle is moving). The reception screen 75 also includes, for example, a caution message 75d, for example, "Please check your surroundings directly," to alert the user M who is performing the instruction operation. For example, the information terminal 60 transmits a movement control execution instruction to instruct the vehicle 10 to move while accepting a rotational swipe operation of the movement icon 75a, and transmits a movement control execution instruction to instruct the vehicle 10 to stop when the rotational swipe operation of the movement icon 75a stops.

[0092] [Second example of operation] Fig. 13 is a sequence diagram showing a second operation example of the vehicle 10 and the information terminal 60. As shown in Fig. 13, the processes from step S11 to step S20 are the same as the processes from step S11 to step S20 in the first operation example described in Fig. 7.

[0093] In this second operation example, it is assumed that in step S20, user M's response to the software update is to cancel remote parking and "update" the software. The screen for accepting the question about whether to update is the same as update acceptance screen 73 shown in FIG. 10 above.

[0094] Next, the information terminal 60 transmits the update response information of the user M who is going to perform the software update, which was received in step S20, to the vehicle 10 (step S31).

[0095] Next, vehicle 10 turns off the ignition of vehicle 10 (stops activation) (step S32), and then performs a software update (step S33). When vehicle 10 completes the software update, it transmits an update completion notification to information terminal 60 notifying that the update has been completed (step S34).

[0096] When the information terminal 60 receives the update completion notification from the vehicle 10, it displays an update completion screen indicating this on the terminal screen 71, thereby notifying the user M that the software update has been completed (step S35). An example of a screen indicating that the software update has been completed is an update completion screen 76, which will be described later with reference to FIG. 14.

[0097] In this way, when the information terminal 60 responds to the update inquiry information inquiring whether or not to update the software by canceling remote parking and updating the software, the vehicle 10 turns off the ignition and updates the software.

[0098] For example, if the user does not respond to the update inquiry information in step S19 above within 10 minutes (a predetermined period) in step S20 regarding whether or not to update, vehicle 10 may temporarily stop accepting remote parking requests and perform a software update.

[0099] 14 is a diagram showing an example of an update completion screen 76 displayed on the information terminal 60. The update completion screen 76 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received a notification that the software update has been completed. The update completion screen 76 is displayed, for example, in step S35 of FIG.

[0100] 14, the update completion screen 76 includes an update sentence 76a indicating that an update has been made and the details of the update, such as "Software update completed. Update details: ..." The update completion screen 76 also includes an OK button 76b that is operated by the user M after confirming the update details.

[0101] According to the above-described first and second operation examples, after determining the information terminal 60 to which the remote parking instruction is permitted, the vehicle 10 can notify the user M that the software can be updated by canceling the remote parking of the vehicle 10 and powering off the vehicle 10, by displaying the update yes / no acceptance screen 73 on the information terminal 60. In this way, if updated software related to remote parking is available, the vehicle 10 can notify the authorized user M of the availability of the software at an appropriate time.

[0102] [Third operation example] 15 and 16 are sequence diagrams showing a third operation example of the vehicle 10 and the information terminal 60. As shown in Fig. 15, the processes from step S41 to step S48 are similar to the processes from step S11 to step S18 in the first operation example described in Fig. 7.

[0103] In this third operation example, if updated software is available in step S48, the vehicle 10 transmits update availability notification information to the information terminal 60 notifying that a software update is available (step S49).

[0104] When the information terminal 60 receives the update available notification information from the vehicle 10, it displays on the terminal screen 71 that it is possible to update the software after remote parking, and notifies the user M of this (step S50). An example of a screen that notifies the user M that an update is possible after remote parking is an update available notification screen 77, which will be described later with reference to FIG. 17.

[0105] After notifying the user M of the information terminal 60 that an update is possible after remote parking, the information terminal 60 displays a dismounting guidance screen on the terminal screen 71 to prompt the user M of the information terminal 60 to dismount (step S51). The user M of the information terminal 60 opens the door of the vehicle 10, dismounts, and closes the door of the vehicle 10 in accordance with the dismounting guidance screen. The dismounting guidance screen is the same as the dismounting guidance screen 74 shown in FIG. 11 above.

[0106] In this example, the alighting guidance screen is displayed in step S51 to prompt the user M to alight, but this is not limiting. For example, alighting guidance information may be sent from the vehicle 10 to the information terminal 60 at step S42 to prompt the user M to alight, and the process may proceed to step S43 when it is detected that the door of the vehicle 10 has been opened.

[0107] Next, in FIG. 16, the processes from step S52 to step S58 are the same as the processes from step S24 to step S30 in the first operation example described with reference to FIG.

[0108] In this third operation example, after the ignition is turned off in step S58, the vehicle 10 transmits update inquiry information to the information terminal 60 inquiring whether or not to update the software (step S59).

[0109] The information terminal 60 accepts the user M's response to the inquiry regarding whether to update received from the vehicle 10 (step S60). An example of a screen for accepting whether to update the software is an update acceptance screen 78, which will be described later with reference to Fig. 18. Here, the description will be given assuming that the user M responds that he or she will update the software.

[0110] Next, the information terminal 60 transmits the update response information of the user M who is going to perform the software update, which was received in step S60, to the vehicle 10 (step S61).

[0111] When vehicle 10 receives the update response information from information terminal 60, it updates the software (step S62). When vehicle 10 completes the software update, it transmits an update completion notification to information terminal 60 notifying that the update has been completed (step S63).

[0112] When the information terminal 60 receives the update completion notification from the vehicle 10, it displays an update completion screen indicating this on the terminal screen 71 to notify the user M that the software update has been completed (step S64). The screen indicating that the software update has been completed is the same as the update completion screen 76 shown in FIG. 14 above.

[0113] In this way, the vehicle 10 notifies the user M in advance that software can be updated after remote parking, and when the remote parking is completed, the vehicle 10 makes an update inquiry to the user M asking whether or not to update the software, and if the user M replies that the software will be updated, the vehicle 10 performs the software update.

[0114] For example, if there is no response from the user regarding whether to update or not in response to the update inquiry information in step S59 described above within 10 minutes (a predetermined period) in step S60, vehicle 10 may temporarily suspend acceptance of remote parking requests and execute a software update. Also, in the above-described step S60, it has been described that user M responded that he would like to update the software, but if, for example, he responded that he would not like to update the software, and then remote parking of vehicle 10 is performed multiple times and user M repeatedly responded that he would not like to update the software each time, vehicle 10 may temporarily suspend acceptance of remote parking requests and execute a software update.

[0115] 17 is a diagram showing an example of an update available notification screen 77 displayed on the information terminal 60. The update available notification screen 77 is displayed on the terminal screen 71 of the information terminal 60 that has received a notification that a software update is available, for example, after remote parking. The update available notification screen 77 is displayed, for example, in step S50 in FIG.

[0116] As shown in Fig. 17, the update available notification screen 77 includes an update sentence 77a indicating the update requirements, such as "Software update is possible. After remote parking is completed, you can update the software by responding to an inquiry." The update available notification screen 77 also includes an OK button 77b that user M operates after confirming the update contents. The notification by the update available notification screen 77 is an example of the "first notification" of the present invention.

[0117] 18 is a diagram showing an example of an update yes / no acceptance screen 78 displayed on the information terminal 60. The update yes / no acceptance screen 78 is displayed on the terminal screen 71 of the information terminal 60 that has received, for example, inquiry information regarding whether or not to update software. The update yes / no acceptance screen 78 is displayed, for example, in step S60 of FIG.

[0118] 18, the update yes / no acceptance screen 78 includes an update confirmation sentence 78a, such as "Do you want to update the software?", which indicates confirmation of the update. The update yes / no acceptance screen 78 also includes a "Yes" button 78b that the user M operates if the update is to be performed, and a "No" button 78c that the user M operates if the update is not to be performed. The notification by the update yes / no acceptance screen 78 is an example of the "second notification" of the present invention.

[0119] According to the third operation example, after determining the information terminal 60 to which the remote parking instruction is permitted, the vehicle 10 can notify the user M that a software update is possible after completing remote parking of the vehicle 10 by displaying the update possible notification screen 77 on the information terminal 60. This allows the authorized user M to be notified at an appropriate time that updated software related to remote parking is available.

[0120] [Fourth operation example] 19 and 20 are sequence diagrams showing a fourth operation example of the vehicle 10 and the information terminal 60. The fourth operation example is an operation example when the vehicle 10 remotely leaves the garage.

[0121] First, as shown in Fig. 19, the information terminal 60 receives a start-up operation by the user M to start up an application for issuing an instruction to execute movement control of the vehicle 10 (step S71). The information terminal 60 displays a disclaimer (notes prescribed for remote leaving) on the terminal screen 71, and receives an agreement operation by the user M who agrees to the disclaimer (step S72). The disclaimer screen is the same as the disclaimer screen 72 shown in Fig. 9 above.

[0122] Next, after accepting the disclaimer agreement operation of user M, information terminal 60 accepts a power-on operation to start vehicle 10 (step S73). An example of a screen for accepting the power-on operation is a power-on screen 79, which will be described later with reference to Fig. 21. Information terminal 60 transmits the power-on instruction accepted in step S73 and the disclaimer agreement response information accepted in step S72 to vehicle 10 (step S74).

[0123] Vehicle 10 selects the information terminal that first transmitted the agreement response information, in this example, information terminal 60, as the driver terminal (step S75). As a result, information terminal 60 becomes communicatively connected to vehicle 10 as a driver terminal that can instruct vehicle 10 to remotely leave the garage. Vehicle 10 transmits an instruction to display a reception screen that accepts instructions on the direction in which vehicle 10 should leave the garage to information terminal 60 selected as the driver terminal (step S76).

[0124] When the information terminal 60 receives the instruction to display the reception screen from the vehicle 10, it displays an exit direction instruction reception screen on the terminal screen 71 and receives the instruction for the exit direction from the user M (step S77). An example of a screen for receiving the instruction for the exit direction is the exit direction reception screen 80, which will be described later with reference to FIG. 22. In response to the user M's operation on the exit direction reception screen 80, the information terminal 60 transmits the instruction for the exit direction to the vehicle 10 (step S78).

[0125] Next, the vehicle 10 transmits to the information terminal 60 an instruction to display a screen for accepting instructions to execute movement control (step S79).

[0126] When the information terminal 60 receives an instruction to display a reception screen from the vehicle 10, it displays the reception screen on the terminal screen 71 and receives an instruction to execute movement control from the user M (step S80). The screen for receiving an instruction to execute movement control is the same as the reception screen 75 shown in FIG. 12 above.

[0127] Next, the information terminal 60 transmits an instruction to execute movement control to the vehicle 10 in response to an operation by the user M on the reception screen 75 (step S81).

[0128] The vehicle 10 starts the movement control (remote leaving) (step S82) in response to the movement control execution instruction transmitted from the information terminal 60. When the movement control is completed (step S83), the vehicle 10 turns off the ignition (stops activation) (step S84).

[0129] Next, in FIG. 20, vehicle 10 determines whether there is software to be updated (step S85). Here, the description will be made assuming that there is software to be updated. Vehicle 10 determines whether the current stopping position of vehicle 10 after remote leaving has been completed, i.e., the target position from which user M is attempting to have vehicle 10 leave, is a predetermined position (step S86). As described above, a predetermined position is, for example, a charging position to which vehicle 10 is moved in order to charge vehicle 10. Here, it is assumed that the stopping position of vehicle 10 is not a predetermined position. Because the stopping position of vehicle 10 is not a predetermined position, vehicle 10 ends the processing without updating the software in the movement control (remote leaving) of vehicle 10 at this time.

[0130] In this way, when vehicle 10 is remotely released, vehicle 10 determines whether the location from which vehicle 10 is released is a predetermined location such as a location where vehicle 10 is charged, and if it determines that it is not a predetermined location, it determines that the remote release of vehicle 10 is a remote release for the purpose of riding in vehicle 10 and driving, and does not update the software.

[0131] 21 is a diagram showing an example of a power startup screen 79 displayed on the information terminal 60. The power startup screen 79 is displayed on the terminal screen 71 of the information terminal 60 on which the disclaimer agreement operation of user M is performed, for example, during remote leaving the warehouse. The power startup screen 79 is displayed, for example, in step S73 of FIG.

[0132] 21, the power startup screen 79 includes, for example, a vehicle image 79a of the vehicle 10 and a power startup button 79b for proceeding with the remote leaving. The power startup screen 79 also includes a close button 79c for closing the power startup screen 79 when the remote leaving is to be canceled.

[0133] 22 is a diagram showing an example of an exit direction reception screen 80 displayed on the information terminal 60. The exit direction reception screen 80 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received an instruction to display a reception screen for an exit direction instruction. The exit direction reception screen 80 is displayed, for example, in step S77 of FIG.

[0134] 22, the exit direction reception screen 80 includes a guidance message 80a such as "Please select an exit direction" that prompts the user to select an exit direction. The exit direction reception screen 80 also includes options such as forward exit 80b, which involves driving forward to exit the parking space and then stopping; forward left turn exit 80c, which involves driving forward and turning left to exit the parking space and then stopping; forward right turn exit 80d, which involves driving forward and turning right to exit the parking space and then stopping; backward exit 80e, which involves driving backward to exit the parking space and then stopping; backward left turn 80f, which involves driving backward and turning left to exit the parking space and then stopping; and backward right turn exit 80g, which involves driving backward and turning right to exit the parking space and then stopping. On the exit direction reception screen 80, the user M touches the screen to select the desired exit direction (80b-80g) for the vehicle 10 to exit the parking space.

[0135] [5th operation example] 23 is a sequence diagram showing a fifth operation example of the vehicle 10 and the information terminal 60. The fifth operation example is an operation example in the above-described fourth operation example, in which the vehicle 10 is remotely released from the garage and is parked at a predetermined position.

[0136] First, in the case of the fifth operation example, similar to steps S71 to S86 of the fourth operation example described in Figures 19 and 20, after the remote exit of vehicle 10 is completed and the ignition is turned off, it is determined whether the current stopping position of vehicle 10 is at a predetermined position.

[0137] 23, in the case of the fifth operation example, it is assumed that the stopping position determined in step S86A is a predetermined position, for example, a charging position for charging the vehicle 10. In this case, the vehicle 10 transmits update inquiry information to the information terminal 60 inquiring whether or not to update the software (step S91).

[0138] The information terminal 60 accepts the user M's response to the inquiry regarding whether to update received from the vehicle 10 (step S92). The screen for accepting whether to update the software is the same as the update acceptance screen 78 shown in FIG. 18 above. The notification on the update acceptance screen 78 in the fifth operation example is an example of the "third notification" of the present invention. Here, the description will be given assuming that the user M responds that he or she will update the software.

[0139] Next, the information terminal 60 transmits the update response information of the user M who is going to perform the software update, which has been received in step S92, to the vehicle 10 (step S93).

[0140] When vehicle 10 receives the update response information from information terminal 60, it updates the software (step S94). When vehicle 10 completes the software update, it transmits an update completion notification to information terminal 60 notifying that the update has been completed (step S95).

[0141] When the information terminal 60 receives the update completion notification from the vehicle 10, it displays an update completion screen indicating this on the terminal screen 71 to notify the user M that the software update has been completed (step S96). The screen indicating that the software update has been completed is the same as the update completion screen 76 shown in FIG. 14 above.

[0142] In this way, if the stopping position of the vehicle 10 that has remotely left the garage is, for example, a charging position (predetermined position) for charging the vehicle 10, the vehicle 10 will not start traveling until the charging is completed, so the vehicle 10 inquires of the information terminal 60 (driver's terminal) whether or not to update the software, and if the driver replies that the update will be performed, the software update is performed. This allows the authorized user M to be notified at an appropriate time that updated software related to remote parking is available.

[0143] [6th operation example] 24 is a sequence diagram showing a sixth operation example of the vehicle 10 and the information terminal 60. The sixth operation example is an operation example in the case where the vehicle 10 is undergoing a software update when an instruction to remotely remove the vehicle 10 is received from the information terminal 60 in the fourth operation example.

[0144] First, the vehicle 10 starts updating software that is in an updatable state (step S100).

[0145] The information terminal 60 starts the preparation process for remote leaving. The processes from step S101 to step S104 in the preparation process for remote leaving are the same as the processes from step S71 to step S74 in the fourth operation example described in FIG.

[0146] When receiving the power-on instruction and the agreement response information from the information terminal 60, the vehicle 10 sends a remote exit impossible notification to the information terminal 60 informing that the vehicle 10 cannot be remotely exited because the software is currently being updated (step S105).

[0147] Next, the information terminal 60 notifies the user M that remote leaving is not possible because the software is being updated by displaying the message on the terminal screen 71 (step S106). An example of a screen notifying the user M that remote leaving is not possible is the remote leaving not possible screen 81 described later in FIG. 25.

[0148] The software update started in step S100 is completed for the vehicle 10 (step S107). After the software update is completed, the vehicle 10 can remotely leave the garage by transmitting to the information terminal 60, for example, an instruction to display a reception screen that accepts instructions on the direction in which the vehicle 10 should leave the garage.

[0149] 25 is a diagram showing an example of a remote withdrawal not possible screen 81 displayed on the information terminal 60. The remote withdrawal not possible screen 81 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received a remote withdrawal not possible notice indicating that remote withdrawal is not possible. The remote withdrawal not possible screen 81 is displayed, for example, in step S106 of FIG. 24.

[0150] 25, the remote withdrawal unavailable screen 81 includes a withdrawal unavailable message 81a notifying that remote withdrawal is unavailable, such as "Remote withdrawal is unavailable because software is being updated. Remote withdrawal will be terminated." The remote withdrawal unavailable screen 81 also includes an OK button 81b that is operated by user M after confirming that remote withdrawal has been terminated. The notification by the remote withdrawal unavailable screen 81 is an example of the "fourth notification" of the present invention.

[0151] In this way, if an instruction to remotely leave the vehicle 10 is received from the information terminal 60 during a software update, the vehicle 10 can notify the user M that remote leaving of the vehicle 10 is not possible by displaying a remote leaving not possible screen 81 on the information terminal 60.

[0152] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0153] 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. are possible as appropriate.

[0154] In the above embodiment, an example has been described in which the moving body is a vehicle (four-wheeled automobile), but this is not limiting. For example, the moving body may be a motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0155] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0156] (1) A control device (control ECU 20) for a moving body (vehicle 10), a control unit (computing unit 52) capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; a storage unit (storage unit 54) in which software for controlling the movement of the moving body is stored; When the control unit executes the stop control in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, the control unit performs a first notification that notifies the user that the software update is possible. Control device.

[0157] According to (1), when software for controlling the movement of a moving object is updatable and stop control is executed to stop a moving object without a user at a target position, after determining the instruction terminal that will instruct the stop control of the moving object, it is possible to notify the authorized user of the moving object that the software is updatable. This makes it possible to properly notify the user that the software related to the stop control of the moving object is updatable.

[0158] (2) The control device according to (1), When the control unit executes the stop control in a state where the software update is possible, the control unit performs the first notification after determining the instruction terminal and before starting the stop control. Control device.

[0159] According to (2), by notifying the user after the instruction terminal is determined and before the start of the stop control, the user can be more appropriately notified that there is software update.

[0160] (3) The control device according to (1) or (2), the control unit determines the instruction terminal based on an operation on an information terminal held by the user. Control device.

[0161] According to (3), the user operates the information terminal to determine the instruction terminal that will instruct the mobile body to stop control, so that the user of the mobile body can be more appropriately notified that updated software is available.

[0162] (4) The control device according to any one of (1) to (3), The control unit executes the stop control based on a movement instruction from the instruction terminal; Control device.

[0163] As in (4), it is preferable that the stopping control of the moving body is executed based on a movement instruction from an instruction terminal.

[0164] (5) The control device according to any one of (1) to (4), The control unit transmitting inquiry information regarding the determination of the instruction terminal to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; determining the information terminal that is the source of the response information that is first received as the instruction terminal; Control device.

[0165] According to (5), the information terminal that first sends response information in response to inquiry information from a mobile object is determined to be the instruction terminal, so that the user of the mobile object can be more appropriately notified that updated software is available.

[0166] (6) The control device according to any one of (1) to (5), the first notification is a notification that the software update is possible when the stop control is stopped and the mobile object is powered off; Control device.

[0167] As in (6), in order to perform a software update, it is preferable to stop the stop control of the mobile object and power off the mobile object, for example.

[0168] (7) The control device according to (6), The first notification includes receiving an instruction to update the software; When the control unit receives an instruction to update the software in response to the first notification, the control unit executes the software update. Control device.

[0169] As in (7), when updating software, it is preferable to receive instructions from the user in response to a notification of requirements for updating the software.

[0170] (8) The control device according to any one of (1) to (5), the control unit issues a second notification when the stop control is completed and the moving object is powered off; the first notification is a notification that the software can be updated in response to the second notification; Control device.

[0171] As in (8), in order to perform a software update, it is preferable to require a user's response to a notification issued when, for example, the stopping control of the mobile object is completed and the mobile object is powered off.

[0172] (9) The control device according to (8), The second notification includes receiving an instruction to update the software; When the control unit receives an instruction to update the software in response to the second notification, the control unit executes the software update. Control device.

[0173] As in (9), when updating software, it is preferable to receive instructions from the user in response to a notification of requirements for updating the software.

[0174] (10) The control device according to any one of (1) to (9), The control unit If the instruction to update the software is not received within a predetermined period of time after the notification to accept the instruction to update the software is given, the software is updated. Control device.

[0175] As in (10), even if a notification to accept an instruction to update software is sent, if there is no instruction from the user in response to the notification for a predetermined period of time, it is preferable to execute the software update.

[0176] (11) The control device according to any one of (1) to (10), The control unit A movement control is possible to move the moving body from a stop position to a target position, When the movement control is executed in a state where the software update is possible, the software update is not executed even when the movement control is completed and the mobile object is powered off. Control device.

[0177] When performing movement control to move a moving body from a stopped position to a target position, as in (11), it is preferable not to perform a software update, since it is possible to predict that the moving body will start moving again after the movement control.

[0178] (12) The control device according to (11), The control unit If the software update is possible and the target position is a predetermined position, when the movement control is completed and the moving body is powered off, a third notification is sent to notify that the software update is possible, and the software update is executed in response to the third notification. Control device.

[0179] As in (12), when a moving body is moved from a stopped position to a target position and the target position is a predetermined position, it is possible to predict that the moving body will not start moving after the movement control, so it is preferable to perform a software update.

[0180] (13) The control device according to any one of (1) to (12), The control unit A movement control is possible to move the moving body from a stop position to a target position, When the mobile control is instructed from the information terminal carried by the user during the software update, the mobile control is not performed, and a fourth notification is issued to notify that the mobile control is not possible. Control device.

[0181] As in (13), if there is an instruction to control the movement of a moving object from a stopped position to a target position while a software update is being performed, it is preferable to notify the user that the movement of the moving object cannot be controlled.

[0182] (14) A control method for a control device of a moving body, the control device including: a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, the method comprising: a processor of the control device, When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is made to notify the user that the software update is possible. Control method.

[0183] According to (14), when software for controlling the movement of a moving object is updatable and stop control is executed to stop a moving object without a user at a target position, after determining the instruction terminal that instructs the stop control of the moving object, it is possible to notify the authorized user of the moving object that the software is updatable. This makes it possible to properly notify the user that the software related to the stop control of the moving object of the moving object is updatable.

[0184] (15) A control program for a control device of a moving body, the control program comprising: a control unit capable of performing stop control to stop the moving body at a target position when a user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, the control program comprising: a processor of the control device; When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is made to notify the user that the software update is possible. A control program that executes processing.

[0185] According to (15), when software for controlling the movement of a moving object is updatable and stop control is executed to stop a moving object without a user at a target position, after determining the instruction terminal that will instruct the stop control of the moving object, it is possible to notify the authorized user of the moving object that the software is updatable. This makes it possible to properly notify the user that the software related to the stop control of the moving object is updatable. [Explanation of symbols]

[0186] 10 Vehicles (moving objects) 20 Control ECU (control device) 52 Calculation unit (control unit) 54 Storage section

Claims

1. A control device for a moving body, a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; a storage unit in which software for controlling the movement of the moving object is stored, When the control unit executes the stop control in a state in which the software update is possible, after determining an instruction terminal that instructs the stop control, the control unit performs a first notification that notifies the user that the software update is possible. Control device.

2. The control device according to claim 1, When the control unit executes the stop control in a state in which the software update is possible, the control unit performs the first notification after determining the instruction terminal and before starting the stop control. Control device.

3. The control device according to claim 1, the control unit determines the instruction terminal based on an operation on an information terminal held by the user. Control device.

4. The control device according to claim 1, The control unit executes the stop control based on a movement instruction from the instruction terminal; Control device.

5. The control device according to claim 1, The control unit transmitting inquiry information regarding the determination of the instruction terminal to information terminals in the vicinity of the moving object; receiving predetermined response information to the inquiry information; determining the information terminal that is the source of the response information that is first received as the instruction terminal; Control device.

6. The control device according to claim 1, the first notification is a notification that the software update is possible when the stop control is stopped and the mobile object is powered off; Control device.

7. The control device according to claim 6, The first notification includes receiving an instruction to update the software; When the control unit receives an instruction to update the software in response to the first notification, the control unit executes the software update. Control device.

8. The control device according to claim 1, the control unit issues a second notification when the stop control is completed and the moving object is powered off; the first notification is a notification that the software can be updated in response to the second notification; Control device.

9. The control device according to claim 8, The second notification includes receiving an instruction to update the software; When the control unit receives an instruction to update the software in response to the second notification, the control unit executes the software update. Control device.

10. The control device according to claim 1, The control unit If the instruction to update the software is not received within a predetermined period of time after the notification to accept the instruction to update the software is given, the software is updated. Control device.

11. The control device according to claim 1, The control unit A movement control is possible to move the moving body from a stop position to a target position, When the movement control is executed in a state where the software update is possible, the software update is not executed even when the movement control is completed and the mobile object is powered off. Control device.

12. The control device according to claim 11, The control unit If the software update is possible and the target position is a predetermined position, when the movement control is completed and the mobile body is powered off, a third notification is sent to notify that the software update is possible, and the software update is executed in response to the third notification. Control device.

13. 13. The control device according to any one of claims 1 to 12, The control unit A movement control is possible to move the moving body from a stop position to a target position, When the mobile control is instructed from the information terminal carried by the user during the software update, the mobile control is not performed, and a fourth notification is issued to notify that the mobile control is not possible. Control device.

14. A control method for a control device of a moving body, the control device including: a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, the control method comprising: a processor of the control device, When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is issued to notify the user that the software update is possible. Control method.

15. A control program for a control device of a moving body, the control program comprising: a control unit capable of performing stop control to stop the moving body at a target position while the user of the moving body is not on board; and a storage unit in which software for movement control of the moving body is stored, a processor of the control device; When the stop control is executed in a state where the software update is possible, after determining an instruction terminal that instructs the stop control, a first notification is issued to notify the user that the software update is possible. A control program that executes processing.

Images