Vehicle control device, vehicle control method and program of the same

Abstract

To provide a vehicle control device in which a user can easily drive a vehicle to a destination and easily park the vehicle to a target parking space.SOLUTION: A vehicle control device includes controllers (20, 30) which can execute: an automatic parking which automatically moves a vehicle from a prescribed position in the vicinity of a registered target parking space corresponding to a registered parking point that is registered in advance to the registered target parking space; and an automatic operation which automatically moves the vehicle to a destination. The controller is constituted to directly shift without handing over the operation to a user of the vehicle, when the destination is the registered parking point, a traveling state of the vehicle from a traveling state by the automatic operation to a traveling state by the automatic parking so that the vehicle is parked at the registered target parking space by the automatic parking.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a program therefor that automatically drive a vehicle to a destination and automatically park the vehicle in a pre-registered target parking position. [Background technology]

[0002] Autonomous driving is a technology that automatically drives a vehicle from a starting point to a destination. One conventional device for performing autonomous driving moves the steering wheel to an appropriate position depending on the level of autonomous driving. This conventional device allows the user to easily respond to requests for the user to hold the steering wheel (hands-on request) and takeover requests that occur during autonomous driving (see, for example, Patent Document 1).

[0003] Furthermore, apart from the autonomous driving technology, an automatic parking technology (parking assistance control) has been developed in which a target parking space is registered in advance and the vehicle is automatically moved from a position near the registered target parking space (parking start position) to the registered target parking space and parked there (see, for example, Patent Document 2 and Patent Document 3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-142337 [Patent Document 2] Patent No. 7176421 [Patent Document 3] Japanese Patent Application Publication No. 2023-176547 Summary of the Invention

[0005] However, a vehicle user may wish to drive the vehicle autonomously to a location near a destination and then automatically park the vehicle in a registered target parking space. In this case, conventional technologies hand over control to the user when the vehicle reaches the destination through autonomous driving, and then have the user perform a "predetermined operation for starting automatic parking" to start automatic parking. Therefore, the user must first grasp or operate the steering wheel before parking the vehicle through automatic parking. The user is likely to find such an operation inconvenient. The present invention has been made to address this problem.

[0006] A vehicle control device according to one embodiment of the present invention includes: The vehicle is provided with controllers (20, 30) capable of performing automatic parking, which automatically moves a vehicle from a predetermined position near a registered target parking space corresponding to a pre-registered parking point to the registered target parking space and parking the vehicle therein, and automatic driving, which automatically moves the vehicle to a destination point.

[0007] Furthermore, the controller If the destination point is the registered parking point (step 240: Yes, step 245, step 610: Yes, step 680), the vehicle's driving state is directly transitioned from the state of driving by automatic driving to the state of driving by automatic parking without handing over to the user of the vehicle, and the vehicle is parked in the registered target parking space by automatic parking (determination of "Yes" in step 305 and step 365, determination of "Yes" in step 505 and step 560, determination of "Yes" in step 805 and step 845, and determination of "Yes" in step 1010 and step 1070).

[0008] According to this aspect, the user of the vehicle can move the vehicle, which is traveling in an automated driving mode, to the registered target parking space by automated parking without having to manually drive the vehicle once, and park the vehicle. Therefore, the user can easily drive the vehicle to the destination and park the vehicle in the registered target parking space.

[0009] In the above aspect, the controller When the vehicle is moved by the automatic driving to the registered target parking space by the automatic parking and moved into an area where parking is possible, the driving state of the vehicle is transitioned from a state of driving by the automatic driving to a state of driving by the automatic parking (steps 360, 525, 830, and 1060).

[0010] In the above aspect, the controller If the destination point is the registered parking point, after the vehicle reaches a predetermined area determined based on the registered parking point by the automatic driving (steps 325 and 525), the user is prompted to select whether to park the vehicle in the registered target parking space by the automatic parking or to hand over the vehicle to the user (steps 330 and 530); When it is selected to park the vehicle in the registered target parking space by the automatic parking, the driving state of the vehicle is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking ("Yes" determination in step 355 and step 365, "Yes" determination in step 555 and step 560), If handover to the user is selected, the driving state of the vehicle is changed from the state of being driven by the automatic driving to the state of being driven by the user manually (determination of "No" in step 355 and step 370, determination of "No" in step 555 and step 565); It is structured as follows.

[0011] According to this aspect, the user can, as desired, directly transition the vehicle's driving state from a state of driving by automatic driving to a state of driving by automatic parking, or switch from a state of driving by automatic driving to a state of driving by manual driving.

[0012] In the above aspect, the controller An area within a predetermined distance from the registered parking spot is set as the predetermined area determined based on the registered parking spot (step 325).

[0013] According to this aspect, the user can choose whether to transition to automatic driving or handover at a point before the vehicle is able to move into the registered target parking space by automatic parking.

[0014] In the above aspect, the controller An area in which the vehicle can be automatically moved to the registered target parking space by the automatic parking is set as a predetermined area determined based on the registered parking point (step 525).

[0015] According to this aspect, when the user wishes to directly transition from automatic driving to automatic parking, the vehicle can be immediately driven in automatic parking mode.

[0016] In the above aspect, the controller When the destination point is set by the user, it is determined whether the destination point is the registered parking point (step 610). If it is determined that the destination point is the registered parking point (determined as "Yes" in step 610), the user is allowed to select in advance whether to park the vehicle in the registered target parking space by the automatic parking or to hand over the vehicle to the user (step 620). After the vehicle reaches a predetermined area determined based on the registered parking point by the automatic driving (determined as "Yes" in step 810), If it is selected to park the vehicle in the registered target parking space by the automatic parking (steps 670 and 680), the driving state of the vehicle is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking (determination of "Yes" in step 815 and step 845), If handover to the user has been selected (steps 670 and 650), the vehicle's driving state is changed from the state of being driven by the automatic driving to the state of being driven by the user manually (determination of "No" in step 815 and step 820). It is structured as follows.

[0017] This allows the user to select whether or not the vehicle will be automatically parked when the destination point for automatic driving is set. Therefore, the user does not need to perform any operation to transition to automatic parking while the vehicle is traveling by automatic driving, and the user can easily drive to the destination point and park in the registered target parking space.

[0018] In the above aspect, the controller Before the vehicle's driving state is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking, the user is notified that the vehicle's driving state will be changed to the state of driving by the automatic parking (step 825, Figure 9).

[0019] According to this aspect, the user can know in advance that the vehicle will transition from a driving state by automatic driving to a state where the vehicle will be parked by automatic parking.

[0020] In the above aspect, the controller When the notification is made, the automatic parking system suggests to the user whether the user would like to hand over the vehicle to the registered target parking space instead of parking the vehicle in the registered target parking space (step 825 and FIG. 9 ); If a handover to the user is desired, the vehicle's driving state is changed from the state of being driven automatically to the state of being driven manually by the user (determination of "Yes" in step 835 and step 850).

[0021] According to this aspect, if the user no longer wishes to park the vehicle using automatic parking between the time the destination point is set and the time the vehicle reaches the vicinity of the destination, the user can manually drive the vehicle before automatic parking begins.

[0022] In the above aspect, the controller issues the notification when the vehicle reaches the predetermined area. In this case, the controller may set an area within a predetermined distance from the registered parking point as the predetermined area (step 810), or may set an area where the vehicle can be parked by automatically moving the vehicle to the registered target parking space by the automatic parking as the predetermined area.

[0023] In the above description, to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses for the configurations of the invention corresponding to those embodiments. However, the components of the present invention are not limited to the embodiments defined by the names and / or symbols. The present invention also covers a vehicle control method and a program therefor executed by the vehicle control device. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a schematic configuration diagram of a vehicle control device according to a first embodiment of the present invention. [Figure 2] This is a routine executed by the CPU of the autonomous driving ECU shown in Figure 1. [Figure 3] This is a routine executed by the CPU of the autonomous driving ECU shown in Figure 1. [Figure 4] This is an image displayed on the display shown in Figure 1. [Figure 5]6 is a routine executed by a CPU of an autonomous driving ECU according to a modified example of the first embodiment of the present invention. [Figure 6] 10 is a routine executed by a CPU of an autonomous driving ECU according to a second embodiment of the present invention. [Figure 7] This is an image displayed on the display shown in Figure 1. [Figure 8] 10 is a routine executed by a CPU of an autonomous driving ECU according to a second embodiment of the present invention. [Figure 9] This is an image displayed on the display shown in Figure 1. [Figure 10] 10 is a routine executed by a CPU of an autonomous driving ECU according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0025] 1. First embodiment <Configuration> A vehicle control device (hereinafter referred to as "first device") according to a first embodiment of the present invention is applied to (mounted on) a vehicle (not shown). The vehicle to which the first device is applied may be any of a vehicle powered by an internal combustion engine, a vehicle powered by an electric motor (i.e., an electric vehicle), a hybrid vehicle, etc.

[0026] As shown in FIG. 1, the first device includes a PVM-ECU 10, a parking assist ECU 20, an autonomous driving ECU 30, a navigation ECU 40, a power train ECU 50, a brake ECU 60, and a steering ECU .

[0027] In this specification, an "ECU" is an electronic control device (control unit) equipped with a microcomputer including a CPU (processor), ROM, RAM, writable non-volatile memory, and an interface (I / F). An ECU is also referred to as a controller or computer. The above-mentioned "multiple ECUs" are connected to each other via a CAN so that they can exchange information. Therefore, one ECU can obtain signals or information from devices (sensors, cameras, switches, etc.) connected to other ECUs via the CAN. Furthermore, some or all of these "multiple ECUs" may be integrated into one ECU. In addition, one of these "multiple ECUs" may be composed of multiple ECUs.

[0028] The PVM (Panoramic View Monitor)-ECU 10 is connected to a front camera 11, a rear camera 12, a right-side camera 13, a left-side camera 14, and a touch panel display 15 that displays touch-sensitive buttons.

[0029] Each of these cameras 11-14 has a wide-angle lens. The front camera 11 captures the scene ahead of the vehicle and generates wide-angle front image data. The rear camera 12 captures the scene behind the vehicle and generates rear wide-angle image data. The right side camera 13 captures the scene to the right of the vehicle and generates right wide-angle image data. The left side camera 14 captures the scene to the left of the vehicle and generates left wide-angle image data.

[0030] The PVM-ECU 10 includes, as its functions, a display image generating unit 10a, a display control unit 10b, and a feature point acquiring unit 10c.

[0031] The display image generator 10a acquires wide-angle image data from each of the cameras 11-14 and generates a surrounding image showing the surroundings of the vehicle based on the wide-angle image data. The surrounding image includes an overhead image of the vehicle and an image in the direction of travel of the vehicle.

[0032] The display control unit 10b causes the display 15 to display an image including an overhead image and a traveling direction image.

[0033] The feature point acquisition unit 10c performs image analysis processing on the peripheral image to detect (recognize) feature points included in the peripheral image and group the feature points into groups such as a single structure, a group of patterns on the road surface, and a group of lane markings on the road surface. Furthermore, the feature point acquisition unit 10c acquires the "shape and positional relationship with the vehicle" of the "grouped feature points" as feature point information and stores it in the non-volatile memory of the PVM-ECU 10. The PVM-ECU 10 (feature point acquisition unit 10c) transmits the feature point information to the parking assist ECU 20 every time a predetermined time elapses.

[0034] The parking assist ECU 20 receives signals from a plurality of (five) radar sensors 21, a plurality of (twelve) ultrasonic sensors (sonar) 22, a parking assist switch 23, a vehicle speed sensor 24, a shift position sensor 25, and the like.

[0035] The radar sensor 21 includes a "forward radar sensor, a forward left radar sensor, a forward right radar sensor, a rear left radar sensor, and a rear right radar sensor," none of which are shown in the figure. Each radar sensor uses millimeter-wave band radar to acquire and output target information that specifies the distance between the vehicle and a three-dimensional object located around the vehicle, the relative speed of the three-dimensional object, the orientation of the three-dimensional object, etc.

[0036] The ultrasonic sensor 22 includes 12 ultrasonic sensors arranged around the vehicle. The ultrasonic sensors use ultrasonic waves to measure the distance to three-dimensional objects located around the vehicle. The cameras 11-14, the radar sensor 21, and the ultrasonic sensor 22 are sensors that acquire information about the surroundings of the vehicle, and are therefore referred to as "vehicle surrounding sensors."

[0037] The parking assist switch 23 is a switch operated by a user (driver) who wishes to start or end parking assist control (automatic parking). The vehicle speed sensor 24 detects the vehicle speed and outputs a signal representing the vehicle speed. The shift position sensor 25 detects the position of the shift lever and outputs a signal representing the position of the shift lever.

[0038] The parking assist ECU 20 has, as its functions, a parking path generation unit 20a, an automatic parking execution unit 20b, and a target parking point registration unit 20c.

[0039] When the parking assist switch 23 is operated while the vehicle speed is zero or near zero, the parking path generator 20a searches for a space where the vehicle can be parked based on information from the vehicle surroundings sensors, and sets a "candidate target parking space" at a predetermined location within the space. The parking path generator 20a displays an image of the candidate target parking space superimposed on the overhead image and the traveling direction image on the display 15 via the PVM-ECU 10.

[0040] When a user operates the display 15 to determine one of the candidate target parking spaces as the "parking space (target parking space) that the vehicle should reach by automatic parking," the parking path generation unit 20a generates a route from the vehicle's current position to the target parking space as a parking path.

[0041] When the automatic parking start button displayed on the display 15 is operated while a parking path has been generated, the automatic parking execution unit 20b sends instruction signals to the powertrain ECU 50, the brake ECU 60, and the steering ECU 70 so that the vehicle automatically travels at a low speed along the parking path. For convenience, this "automatic parking control according to the generated parking path" is also referred to as "normal automatic parking control."

[0042] When the vehicle state changes from a driving state to a parked state (the shift position is shifted to the parking position (P range)) and the user operates the parking position registration button displayed on the display 15, the target parking point registration unit 20c acquires the current position (latitude and longitude) of the vehicle in the parked state from the navigation ECU 40, which will be described later. The target parking point registration unit 20c registers (stores) the current position of the vehicle as a "registered parking point" in the non-volatile memory of the parking assistance ECU 20.

[0043] At this time, if the movement of the vehicle to the registered parking spot is performed by automatic parking, the target parking spot registration unit 20c associates the above-mentioned feature point information acquired from the time the automatic parking start button is operated to the time the parking position registration button is operated with the registered parking spot and stores it in the non-volatile memory of the parking assistance ECU 20. In this case, the feature point information is mapped to a three-dimensional coordinate system based on the vehicle when it is located at the location where the vehicle is parked at the registered parking spot (hereinafter referred to as the "registered target parking space"). As a result, the space occupied by the vehicle parked at the registered parking spot is stored in the non-volatile memory as the "registered target parking space" in association with the surrounding feature point information and the registered parking spot. For convenience, the feature point information acquired from the time the automatic parking start button is operated to the time the parking position registration button is operated and stored in the non-volatile memory of the parking assistance ECU 20 in association with the registered parking spot is also referred to as the "registered feature point information."

[0044] Furthermore, the target parking point registration unit 20c can store the registered feature point information in the non-volatile memory of the parking assistance ECU 20 even when the user parks the vehicle by manual driving. More specifically, the user operates the parking position registration plan button before starting manual driving for the purpose of parking. Furthermore, the user operates the parking position registration button after parking the vehicle by manual driving. The target parking point registration unit 20c registers (stores) the vehicle's current location (latitude and longitude) at the time the parking position registration button is operated as a "registered parking point" in the non-volatile memory of the parking assistance ECU 20. Furthermore, the target parking point registration unit 20c associates the above feature point information acquired from the time the parking position registration plan button is operated to the time the parking position registration button is operated with the registered parking point and stores it in the non-volatile memory of the parking assistance ECU 20. As a result, the space occupied by the vehicle parked at the registered parking point is stored in the non-volatile memory as a "registered target parking space" in association with the surrounding feature point information and the registered parking point.

[0045] After the registered parking spot is registered, if the user wishes to park the vehicle by automatic parking from a "position near the registered parking spot" to a "registered target parking space for the registered parking spot," the user inputs an instruction to that effect using the display 15. When this instruction is input, the automatic parking execution unit 20b executes parking assistance control (automatic parking in the registered target parking space) after the registered parking spot is registered.

[0046] More specifically, the automatic parking execution unit 20b acquires feature point information from the PVM-ECU 10 as “actual feature point information” every time a predetermined time period elapses. The automatic parking execution unit 20b determines whether the actual feature point information contains grouped feature points that can be identified with grouped feature points included in the registered feature point information. If the automatic parking execution unit 20b determines that the actual feature point information contains grouped feature points that can be identified with grouped feature points included in the registered feature point information, and if the user inputs a desire to park the vehicle by automatic parking in the registered target parking space, the automatic parking execution unit 20b starts automatic parking in the registered target parking space. In automatic parking in the registered target parking space, the automatic parking execution unit 20b compares the registered feature point information with the actual feature point information, and moves the vehicle to the registered target parking space by driving the vehicle so that the “positional relationship between the vehicle and the grouped feature points represented by the actual feature point information” matches the “positional relationship between the vehicle and the grouped feature points represented by the registered feature point information.” In this case as well, the automatic parking execution unit 20b transmits instruction signals to the power train ECU 50, the brake ECU 60, and the steering ECU .

[0047] Such "parking assistance control after registration of a registered parking spot" that does not involve the generation of a parking route is also referred to as "route memory type automatic parking control" for convenience. Route memory type automatic parking control is also known and is described in detail in, for example, the above-mentioned Patent Document 2 (Japanese Patent No. 7176421) and the above-mentioned Patent Document 3 (Japanese Patent Laid-Open No. 2023-176547).

[0048] Note that parking assistance control after the registration of a registered parking spot can also be performed by normal automatic parking control. In this case, the parking path generation unit 20a obtains the relationship between the registered target parking space and the current vehicle position by comparing the registered feature point information with the actual feature point information, and generates the parking path described above based on this relationship. Then, the automatic parking execution unit 20b moves the vehicle along the parking path to park the vehicle in the registered target parking space. Hereinafter, "automatic parking" includes both parking the vehicle by normal automatic parking control and parking the vehicle by path memory type automatic parking control.

[0049] The autonomous driving ECU 30 receives signals from the lidar 31 and other sensors 32. The lidar 31 irradiates an object with laser light while scanning the object, and receives the laser light reflected by the object. The lidar 31 measures the time from when it starts irradiating the laser light to when it receives the reflected wave, thereby obtaining information about the position of the object and the distance to the object.

[0050] The other sensors 32 include a driving operation amount sensor that detects the amount of operation of the vehicle's driving operators (accelerator pedal, brake pedal, steering wheel, etc.), and sensors that detect the vehicle's running state (acceleration sensor, yaw rate sensor, etc.).

[0051] The autonomous driving ECU 30 includes, as its functions, a driving route acquisition unit 30a and an autonomous driving control unit 30b.

[0052] The travel route acquisition unit 30a acquires a planned travel route along which the vehicle will travel by autonomous driving from the navigation ECU 40, which will be described later. Note that the travel route acquisition unit 30a may acquire the travel route from an external device (e.g., a server) using a communication device that communicates with the external device (not shown).

[0053] The autonomous driving control unit 30b performs autonomous driving, causing the vehicle to automatically travel along a travel route, based on signals from the Lidar 31 and the above-mentioned vehicle surrounding sensors, as well as "the vehicle's current location and map information" acquired through the navigation ECU 40 (described later). At this time, the autonomous driving control unit 30b sends instruction signals to the powertrain ECU 50, brake ECU 60, and steering ECU 70 to control the vehicle's traveling state.

[0054] The navigation ECU 40 is connected to a GPS receiver 41 and a map information storage device 42. The navigation ECU 40, GPS receiver 41, and map information storage device 42, together with the display 15, constitute an in-vehicle navigation system. The navigation ECU 40 acquires the "current vehicle location" represented by latitude and longitude based on a GPS signal (i.e., a signal from a positioning satellite) received by the GPS receiver 41. The navigation ECU 40 generates a recommended route from the "current vehicle location" to a "destination point input by the user via the display 15" based on map information stored in the map information storage device 42. The navigation ECU 40 sets one of the recommended routes as a driving route (planned driving route) in response to a user instruction. When manual driving is selected, the navigation ECU 40 executes well-known route guidance. When autonomous driving is selected, the navigation ECU 40 transmits information such as the current vehicle location, driving route, and map information to the autonomous driving ECU 30.

[0055] The powertrain ECU 50 controls a drive unit (e.g., an engine and / or a motor) 51 to change the torque generated by the drive unit 51, thereby controlling the driving force of the vehicle. The powertrain ECU 50 can also change the shift position of the vehicle (not shown). Therefore, the powertrain ECU 50 can move the vehicle forward or backward at a required speed based on the user's driving operation or a command signal from another ECU.

[0056] The brake ECU 60 controls the braking device 61 of the vehicle, thereby controlling the braking force applied to the vehicle. Therefore, the brake ECU 60 can apply a braking force to the vehicle to decelerate it based on the driving operation of the user or an instruction signal from another ECU.

[0057] The steering ECU 70 drives a steering motor (not shown) to control the steering angle of the vehicle, and can change the direction of travel of the vehicle based on the user's driving operation or a command signal from another ECU.

[0058] (Overview of operation) Autonomous driving of a vehicle involves determining the vehicle's position based on signals from positioning satellites, such as GPS signals, and controlling the vehicle so that the vehicle's position matches the driving route. However, the vehicle position acquired based on signals from positioning satellites can deviate from the true position by several meters or more. Therefore, it is difficult to accurately park the vehicle in a target parking space using autonomous driving. In contrast, autonomous parking is performed using feature point information obtained from image data, which allows for accurate control of the vehicle's driving path. In this way, the system performing autonomous driving and the system performing autonomous parking are designed as separate systems. Therefore, conventional devices hand over control to the user when the vehicle reaches its destination through autonomous driving, and then require the user to perform a "predetermined operation to initiate automatic parking."

[0059] In contrast, when the first device is automatically driving a vehicle toward a destination point that is the same location as the registered parking point, as the vehicle approaches the registered parking point, it makes a proposal (display) to the vehicle user to choose between "parking the vehicle at the registered parking point (registered target parking space) by automatic parking" or "switching to manual driving (or parking the vehicle by manual driving)." If the vehicle user selects "parking the vehicle at the registered parking point (registered target parking space) by automatic parking," the first device seamlessly (without handover) transitions the vehicle's driving state from an automatic driving state to an automatic parking state, and parks the vehicle at the registered target parking space by automatic parking. In other words, the first device directly transitions the vehicle's driving state from an automatic driving state to an automatic parking state without handover.

[0060] (Specific operation) A CPU (not shown) of the autonomous driving ECU 30 executes the routine shown in the flowchart of Fig. 2 every time a predetermined time elapses. Therefore, at a predetermined timing, the CPU starts processing from step 200 in Fig. 2 and proceeds to step 205, where it determines whether a request has been made to display a screen for setting a destination point on the display 15. For example, when the vehicle user operates a button for inputting a destination point included in a menu screen displayed on the display 15, a request is made to display a screen for setting a destination point on the display 15.

[0061] If there is no request to display a screen for setting a destination point on the display 15, the CPU determines "No" in step 205, proceeds directly to step 295, and temporarily ends this routine.

[0062] On the other hand, if a request has been made to display a screen for setting a destination point on the display 15, the CPU determines "Yes" in step 205 and proceeds to step 210. In step 210, the CPU displays a destination point setting screen on the display 15. Next, the CPU proceeds to step 215 and determines whether or not a destination point has been set by the user. The CPU waits until the destination point is set. Note that "waiting" means repeatedly executing the same step.

[0063] If a destination point has been set, the CPU determines "Yes" in step 215 and proceeds to step 220, where it displays a "screen for prompting the user to select either automatic driving or manual driving" on the display 15. Next, the CPU proceeds to step 225, where it determines whether either automatic driving or manual driving has been selected. The CPU waits until either automatic driving or manual driving is selected by the user.

[0064] When either automatic driving or manual driving is selected, the CPU determines "Yes" in step 225 and proceeds to step 230, where it obtains from the navigation ECU 40 the "travel route from the current point to the destination point" specified by the user.

[0065] Next, the CPU proceeds to step 235 and determines whether automatic driving has been selected on the "screen for selecting either automatic driving or manual driving." If automatic driving has been selected, the CPU proceeds from step 235 to step 240 and determines whether the destination point matches a registered parking point. Note that in this step, the destination point is determined to match a registered parking point not only when the destination point and the registered parking point match exactly, but also when the destination point is "a point within a predetermined distance (e.g., a distance of several tens of meters) from the registered parking point."

[0066] If the destination point matches the registered parking point, the CPU determines "Yes" in step 240 and proceeds to step 245, where it sets the value of the first flag X1 to "1." Then, the CPU proceeds to step 255.

[0067] On the other hand, if the destination point does not match the registered parking point, the CPU determines "No" in step 240 and proceeds to step 250, where it sets the value of the first flag X1 to "0." The CPU then proceeds to step 255. The value of the first flag X1 and the values of other flags, which will be described later, are set to "0" by an initialization routine (not shown) executed by the CPU when a start switch (not shown, for example, an ignition key switch and a ready switch) of the vehicle is changed from the OFF position to the ON position.

[0068] The CPU starts automatic driving in step 255. As a result, the vehicle is automatically driven to travel along the travel route. After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0069] On the other hand, if autonomous driving has not been selected when the CPU proceeds to step 235, the CPU determines "No" at step 235 and proceeds to step 260. At step 260, the CPU causes the navigation ECU 40 to start route guidance from the current position of the vehicle to the destination. Thereafter, the CPU proceeds to step 295.

[0070] Furthermore, the CPU of the autonomous driving ECU 30 executes the routine shown in the flowchart of Fig. 3 every time a predetermined time has elapsed. Therefore, at the predetermined timing, the CPU starts processing from step 300 in Fig. 3 and proceeds to step 305, where it determines whether autonomous driving is currently being performed. If autonomous driving is not currently being performed, the CPU determines "No" in step 305, proceeds directly to step 395, and temporarily ends this routine.

[0071] In contrast, if autonomous driving is currently being performed, the CPU determines "Yes" in step 305 and proceeds to step 310. In step 310, the CPU determines whether the value of the first flag X1 is "1." If the value of the first flag X1 is "1," this means that the destination point matches a registered parking point (see steps 240 and 245 in FIG. 2).

[0072] If the value of the first flag X1 is not "1," the CPU determines "No" in step 310 and proceeds to step 315 to determine whether the current vehicle position is in the vicinity of the destination point. More specifically, the CPU determines whether the current vehicle position is within a predetermined distance (e.g., a distance of about several tens of meters) from the target point. If the current vehicle position is not in the vicinity of the destination point, the CPU determines "No" in step 315, proceeds directly to step 395, and temporarily ends this routine.

[0073] On the other hand, if the current location of the vehicle is near the destination point, the CPU determines "Yes" in step 315 and proceeds to step 320. In step 320, the CPU performs a well-known handover process to switch the vehicle's driving from automatic driving to manual driving by the user (driver). Thereafter, the CPU proceeds to step 395.

[0074] On the other hand, if the value of the first flag X1 is "1" when the CPU proceeds to step 310, the CPU determines "Yes" in step 310 and proceeds to step 325. In step 325, the CPU determines whether the current location of the vehicle is near the destination point, similar to step 315. If the current location of the vehicle is not near the destination point, the CPU determines "No" in step 325, proceeds directly to step 395, and temporarily ends this routine.

[0075] On the other hand, if the current location of the vehicle is near the destination point, the CPU determines "Yes" in step 325 and proceeds to step 330. In step 330, the CPU displays on the display 15 a screen (FIG. 4) that suggests (allows) the user to select whether "automatic parking and handover" is desired.

[0076] As shown in FIG. 4, this screen includes a message MS1 and touch buttons B1 and B2 that can be operated (touch operated). The message MS1 is a message that prompts the user (driver) to select a driving method because the vehicle has arrived near the destination point. The touch button B1 is a button for selecting to park the vehicle by automatic parking in a registered target parking space. The touch button B2 is a button for selecting to drive the vehicle manually (i.e., a button for selecting handover). The touch button B2 may also be a button for selecting to park the vehicle manually.

[0077] Next, the CPU proceeds to step 335 in FIG. 3 and sets the value of the first flag X1 to "0."

[0078] Next, the CPU proceeds to step 340 to determine whether or not "Automatic Parking and Handover" has been selected. That is, the CPU determines whether or not either of the touch buttons B1 and B2 has been operated.

[0079] If neither "Automatic Parking and Handover" is selected, the CPU proceeds from step 340 to step 345, where it determines whether a predetermined time has elapsed since the time when the selection of "Automatic Parking and Handover" was suggested (i.e., the time when the screen shown in FIG. 4 was displayed). If the predetermined time has not elapsed, the CPU returns to step 340.

[0080] If neither "automatic parking and handover" nor "automatic parking and handover" is selected within a predetermined time from the time when the selection is suggested, the CPU determines "Yes" in step 345 and proceeds to step 350 to stop the vehicle. After that, the CPU proceeds directly to step 395 to temporarily end this routine.

[0081] In contrast, if either "automatic parking and handover" is selected within a predetermined time from the time when the selection of "automatic parking and handover" is suggested, the CPU determines "Yes" in step 340 and proceeds to step 355.

[0082] The CPU determines whether or not automatic parking has been selected in step 355. If automatic parking has been selected, the CPU determines "Yes" in step 355 and proceeds to step 360. In step 360, the CPU determines whether or not the current location of the vehicle is within "an area in which parking by automatic parking is possible in a registered target parking space corresponding to the registered parking location."

[0083] For example, the CPU acquires feature point information currently detected from the PVM-ECU 10 (hereinafter referred to as "current feature point information"). The CPU compares the "current feature point information" with the "registered feature point information" to determine whether they contain a common "grouped feature point." If the CPU determines that there is one or more common grouped feature points, it determines that the current location of the vehicle is within an "area in which the vehicle can be parked by automatic parking in a registered target parking space corresponding to the registered parking point." This is because, if the current feature point information and the registered feature point information contain a common "grouped feature point," the parking assistance ECU 20 can determine the position of the registered target parking space relative to the vehicle, thereby enabling automatic parking.

[0084] If the current position of the vehicle is not within the "area where parking is possible by automatic parking in the registered target parking space," the CPU waits in step 360.

[0085] Thereafter, when the current position of the vehicle enters the "area where parking is possible by automatic parking in a registered target parking space," the CPU determines "Yes" in step 360 and proceeds to step 365. In step 365, the CPU automatically parks the vehicle in the registered target parking space. That is, the CPU sends an instruction signal to the parking assistance ECU 20, causing the CPU of the parking assistance ECU 20 to execute the "parking assistance control after registration of a registered parking spot (automatic parking in a registered target parking space)" described above. Then, the CPU proceeds to step 395.

[0086] If handover rather than automatic parking has been selected when the CPU proceeds to step 355, the CPU determines "No" in step 355 and proceeds to step 370, where it performs a well-known handover process to switch the vehicle's driving from automatic driving to manual driving by the user (driver).The CPU then proceeds to step 395.

[0087] As described above, when the first device is automatically driving a vehicle toward a destination point that is the same as a registered parking point (registered point), the first device seamlessly transitions the vehicle's driving state from an automatically driven state to an automatically parked state without a period of manual driving of the vehicle (i.e., without handover). Therefore, the user can easily park the vehicle in a registered target space by starting automatic driving at the departure point. Furthermore, the user can, as desired, directly transition the driving state of the vehicle that is being driven by automatic driving from an automatically driven state to an automatically parked state, or switch from an automatically driven state to a manual driving state.

[0088] <Modification of the first embodiment> The modified example of the first embodiment (first device) differs from the first embodiment only in that the user is prompted to choose between "automatic parking and handover" when the vehicle reaches an "area where parking is possible in a registered target parking space by automatic parking." Specifically, the CPU of this modified example differs from the CPU of the first device only in that the CPU executes the routine shown in the flowchart of Figure 5, which replaces Figure 3, every time a predetermined time has elapsed.

[0089] 5 and proceeds to step 505, where it determines whether or not autonomous driving is currently being performed. If autonomous driving is not currently being performed, the CPU determines "No" in step 505, proceeds directly to step 595, and temporarily ends this routine.

[0090] On the other hand, if automatic driving is currently being performed, the CPU determines "Yes" in step 505 and proceeds to step 510. In step 510, the CPU determines whether the value of the first flag X1 is "1".

[0091] If the value of the first flag X1 is not "1", the CPU determines "No" in step 510 and proceeds to step 515 to determine whether the current vehicle position is near the destination point. If the current vehicle position is not near the destination point, the CPU determines "No" in step 515 and proceeds directly to step 595 to temporarily end this routine.

[0092] On the other hand, if the current location of the vehicle is near the destination point, the CPU determines "Yes" in step 515 and proceeds to step 520. In step 520, the CPU performs a well-known handover process to switch the vehicle's driving from automatic driving to manual driving by the user (driver). Thereafter, the CPU proceeds to step 595.

[0093] On the other hand, when the CPU proceeds to step 510, if the value of the first flag X1 is "1," the CPU determines "Yes" in step 510 and proceeds to step 525. In step 525, similar to step 360 in Fig. 3, the CPU determines whether the current location of the vehicle is within "an area in which parking by automatic parking is possible in a registered target parking space corresponding to the registered parking point."

[0094] If the current location of the vehicle is not within the "area where parking is possible by automatic parking in the registered target parking space," the CPU determines "No" in step 525, proceeds directly to step 595, and temporarily ends this routine.

[0095] On the other hand, if the current location of the vehicle is within the "area where parking is possible by automatic parking in a registered target parking space," the CPU determines "Yes" in step 525 and proceeds to step 530. In step 530, the CPU displays on the display 15 a screen (FIG. 4) that suggests (allows) the user to select whether they wish to use "automatic parking and handover."

[0096] Next, the CPU proceeds to step 535 in FIG. 5 and sets the value of the first flag X1 to "0."

[0097] Next, the CPU proceeds to step 540 to determine whether "Automatic Parking and Handover" has been selected.

[0098] If neither "Automatic parking and handover" is selected, the CPU proceeds from step 540 to step 545 to determine whether a predetermined time has elapsed since the suggestion to select either "Automatic parking and handover." If the predetermined time has not elapsed, the CPU returns to step 540.

[0099] If neither "automatic parking and handover" nor "automatic parking and handover" is selected within a predetermined time from the time when the selection is suggested, the CPU determines "Yes" in step 545 and proceeds to step 550 to stop the vehicle. After that, the CPU proceeds directly to step 595 to temporarily end this routine.

[0100] In contrast, if either "automatic parking and handover" is selected within a predetermined time from the time when the selection of "automatic parking and handover" is suggested, the CPU determines "Yes" in step 540 and proceeds to step 555.

[0101] The CPU determines whether automatic parking has been selected in step 555. If automatic parking has been selected, the CPU determines "Yes" in step 555 and proceeds to step 560, where it automatically parks the vehicle in the registered target parking space. After that, the CPU proceeds to step 595.

[0102] If handover rather than automatic parking has been selected, the CPU determines "No" in step 555 and proceeds to step 565, where it performs a well-known handover process to switch the vehicle's driving from automatic driving to manual driving by the user (driver). Thereafter, the CPU proceeds to step 595.

[0103] 2. Second embodiment A vehicle control device according to a second embodiment of the present invention (hereinafter referred to as the "second device") differs from the first device only in that the CPU of the autonomous driving ECU 30 executes the routine shown in the flowchart of Figure 6, which replaces Figure 2, and the routine shown in the flowchart of Figure 8, which replaces Figure 3, every time a predetermined time has elapsed.

[0104] (Overview of operation) When the user decides to move the vehicle by automatic driving toward the "same destination as the registered parking point," the second device makes a suggestion (display) in advance when the vehicle approaches the registered parking point to allow the user to select whether to "park the vehicle by automatic parking at the registered parking point (registered target parking space)" or "switch to manual driving (or park the vehicle by manual driving)." In other words, the second device allows the user to select a parking method when the vehicle is located at the departure point (before automatic driving begins).

[0105] If the vehicle user selects "parking by automatic parking at a registered parking spot," the second device notifies the vehicle user when the vehicle approaches the registered parking spot that "the vehicle will be parked by automatic parking at the registered parking spot." If the user does not cancel automatic parking when the notification is given, the second device seamlessly transitions the vehicle from an automatically driven state to an automatically parked state, and parks the vehicle by automatic parking at the registered parking spot (registered target parking space). In other words, like the first device, the second device directly transitions the vehicle's driving state from an automatically driven state to an automatically parked state without handover.

[0106] (Specific operation) The CPU of the automatic driving ECU 30 of the second device executes the routine shown in Fig. 6 every time a predetermined time has elapsed. Steps 205 to 235 shown in Fig. 6 are the same as steps 205 to 235 shown in Fig. 2. Therefore, if manual driving is selected after a destination point is set, the CPU proceeds from step 235 to step 260 in Fig. 6 and starts route guidance.

[0107] In contrast, if automatic driving is selected after the destination point is set, the CPU determines "Yes" in step 235 and proceeds to step 610. In step 610, the CPU determines whether the destination point matches a registered parking point. In step 610, the same processing as in step 240 in FIG. 2 is performed. Therefore, the destination point is determined to match a registered parking point not only when the destination point and the registered parking point match exactly, but also when the destination point is "a point within a predetermined distance from a registered parking point."

[0108] If the destination point matches the registered parking point, the CPU determines "Yes" in step 610 and proceeds to step 620. In step 620, the CPU displays on the display 15 a screen (FIG. 7) that suggests to the user "Which of automatic parking or handover to the registered target parking space is desired when the vehicle approaches the destination point (i.e., the registered parking point)?"

[0109] As shown in FIG. 7, this screen includes a message MS2 and operable touch buttons B3 and B4. The message MS2 is a message that prompts the user (driver) to select "the driving method that the user (driver) desires when the vehicle arrives near the destination point." The touch button B3 is a button for selecting to park the vehicle by automatic parking in a registered target parking space. The touch button B4 is a button for selecting to manually drive the vehicle when the vehicle arrives near the destination point (i.e., a button for selecting handover). The touch button B4 may also be a button for selecting to manually park the vehicle.

[0110] Next, the CPU proceeds to step 630 in Fig. 6 to determine whether "Automatic Parking and Handover" has been selected, i.e., whether either of the touch buttons B3 and B4 has been operated.

[0111] If neither "Automatic Parking and Handover" is selected, the CPU proceeds from step 630 to step 640, where it determines whether a predetermined time has elapsed since the time when the selection of "Automatic Parking and Handover" was suggested (i.e., the time when the screen shown in FIG. 7 was displayed). If the predetermined time has not elapsed, the CPU returns to step 630.

[0112] If neither "automatic parking and handover" nor "automatic parking and handover" is selected by the time a predetermined time has elapsed since the time when the CPU suggested which option to select, the CPU determines "Yes" in step 640 and proceeds to step 650, where it sets the value of the second flag X2 to "0." The CPU then proceeds to step 660, where it starts automatic driving, and proceeds to step 695, where it temporarily ends this routine. In this case, the CPU may proceed to step 680, which will be described later, where it sets the value of the second flag X2 to "1," and then proceeds to step 660.

[0113] In contrast, if either "automatic parking and handover" is selected within a predetermined time from the time when the selection of "automatic parking and handover" is suggested, the CPU determines "Yes" in step 630 and proceeds to step 670.

[0114] The CPU determines whether automatic parking has been selected in step 670. If automatic parking has been selected, the CPU determines "Yes" in step 670 and proceeds to step 680, where it sets the value of the second flag X2 to "1." The CPU then proceeds to step 660, where it starts automatic driving, and proceeds to step 695, where it temporarily ends this routine.

[0115] On the other hand, if handover has been selected instead of automatic parking, the CPU determines "No" in step 670 and proceeds to step 650, where it sets the value of the second flag X2 to "0." The CPU then proceeds to step 660, where it starts automatic driving, and then proceeds to step 695, where it temporarily ends this routine.

[0116] When the CPU proceeds to step 610, if the destination point does not match a registered parking point, the CPU determines "No" in step 610 and proceeds to step 650. The CPU sets the value of the second flag X2 to "0" in step 650. The CPU then proceeds to step 660 to start automatic driving, and proceeds to step 695.

[0117] Furthermore, the CPU of the automatic driving ECU 30 of the second device executes the routine shown in the flowchart in Fig. 8 every time a predetermined time has elapsed. Therefore, at the predetermined timing, the CPU starts processing from step 800 in Fig. 8 and proceeds to step 805, where it determines whether automatic driving is currently being performed. If automatic driving is not currently being performed, the CPU determines "No" in step 805, proceeds directly to step 895, and temporarily ends this routine.

[0118] On the other hand, if automatic driving is currently being performed, the CPU determines "Yes" in step 805 and proceeds to step 810. In step 810, the CPU determines whether the current location of the vehicle is near the destination point, similar to step 315. If the current location of the vehicle is not near the destination point, the CPU determines "No" in step 810, proceeds directly to step 895, and temporarily ends this routine.

[0119] If the current vehicle position is near the destination point, the CPU determines "Yes" in step 810 and proceeds to step 815. In step 815, the CPU determines whether the value of the second flag X2 is "1".

[0120] If the value of the second flag X2 is "1", it means that the user wants the vehicle to be automatically parked in the registered target parking space (see the determination of "Yes" in step 670 and step 680 in FIG. 6). If the value of the second flag X2 is "0", it means that the user wants to switch to manual driving and drive the vehicle instead of automatic parking (see the determination of "No" in step 670 and step 650 in FIG. 6).

[0121] If the value of the second flag X2 is not "1," the CPU determines "No" in step 815 and proceeds to step 820. In step 820, the CPU performs a well-known handover process to switch the vehicle driving from automatic driving to manual driving by the user (driver). Thereafter, the CPU proceeds to step 895.

[0122] On the other hand, if the value of the second flag X2 is "1" when the CPU proceeds to step 815, the CPU determines "Yes" in step 815 and proceeds to step 825. In step 825, the CPU causes the display 15 to display a screen (FIG. 9) to notify the user that the vehicle will be automatically parked in the registered target parking space and to suggest whether the user would like to cancel such automatic parking and park manually.

[0123] As shown in Fig. 9, this screen includes a message MS3 and an operable touch button B5. The message MS3 is a message that notifies the user (driver) that the vehicle has arrived near the destination point and that "the vehicle will be automatically parked in the registered target parking space." The touch button B5 is a button for canceling automatic parking and selecting to drive the vehicle manually (i.e., a button for selecting handover).

[0124] Next, the CPU proceeds to step 830, where it determines whether the current location of the vehicle is within the "area where parking is possible by automatic parking in the registered target parking space corresponding to the registered parking spot." This step is a step that performs the same processing as step 360 described above.

[0125] If the current position of the vehicle is not within the "area where parking is possible in the registered target parking space by automatic parking," the CPU waits in step 830.

[0126] On the other hand, if the current location of the vehicle is within the "area where parking is possible by automatic parking in a registered target parking space," the CPU determines "Yes" in step 830 and proceeds to step 835. In step 835 of Fig. 8, the CPU determines whether or not cancellation of automatic parking has been selected by operating touch button B5 (whether or not manual driving has been selected).

[0127] If "Cancel automatic parking" is not selected, the CPU proceeds from step 835 to step 840, where it determines whether a predetermined time has elapsed since the notification of the transition to automatic parking began (i.e., from the time the screen shown in FIG. 9 was displayed). If the predetermined time has not elapsed, the CPU returns to step 835.

[0128] If "Cancel automatic parking (touch button B5)" is selected between the time when the notification of transition to automatic parking began and the time when a predetermined time has elapsed, the CPU determines "Yes" in step 835 and proceeds to step 850. In step 850, the CPU performs a well-known handover process to switch vehicle driving from automatic driving to manual driving by the user (driver). After that, the CPU proceeds directly to step 895 and temporarily ends this routine.

[0129] On the other hand, if "Cancel automatic parking" is not selected by the time a predetermined time has elapsed since the notification of transition to automatic parking began, it is determined that the user still desires automatic parking. In this case, the CPU determines "Yes" in step 840 and proceeds to step 845. In step 845, the CPU automatically parks the vehicle in the registered target parking space. That is, the CPU sends an instruction signal to the parking assistance ECU 20, causing the CPU of the parking assistance ECU 20 to execute the "parking assistance control after registration of registered parking point (automatic parking in registered target parking space)" described above. Thereafter, the CPU proceeds to step 895.

[0130] As described above, the second device can allow the user to select a parking method when the vehicle starts automatic driving (before automatic driving starts). As a result, the user does not need to perform an operation to select a parking method while automatic driving is being performed. Therefore, the user can more easily move the vehicle to the destination and then automatically park it at the registered target parking position.

[0131] (Modification of the second embodiment) In step 810, the CPU of the second device may determine whether the current location of the vehicle is within the "area where parking by automatic parking is possible in the registered target parking space corresponding to the registered parking spot," as in step 360. In this case, step 830 is omitted. That is, the CPU proceeds from step 825 to step 835.

[0132] 3. Third embodiment A vehicle control device according to a third embodiment of the present invention (hereinafter referred to as the "third device") differs from the first device only in that when the vehicle's current location reaches the vicinity of the same destination point as the registered parking location, the third device automatically shifts the vehicle's driving from automatic driving to automatic parking, and automatically parks the vehicle in the registered target parking space, without suggesting whether "automatic parking or handover" is desired.

[0133] (Specific operation) The CPU of the automatic driving ECU 30 of the third device differs from that of the first device only in that it executes a routine shown in the flowchart of Figure 10, which replaces Figure 3, every time a predetermined time has elapsed. This CPU executes the routine shown in Figure 2. This routine has already been explained, so below we will explain the operation of the CPU of the third device based on the routine shown in Figure 10.

[0134] At a predetermined timing, the CPU starts processing from step 1000 in Fig. 10 and proceeds to step 1010 to determine whether or not autonomous driving is currently being performed. If autonomous driving is not currently being performed, the CPU determines "No" in step 1010, proceeds directly to step 1095, and temporarily ends this routine.

[0135] On the other hand, if automatic driving is currently being performed, the CPU determines "Yes" in step 1010 and proceeds to step 1020. In step 1020, the CPU determines whether the current location of the vehicle is near the destination point, similar to step 315. If the current location of the vehicle is not near the destination point, the CPU determines "No" in step 1020, proceeds directly to step 1095, and temporarily ends this routine.

[0136] On the other hand, if the current location of the vehicle is near the destination point, the CPU determines "Yes" in step 1020 and proceeds to step 1030. In step 1030, the CPU determines whether the value of the first flag X1 is "1." If the value of the first flag X1 is "1," this means that the destination point matches a registered parking point (see steps 240 and 245 in FIG. 2).

[0137] If the value of the first flag X1 is not "1," the CPU determines "No" in step 1030 and proceeds to step 1040. The CPU performs a well-known handover process in step 1040 to switch the vehicle's driving mode from automatic driving to manual driving by the user (driver). After that, the CPU proceeds directly to step 1095 and temporarily ends this routine.

[0138] On the other hand, if the value of the first flag X1 is "1", the CPU determines "Yes" in step 1030 and proceeds to step 1050. In step 1050, the CPU displays a notification on the display 15 that automatic parking will be performed. Thereafter, the CPU proceeds to step 1060. Note that step 1050 may be omitted. In this case, if the CPU determines "Yes" in step 1030, the CPU proceeds to step 1060.

[0139] In step 1060, similar to step 360, the CPU determines whether the current vehicle position is within the "area in which parking by automatic parking is possible in the registered target parking space corresponding to the registered parking position."

[0140] If the current position of the vehicle is not within the "area where parking is possible by automatic parking in the registered target parking space," the CPU waits in step 1060.

[0141] Thereafter, when the current position of the vehicle enters the "area where parking is possible by automatic parking in a registered target parking space," the CPU determines "Yes" in step 1060 and proceeds to step 1070. In step 1070, the CPU automatically parks the vehicle in the registered target parking space, similar to step 365. Then, the CPU proceeds to step 1095.

[0142] As described above, when the third device is automatically driving the vehicle toward the destination point that is the same as the registered point, the third device seamlessly (without handover) transitions the vehicle's driving state from an automatically driven state to an automatically parked state. Therefore, if the user starts automatic driving at the starting point, the vehicle can be automatically parked in the registered target space.

[0143]

[0033] The present invention is not limited to the above-described embodiments and modifications, and various modifications can be adopted within the scope of the present invention. For example, as described above, when the current position of the vehicle enters an "area where parking is possible by automatic parking at a registered target parking space," the parking assistance ECU 20 may identify the relationship between the location where the vehicle is currently located and the position of the registered target parking space based on the registered feature point information and the actual feature point information, use the relationship to newly calculate a parking path for moving the vehicle to the position of the registered target parking space, and execute control to park the vehicle at the registered target parking space by moving the vehicle along the parking path, as automatic parking at the registered target parking space. [Explanation of symbols]

[0144] 10...PVM-ECU, 11...front camera, 12...back camera, 13...right side camera, 14...left side camera, 15...touch panel display (information input device), 20...parking assist ECU, 21...radar sensor, 22...ultrasonic sensor (sonar), 23...parking assist switch, 30...autonomous driving ECU, 40...navigation ECU, 41...GPS receiver, 42...map information storage device.

Claims

1. A vehicle control device including a controller capable of performing automatic parking, which automatically moves a vehicle from a predetermined position near a registered target parking space corresponding to a pre-registered parking point to the registered target parking space and parks the vehicle therein, and automatic driving, which automatically moves the vehicle to a destination point, The controller When the destination point is the registered parking point, the driving state of the vehicle is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking without handing over to the user of the vehicle, and the vehicle is parked in the registered target parking space by the automatic parking. Vehicle control device.

2. 2. The vehicle control device according to claim 1, The controller When the vehicle is moved by the automatic driving to the registered target parking space by the automatic parking and moved into a parking available area, the driving state of the vehicle is transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking. Vehicle control device.

3. 2. The vehicle control device according to claim 1, The controller When the destination point is the registered parking point, after the vehicle reaches a predetermined area determined based on the registered parking point by the automatic driving, the user is prompted to select whether to park the vehicle in the registered target parking space by the automatic parking or to hand over the vehicle to the user; When it is selected to park the vehicle in the registered target parking space by the automatic parking, the driving state of the vehicle is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking, When handover to the user is selected, changing the driving state of the vehicle from the state of being driven by the automatic driving to a state of being driven by the user manually. It was configured as follows: Vehicle control device.

4. 4. The vehicle control device according to claim 3, The controller An area within a predetermined distance from the registered parking spot is set as the predetermined area determined based on the registered parking spot. Vehicle control device.

5. 4. The vehicle control device according to claim 3, The controller The vehicle is automatically moved to the registered target parking space by the automatic parking, and an area where the vehicle can be parked is set as a predetermined area determined based on the registered parking point. Vehicle control device.

6. 2. The vehicle control device according to claim 1, The controller When the destination point is set by the user, it is determined whether the destination point is the registered parking point, and if it is determined that the destination point is the registered parking point, the user is allowed to select in advance whether to park the vehicle in the registered target parking space by the automatic parking or to hand over the vehicle to the user; After the vehicle reaches a predetermined area determined based on the registered parking point by the automatic driving, When it is selected to park the vehicle in the registered target parking space by the automatic parking, the driving state of the vehicle is directly transitioned from the state of driving by the automatic driving to the state of driving by the automatic parking, If handover to the user is selected, changing the driving state of the vehicle from the state of driving by the automatic driving to a state of driving by the user manually. It was configured as follows: Vehicle control device.

7. 7. The vehicle control device according to claim 6, The controller Before directly transitioning the driving state of the vehicle from the state of driving by the automatic driving to the state of driving by the automatic parking, notify the user that the driving state of the vehicle will be changed to the state of driving by the automatic parking. It was configured as follows: Vehicle control device.

8. The vehicle control device according to claim 7, The controller When the notification is made, a suggestion is made to the user as to whether the user wishes to hand over the vehicle to the registered target parking space instead of parking the vehicle in the registered target parking space by the automatic parking; When a handover to the user is desired, the driving state of the vehicle is changed from the state of being driven by the automatic driving to a state of being driven by the user manually. It was configured as follows: Vehicle control device.

9. The vehicle control device according to claim 7, The controller The notification is made when the vehicle reaches the predetermined area. It was configured as follows: Vehicle control device.

10. 10. The vehicle control device according to claim 9, The controller An area within a predetermined distance from the registered parking spot is set as the predetermined area. Vehicle control device.

11. 10. The vehicle control device according to claim 9, The controller The predetermined area is set to an area where the vehicle can be automatically moved and parked in the registered target parking space by the automatic parking. Vehicle control device.

12. A step of performing automated driving to automatically move the vehicle to a destination point; a step of performing automatic parking by automatically moving the vehicle from a predetermined position near a registered target parking space corresponding to a pre-registered parking point to the registered target parking space and parking the vehicle therein; If the destination point is the registered parking point, directly transitioning the driving state of the vehicle from the state of driving by the automatic driving to the state of driving by the automatic parking without handing over to a user of the vehicle; A vehicle control method comprising:

13. A program to be executed by a computer mounted on a vehicle, The program is written to the computer. A step of performing automated driving to automatically move the vehicle to a destination point; a step of performing automatic parking by automatically moving the vehicle from a predetermined position near a registered target parking space corresponding to a pre-registered parking point to the registered target parking space and parking the vehicle therein; If the destination point is the registered parking point, directly transitioning the driving state of the vehicle from the state of driving by the automatic driving to the state of driving by the automatic parking without handing over to a user of the vehicle; A program that executes the following.

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