Vehicle, communication system, vehicle control system, and vehicle control method

Abstract

To prevent a door from being kept open when the position of a vehicle key is not detected.SOLUTION: A vehicle 20 includes a position detection device 50 as a detection unit and a control device 60 as a control unit. The position detection device 50 detects a key position KP, which is the position of the vehicle key 11. The control device 60 receives a reservation request RR and, when the key position KP is located at a distance equal to or greater than a specified distance, initiates control in a first mode that includes closing the door 21. The control device 60, when receiving the reservation request RR and when the position detection device 50 does not detect the key position KP for a specified period of time, initiates control in a second mode that includes closing the door 21 and is different from the first mode.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 describes a communication system including a vehicle and a vehicle key capable of communicating with the vehicle. A vehicle control device closes the vehicle door when the vehicle key is positioned at a specified distance or more from the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-037792 Summary of the Invention [Problem to be solved by the invention]

[0004] In a vehicle such as that described in Patent Document 1, if the position of the vehicle key is no longer detected while the vehicle door is open, the control device leaves the vehicle door open. [Means for solving the problem]

[0005] In order to solve the above problem, one aspect of the present disclosure is a vehicle including a detection unit that detects the position of a vehicle key, which is a key for the vehicle; and a control unit that executes the following: acquiring a reservation request to close a door of the vehicle, and starting control of a first mode that includes closing the door when the position of the vehicle key detected by the detection unit is located away from the door by a predetermined distance or more; and acquiring the reservation request, and starting control of a second mode that includes closing the door and is different from the first mode when the detection unit does not detect the position of the vehicle key for a predetermined period of time.

[0006] In order to solve the above problem, one aspect of the present disclosure is a vehicle control system that includes a detection unit that detects the position of a vehicle key that is a key for the vehicle, and a control unit that executes the following: acquiring a reservation request to close a door of the vehicle, and starting control of a first mode that includes closing the door when the position of the vehicle key detected by the detection unit is located at a distance greater than the specified distance; and acquiring the reservation request, and starting control of a second mode that includes closing the door and is different from the first mode when the detection unit does not detect the position of the vehicle key for a predetermined specified period of time.

[0007] In order to solve the above problem, one aspect of the present disclosure is a vehicle control method executed by a control system that controls a vehicle, in which the control system detects the position of a vehicle key that is a key for the vehicle, obtains a reservation request to close a door of the vehicle, and, when the detected position of the vehicle key is located at a distance from the vehicle that is greater than a predetermined specified distance, starts control of a first mode that includes closing the door, and, when the control system obtains the reservation request and has not detected the position of the vehicle key for a predetermined specified period, starts control of a second mode that includes closing the door and is different from the first mode. [Effects of the Invention]

[0008] According to each of the above configurations, when the position of the vehicle key is no longer detected, the vehicle can prevent the door from remaining open by starting control in the second mode, which includes closing the door. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing a communication system. [Figure 2] FIG. 2 is a flowchart showing a series of processes including a process for starting door closing when a reservation request is received. [Figure 3]FIG. 3 is a flowchart showing the details of the process for determining whether the cancellation condition is satisfied. [Figure 4] FIG. 4 is a flowchart showing details of the control process in the first mode. [Figure 5] FIG. 5 is a flowchart showing details of the control process in the second mode. [Figure 6] FIG. 6 is an explanatory diagram illustrating a situation when a reserved state is set. [Figure 7] FIG. 7 is an explanatory diagram illustrating a situation in which the vehicle key is located in the first area. [Figure 8] FIG. 8 is an explanatory diagram illustrating a situation in which the vehicle key is located in the second area. [Figure 9] FIG. 9 is an explanatory diagram illustrating a situation in which the vehicle cannot detect the position of the vehicle key. DETAILED DESCRIPTION OF THE INVENTION

[0010] (One embodiment) Hereinafter, an embodiment of a vehicle, a communication system, a vehicle control device, and a vehicle control method will be described with reference to the drawings.

[0011] <Communication System Overview> 1, the communication system 100 includes a mobile terminal 10 and a vehicle 20 having a door 21. The door 21 is, for example, a back door of the vehicle 20. The door 21 can be opened and closed manually, and can also be opened and closed automatically by control.

[0012] The mobile terminal 10 can communicate with the vehicle 20 via wireless communication. The mobile terminal 10 can communicate with the vehicle 20 via short-range wireless communication in accordance with the BLE communication standard and wireless communication using the ultra-wideband frequency bandwidth of UWB. BLE is an abbreviation for Bluetooth Low Energy. UWB is an abbreviation for Ultra Wide Band.

[0013] The mobile terminal 10 has a vehicle key 11, which is a key for the vehicle 20. Specifically, the mobile terminal 10 stores electronic information indicating the vehicle key 11. In other words, the vehicle key 11 is a digital key. Therefore, in this embodiment, the vehicle key 11 is integrated with the mobile terminal 10.

[0014] When the mobile terminal 10 is operated, it transmits a reservation request RR to the vehicle 20 to close the door 21. The reservation request RR is a request to reserve closing the door 21 when the key position KP, which is the position of the vehicle key 11, is located at a distance equal to or greater than a specified distance, as will be described later. Note that the mobile terminal 10 can also output a request to close the door 21 regardless of the key position KP. When the mobile terminal 10 is operated, it transmits an open request OR to the vehicle 20 to open the door 21. When the mobile terminal 10 is operated while the door 21 is being closed, it transmits a request CR to cancel closing the door 21 to the vehicle 20. The cancel request CR is a request to cancel closing the door 21 so that the door 21 does not close.

[0015] The vehicle 20 includes a switch 30 serving as a first acquisition unit, a communication device 40 serving as a second acquisition unit, a position detection device 50 serving as a detection unit, and a control device 60 serving as a control unit. The position detection device 50 serving as a detection unit and the control device 60 serving as a control unit constitute a control system 22.

[0016] The switch 30 is provided near the opening of the door 21 of the vehicle 20. The switch 30 acquires a reservation request RR when operated while the door 21 is open. The switch 30 outputs the acquired reservation request RR to the control device 60. The switch 30 can also output a request to close the door 21 regardless of the key position KP.

[0017] The switch 30 acquires an open request OR when operated while the door 21 is closed. The switch 30 outputs the acquired open request OR to the control device 60. The switch 30 acquires a cancel request CR when operated while the door 21 is closed. The switch 30 outputs the acquired cancel request CR to the control device 60.

[0018] The communication device 40 can communicate with the mobile terminal 10 via wireless communication. The communication device 40 performs short-range wireless communication in accordance with the BLE communication standard. The communication device 40 acquires a reservation request RR by receiving it from the mobile terminal 10. The communication device 40 outputs the acquired reservation request RR to the control device 60. The communication device 40 acquires an open request OR by receiving it from the mobile terminal 10. The communication device 40 outputs the open request OR acquired from the mobile terminal 10 to the control device 60. The communication device 40 acquires a cancel request CR by receiving it from the mobile terminal 10. The communication device 40 outputs the cancel request CR acquired from the mobile terminal 10 to the control device 60. The communication device 40 calculates the strength of the BLE signal received from the mobile terminal 10. The strength of the BLE signal is calculated to be stronger the closer the distance between the mobile terminal 10 and the communication device 40 is. The communication device 40 outputs the calculated strength to the control device 60 as the signal strength SS of the BLE signal.

[0019] The position detection device 50 receives a start signal S1, which indicates the start of detecting the key position KP, from the control device 60. Upon receiving the start signal S1, the position detection device 50 performs position detection control to detect the key position KP at a predetermined cycle.

[0020] The position detection device 50 includes an antenna unit 51 and a control unit 52 that controls the antenna unit 51. The antenna unit 51 includes multiple antennas capable of receiving and transmitting UWB signals, which enable ultra-wideband communication. The control unit 52 controls the transmission and reception of signals by the antenna unit 51. The control unit 52 performs UWB position detection control for the mobile terminal 10 via the antenna unit 51. In the position detection control, the control unit 52 detects the distance between the mobile terminal 10 and the antenna unit 51 of the vehicle 20 and the angle of the position of the mobile terminal 10 relative to the antenna unit 51. For example, the control unit 52 measures the pulse propagation time of a test signal S2 transmitted from the antenna unit 51 to the mobile terminal 10 and the pulse propagation time of a test signal S3 transmitted from the mobile terminal 10 to the antenna unit 51 as a reply to the test signal S2. The control unit 52 then calculates the distance by multiplying the sum of the measured pulse propagation times by the speed of light. Next, the control unit 52 calculates the angle from the phase difference of the radio waves when the signal received from the mobile terminal 10 is received by the multiple antennas of the antenna unit 51. Then, the control unit 52 detects the relative position of the vehicle key 11 with respect to the vehicle 20 as the key position KP based on the calculated distance and angle. The position detection device 50 outputs information indicating the detected key position KP to the control device 60. Note that the position detection device 50 ends the position detection control if it does not receive the start signal S1 for a predetermined period of time or longer.

[0021] The vehicle 20 includes a door opening / closing device 70 that opens and closes the door 21, an entrapment detection device 80 that is an entrapment detection unit, and a sound output device 90. The door opening / closing device 70 includes a motor 71 that is an actuator that opens and closes the door 21, and a control unit 72 that controls the motor 71. The control unit 72 opens the door 21 by driving the motor 71 to rotate in a first direction. The control unit 72 closes the door 21 by driving the motor 71 to rotate in a second direction that is opposite to the first direction. The control unit 72 stops the door 21 from closing by controlling the motor 71 to stop rotating while the door 21 is closing.

[0022] The entrapment detection device 80 detects an object being entrapped in the door 21 while the door 21 is being closed from an open state. The entrapment detection device 80 includes a detection sensor 81 and a control unit 82 that controls the detection sensor 81. The detection sensor 81 is a sensor that detects a load applied to the motor 71. The control unit 82 performs entrapment detection control using the detection sensor 81. In the entrapment detection control, the control unit 82 compares the load detected by the detection sensor 81 with a set threshold at a predetermined cycle. Then, when the load detected by the detection sensor 81 exceeds the set threshold, the control unit 82 detects entrapment in the door 21. When the entrapment detection device 80 detects entrapment, it outputs a detection signal SA indicating that entrapment has been detected to the control device 60.

[0023] The sound output device 90 includes a speaker 91 and a control unit 92 that controls the speaker 91. The speaker 91 is driven by the control unit 92 to output a set sound to the outside of the vehicle 20. The control unit 92 controls the driving of the speaker 91 to output the sound.

[0024] The control device 60 executes control including closing the door 21, with the door opening / closing device 70, the entrapment detection device 80, and the sound output device 90 as control targets. The control device 60 acquires a reservation request RR from the switch 30. The control device 60 acquires an open request OR from the switch 30. The control device 60 acquires a cancel request CR from the switch 30.

[0025] The control device 60 acquires a reservation request RR from the communication device 40. The control device 60 acquires an open request OR from the communication device 40. The control device 60 acquires a cancellation request CR from the communication device 40. The control device 60 acquires a signal indicating the signal strength SS of the BLE signal from the communication device 40.

[0026] When the signal strength SS of the BLE signal acquired from the communication device 40 is equal to or greater than a predetermined specified strength, the control device 60 outputs a start signal S1 to the position detection device 50. Note that the specified strength is determined in advance, for example, by testing or simulation, as the signal strength SS of the BLE signal at a distance where distance measurement is possible using UWB. The control device 60 acquires information indicating the key position KP from the position detection device 50.

[0027] The control device 60 includes a CPU (execution device 61), a peripheral circuit 62, a RAM 63, a storage device 64, and a bus 65. The bus 65 connects the execution device 61, the peripheral circuit 62, the RAM 63, and the storage device 64 so that they can communicate with one another. The execution device 61 processes information by executing various programs stored in the storage device 64. The peripheral circuit 62 includes a circuit for generating clock signals that regulate internal operation, a power supply circuit, a reset circuit, etc. The RAM 63 stores data generated as the execution device 61 executes the program. The storage device 64 stores a control program PR for the door 21 executed by the execution device 61. The storage device 64 stores setting information SI, including setting values ​​for closing the door 21 under control in the first mode MD1 and setting values ​​for closing the door 21 under control in the second mode MD2. The storage device 64 also includes a non-detection counter NC. The non-detection counter NC stores a value indicating the number of consecutive times that the execution device 61 has determined that the key position KP has not been detected.

[0028] When the control device 60 acquires the reservation request RR, the execution device 61 starts executing the control program PR. Specifically, when the control device 60 acquires the reservation request RR from the switch 30 or when the control device 60 acquires the reservation request RR from the communication device 40, the execution device 61 starts executing the control program PR.

[0029] As shown in Fig. 2, when the execution device 61 starts executing the control program PR, it first performs the process of step S11. In step S11, the execution device 61 determines whether the vehicle key 11 is located in a predetermined first area AR1. As shown in Fig. 6, the first area AR1 is determined in advance through testing or simulation as a range where the distance from the reference point P1 is less than a predetermined first specified distance L1, with the antenna unit 51 on the door 21 of the vehicle 20 being set as the reference point P1. The first specified distance L1 is determined in advance through testing or simulation as, for example, a distance that is sufficiently far from the door 21.

[0030] Specifically, the execution device 61 compares the key position KP acquired by the control device 60 with the first area AR1, and determines that the vehicle key 11 is located in the first area AR1 when the key position KP is included within the first area AR1.

[0031] 2, when the execution device 61 determines that the vehicle key 11 is not located in the first area AR1 (S11: NO), the execution device 61 ends the current series of processes. On the other hand, when the execution device 61 determines that the vehicle key 11 is located in the first area AR1 (S11: YES), the execution device 61 proceeds to step S12.

[0032] In step S12, the execution device 61 sets the control state of the door 21 to a reserved state in which the reservation request RR has been accepted. In the reserved state, the execution device 61 starts closing the door 21 by control in a first mode MD1 or a second mode MD2, which will be described later, when a predetermined execution condition is met. Thereafter, the execution device 61 proceeds to step S13.

[0033] In step S13, the execution unit 61 determines whether or not the key position KP has been detected. Specifically, when the control unit 60 acquires information indicating the key position KP from the position detection device 50 within a predetermined waiting period after starting step S13, the execution unit 61 determines that the key position KP has been detected. On the other hand, when the control unit 60 does not acquire information indicating the key position KP from the position detection device 50 within the waiting period after starting step S13, the execution unit 61 determines that the key position KP has not been detected. The waiting period is set, for example, to be the same period as the period of the cycle at which the position detection device 50 detects the key position KP.

[0034] When the key position KP is detected (S13: YES), the execution device 61 proceeds to step S14. In step S14, the execution device 61 clears the value of a non-detection counter NC in the storage device 64. The non-detection counter NC counts the number of consecutive negative determinations made by the execution device 61 in step S13. Thereafter, the execution device 61 proceeds to step S15.

[0035] In step S15, the execution device 61 determines whether the vehicle key 11 is located in a predetermined second area AR2. As shown in Fig. 8, the second area AR2 is determined in advance through testing or simulation as a range in which the distance from the same reference point P1 as the first area AR1 is equal to or greater than a predetermined first specified distance L1 and less than a predetermined second specified distance L2. The second specified distance L2 is determined, for example, as the distance at which the strength of the BLE signal reaches the lower detection limit. In other words, the second area AR2 is a range located outside the first area AR1.

[0036] Specifically, the execution device 61 compares the key position KP acquired by the control device 60 in step S13 with the second area AR2, and determines that the vehicle key 11 is located in the second area AR2 when the key position KP is included within the second area AR2.

[0037] 2, when the execution unit 61 determines that the vehicle key 11 is not located in the second area AR2 (S15: NO), the execution unit 61 returns the process to step S13. On the other hand, when the execution unit 61 determines that the vehicle key 11 is located in the second area AR2 (S15: YES), the execution unit 61 proceeds to step S16.

[0038] In step S16, the execution device 61 starts the control of the first mode MD1 to start closing the door 21. That is, the execution condition for the control of the first mode MD1 is that the vehicle key 11 is located in the second area AR2. Details of the processing content of the control of the first mode MD1 will be described later. After starting to close the door 21 through the control of the first mode MD1, the execution device 61 proceeds to step S17.

[0039] In step S17, the execution unit 61 determines whether a predetermined cancellation condition CC is satisfied. The cancellation condition CC is satisfied when at least one of the following conditions is satisfied: the control unit 60 receives a cancellation request CR, receives information indicating that a pinch has been detected, and detects the key position KP in the first area AR1. The execution unit 61 determines whether the cancellation condition CC is satisfied within a predetermined period of time after the start of step S17.

[0040] 3, when the processing of step S17 starts, the execution device 61 first performs the processing of step S41. In step S41, the execution device 61 determines whether or not the control device 60 has acquired a cancel request CR from the switch 30 due to operation of the switch 30. If the control device 60 has not acquired a cancel request CR from the switch 30 (S41: NO), the execution device 61 proceeds to the processing of step S42.

[0041] In step S42, the execution device 61 determines whether or not it has acquired the cancel request CR transmitted from the mobile terminal 10. Specifically, the execution device 61 determines that it has acquired the cancel request CR transmitted from the mobile terminal 10 when the control device 60 acquires the cancel request CR from the communication device 40. If the execution device 61 has not acquired the cancel request CR transmitted from the mobile terminal 10 (S42: NO), the execution device 61 proceeds to step S43.

[0042] In step S43, the execution unit 61 determines whether or not the pinch detection device 80 has detected pinch. When the execution unit 61 acquires the detection signal SA, it determines that the pinch detection device 80 has detected pinch. When the pinch detection device 80 has not detected pinch (S43: NO), the execution unit 61 proceeds to step S44.

[0043] In step S44, the execution device 61 determines whether or not the key position KP is located in the first area AR1. If the execution device 61 acquires information indicating the key position KP after starting the processing of step S17, the execution device 61 determines whether or not the acquired key position KP is located in the first area AR1. If the key position KP is not located in the first area AR1 (S44: NO), the execution device 61 proceeds to the processing of step S45.

[0044] In step S45, the execution device 61 determines that the cancellation condition CC is not satisfied, and thus ends the current process of step S17 shown in FIG. On the other hand, as shown in FIG. 3, when the control device 60 receives a cancel request CR from the switch 30 (S41: YES), the execution device 61 proceeds to step S46. When the execution device 61 receives a cancel request CR transmitted from the mobile terminal 10 (S42: YES), the execution device 61 proceeds to step S46. When the pinch detection device 80 detects pinch (S43: YES), the execution device 61 proceeds to step S46. When the key position KP is located in the first area AR1 (S44: YES), the execution device 61 proceeds to step S46. In step S46, the execution device 61 determines that the cancel condition CC is satisfied. As a result, the execution device 61 ends the current process of step S17 shown in FIG. 2.

[0045] 2, when the execution device 61 determines that the cancellation condition CC is satisfied (S17: YES), the execution device 61 proceeds to step S18. In step S18, the execution device 61 cancels the control of the first mode MD1, which includes closing the door 21.

[0046] In detail, first, the execution device 61 outputs a request to the door opening / closing device 70 to stop closing the door 21. The control unit 72 of the door opening / closing device 70, which has received the request, opens the door 21 by rotating the motor 71 in the first direction. Next, the execution device 61 outputs a request to the pinch detection device 80 to stop pinch detection control. The control unit 82 of the pinch detection device 80, which has received the request, stops the pinch detection control. Next, the execution device 61 outputs a request to the sound output device 90 to stop sound output. The control unit 92 of the sound output device 90, which has received the request, stops sound output. Thereafter, the execution device 61 advances the process to step S19.

[0047] In step S19, the executing unit 61 cancels the reserved state of the control state of the door 21. When canceling the reserved state, the executing unit 61 clears the non-detection counter NC. Thereafter, the executing unit 61 ends this series of processes.

[0048] On the other hand, when the execution device 61 determines that the cancellation condition CC is not satisfied (S17: YES), the execution device 61 proceeds to step S21. In step S21, the execution device 61 determines whether or not closing of the door 21 has been completed.

[0049] Specifically, when a predetermined period of time set for each mode has elapsed since the start of closing the door 21 without a positive determination being made in step S17, the execution device 61 determines that closing of the door 21 has been completed. When the execution device 61 has not completed closing the door 21 (S21: NO), the execution device 61 returns the process to step S17. On the other hand, when the execution device 61 has completed closing the door 21 (S21: YES), the execution device 61 proceeds to step S19. Thereafter, the execution device 61 performs the process of step S19 and ends the current series of processes.

[0050] Meanwhile, when the key position KP is not detected (S13: NO), the execution unit 61 proceeds to step S31. In step S31, the execution unit 61 counts up the non-detection counter NC. Specifically, the value stored in the non-detection counter NC, which indicates the number of consecutive times the key position KP has not been detected, is incremented by one. Thereafter, the execution unit 61 proceeds to step S32.

[0051] In step S32, the execution unit 61 determines whether the number of times indicated by the non-detection counter NC is equal to or greater than a predetermined specified number of times. The specified number of times is set as a value greater than a value obtained by dividing a predetermined specified period by the waiting time. The specified period is determined in advance through testing or simulation, for example, as a period during which it is highly likely that the vehicle key 11 has been sufficiently removed from the door 21 when a state in which the key position KP cannot be detected continues. In other words, the period from when the non-detection counter NC goes from zero to when it reaches the specified number of times is the specified period. Therefore, when the non-detection counter NC goes from zero to when it reaches the specified number of times, the execution unit 61 has not detected the key position KP for the specified period. If the number of times indicated by the non-detection counter NC is less than the specified number of times (S32: NO), the execution unit 61 returns the process to step S13.

[0052] On the other hand, if the number of times indicated by the non-detection counter NC is equal to or greater than the specified number of times (S32: YES), the execution unit 61 proceeds to step S33. That is, if the key position KP has not been detected for the specified period, the execution unit 61 proceeds to step S33.

[0053] In step S33, the execution device 61 starts closing the door 21 by starting control of a second mode MD2 that is different from the first mode MD1. The condition for executing control of the second mode MD2 is that the key position KP has not been detected for a specified period of time. Details of the processing content of the control of the second mode MD2 will be described later. After starting to close the door 21 through control of the second mode MD2, the execution device 61 proceeds to the processing of step S17. Therefore, the execution device 61 determines whether the cancellation condition CC of step S17 is satisfied in both cases where the door 21 is being closed through control of the first mode MD1 and where the door 21 is being closed through control of the second mode MD2.

[0054] <Regarding control of the first mode> The control of the first mode MD1, which is step S16 shown in FIG. 2, will be described in detail below. As shown in FIG. 4, when the execution device 61 starts the processing of step S16 shown in FIG. 2, it first performs the processing of step S51. In step S51, the execution device 61 starts closing the door 21 at a predetermined first speed V1. Specifically, the execution device 61 outputs a first close signal SC1 to the door opening / closing device 70 to close the door 21 at the first speed V1. The control unit 72 of the door opening / closing device 70, which has received the first close signal SC1, drives the motor 71 to drive the door 21 at the first speed V1 to start closing it. Thereafter, the execution device 61 advances the processing to step S52.

[0055] In step S52, the execution unit 61 starts pinch detection control of the pinch detection device 80 at a predetermined first detection sensitivity DS1. Specifically, the execution unit 61 outputs a signal to the pinch detection device 80 indicating a first load setting LS1, which sets a predetermined first load as the threshold value for the first detection sensitivity DS1. The control unit 82 of the pinch detection device 80, upon receiving the signal indicating the first load setting LS1, compares the load detected by the detection sensor 81 with the first load set as the threshold value. This causes the pinch detection device 80 to start pinch detection control at the first detection sensitivity DS1. Note that the first load is determined in advance through testing or simulation as, for example, a load that achieves average sensitivity in pinch detection. The execution unit 61 then proceeds to step S53.

[0056] In step S53, the execution device 61 outputs a predetermined first sound MS1 from the sound output device 90. Specifically, the execution device 61 outputs a request to the sound output device 90 to output sound at the first sound MS1. The control unit 92 of the sound output device 90, having received the request, outputs sound at the first sound MS1 from the speaker 91. Thereafter, the execution device 61 ends the series of processes for starting to close the door 21 under control in the current first mode MD1. As a result, the execution device 61 starts to close the door 21 under control in the first mode MD1.

[0057] In this way, the execution device 61 starts to close the door 21 by control in the first mode MD1. Therefore, the control in the first mode MD1 includes closing the door 21, pinch detection control by the pinch detection device 80, and outputting sound from the sound output device 90 when the door 21 is closed.

[0058] <Second mode control> The control of the second mode MD2, which is step S33 shown in FIG. 2, will be described in detail below. 5, when the execution device 61 starts the process of step S33 shown in FIG. 2, it first performs the process of step S61. In step S61, the execution device 61 outputs a warning sound from the sound output device 90 and determines whether a predetermined delay period DT has elapsed since the start of the process of step S33. The delay period DT is determined in advance through tests or simulations as the time it is possible to move away from the door 21 after hearing the warning sound. The delay period DT is determined to be, for example, 5 seconds.

[0059] If the delay period DT has not elapsed (S61: NO), the executing device 61 repeats the process of step S33. In this case, the executing device 61 continues to output the warning sound from the sound output device 90. On the other hand, if the delay period DT has elapsed (S61: YES), the executing device 61 stops outputting the warning sound and proceeds to step S62.

[0060] In step S62, the execution device 61 starts closing the door 21 at a predetermined second speed V2. The second speed V2 is set to be slower than the first speed V1. Specifically, the execution device 61 outputs a second close signal SC2 to the door opening / closing device 70 to close the door 21 at the second speed V2. The control unit 72 of the door opening / closing device 70, having received the second close signal SC2, drives the motor 71 to drive the door 21 at the second speed V2 to start closing the door 21. Thereafter, the execution device 61 advances the process to step S63.

[0061] In step S63, the execution unit 61 starts pinch detection control by setting the detection sensitivity of the pinch detection device 80 to a predetermined second detection sensitivity DS2. The second detection sensitivity DS2 is higher than the first detection sensitivity DS1. Specifically, the execution unit 61 outputs a signal to the pinch detection device 80 indicating a second load setting LS2, which sets a second load smaller than the first load as a threshold value for the second detection sensitivity DS2. Upon receiving the signal indicating the second load setting LS2, the control unit 82 of the pinch detection device 80 compares the load detected by the detection sensor 81 with the second load set as the threshold value. As a result, the pinch detection device 80 starts pinch detection control at the second detection sensitivity DS2. The execution unit 61 then proceeds to step S64.

[0062] In step S64, the execution device 61 outputs a predetermined second sound MS2 from the sound output device 90. The type of the second sound MS2 is different from that of the first sound MS1. For example, the second sound MS2 has a different pitch from that of the first sound MS1. The execution device 61 outputs a request to the sound output device 90 to output sound at the second sound MS2. The control unit 92 of the sound output device 90, having received the request, outputs sound at the second sound MS2 from the speaker 91. Thereafter, the execution device 61 ends the series of processes for starting to close the door 21 under control in the current second mode MD2. As a result, the execution device 61 starts to close the door 21 under control in the second mode MD2.

[0063] In this way, the execution device 61 starts to close the door 21 by controlling the second mode MD2. Therefore, the control in the second mode MD2 includes closing the door 21, pinch detection control by the pinch detection device 80, and outputting sound from the sound output device 90 when the door 21 is closed.

[0064] Furthermore, the control of the second mode MD2 differs from the control of the first mode MD1 in the closing speed of the door 21, the detection sensitivity of the pinch detection control, and the type of sound output when closing the door 21. Furthermore, the process of starting to close the door 21 in the control of the second mode MD2 differs from the control of the first mode MD1 in the presence or absence of a warning sound before the door 21 starts to close.

[0065] The control device 60 that executes the control program PR functions as a control unit, and the position detection device 50 that performs position detection control functions as a detection unit, thereby realizing a control system 22 that includes a control unit and a detection unit. The control system 22 also executes a control method using the control unit and the detection unit, including detecting the key position KP, starting to close the door 21 by control in the first mode MD1, and starting to close the door 21 by control in the second mode MD2.

[0066] (Operation of the embodiment) The operation of the above embodiment will be described using an example in which a user X of the vehicle 20 takes out baggage Y from the door 21.

[0067] 6, it is assumed that a user X having a mobile terminal 10 opens the door 21. Then, it is assumed that the user X operates the switch 30, and the control device 60 acquires a reservation request RR from the switch 30. In this case, the control device 60 starts executing the control program PR.

[0068] Furthermore, the user X has the mobile terminal 10. For example, it is assumed that the user X has the mobile terminal 10 stored in his breast pocket. When the user X operates the switch 30, the mobile terminal 10 is located in the first area AR1, and therefore the signal strength SS acquired by the communication device 40 is equal to or greater than a predetermined strength. Therefore, the position detection device 50 performs position detection control. It is then assumed that the position detection device 50 has detected the key position KP. In this case, the control device 60 acquires the key position KP and determines that the vehicle key 11 is located in the first area AR1. Therefore, the process of steps S13 to S15 shown in FIG. 2 is repeated. Therefore, in this situation, the door 21 remains open.

[0069] As shown in Fig. 7, it is assumed that the user X is taking out the baggage Y. In this case, the mobile terminal 10 is located in the first area AR1. If the position detection device 50 can detect the key position KP, the control device 60 repeats the processes of steps S13 to S15 shown in Fig. 2. Therefore, even in this situation, the door 21 remains open.

[0070] As shown in Fig. 8, assume that user X, carrying baggage Y, moves away from vehicle 20 by a first specified distance L1 or more. At this time, mobile terminal 10 is located in second area AR2. If position detection device 50 detects key position KP, control device 60 makes a positive determination in step S15 and performs processing in step S16. As a result, control in first mode MD1 is performed, and door 21 starts to close. Thereafter, if cancellation condition CC is not satisfied, door 21 completes closing.

[0071] Next, after the situation shown in Fig. 6, that is, when the control state of the door 21 is in the reserved state, it is assumed that the user X is taking out the baggage Y as shown in Fig. 9. In this case, it is assumed that the user X stores the mobile terminal 10, for example, in a pocket on the back side of his / her body, due to the size and shape of the baggage Y. In this case, the body of the user X is interposed between the antenna unit 51 and the mobile terminal 10. Therefore, it is assumed that the antenna unit 51 is no longer able to receive the UWB signal from the mobile terminal 10. As a result, it is assumed that the position detection device 50 is no longer able to detect the key position KP.

[0072] 8, assume that the user X then removes the baggage Y and leaves the vehicle 20. In this case, when the control device 60 does not detect the key position KP for a specified period of time, it starts to close the door 21 under the control of the second mode MD2. As a result, the door 21 starts to close under the control of the second mode MD2.

[0073] (Effects of the embodiment) (1) According to the above embodiment, when the position detection device 50 does not detect the key position KP for a specified period of time, the control device 60 starts closing the door 21. Therefore, the door 21 can be prevented from remaining in an open state due to the key position KP no longer being detected.

[0074] Furthermore, according to the above embodiment, when the key position KP detected by the position detection device 50 is located in the second area AR2, the control device 60 starts the control of the first mode MD1 to start closing the door 21. Furthermore, when the position detection device 50 does not detect the key position KP for a specified period of time, the control device 60 starts the control of the second mode MD2 to start closing the door 21. The control of the second mode MD2 differs from the control of the first mode MD1. This makes it difficult for the user X to feel excessive anxiety that the door 21 will close in exactly the same way even though the key position KP is not located in the second area AR2.

[0075] (2) In the above embodiment, as shown in FIG. 9, after the reservation state is set, assume that the user X remains near the vehicle 20 for a specified period of time in order to retrieve the baggage Y. In this case, the control device 60 also starts closing the door 21 by controlling the second mode MD2. According to the above embodiment, the second speed V2 at which the door 21 is closed by controlling the second mode MD2 is slower than the first speed V1 at which the door 21 is closed by controlling the first mode MD1. This allows the user X to avoid contact with the door 21 or to increase the time required to operate the switch 30 to cause the control device 60 to receive a cancellation request CR.

[0076] (3) In the above embodiment, if an object such as user X or baggage Y is in a position where it would be caught in the door 21, the door 21 may start to close because the key position KP is not detected. According to the above embodiment, the second detection sensitivity DS2 in the control of the second mode MD2 is higher than the first detection sensitivity DS1 in the control of the first mode MD1. Therefore, even if an object is caught, the second detection sensitivity DS2 is higher than the first detection sensitivity DS1, so that the user X can easily sense the object being caught, which makes it easier for the user X to feel a sense of security.

[0077] (4) According to the above embodiment, the type of the second sound MS2 when the door 21 is closed under control in the second mode MD2 is different from the type of the first sound MS1 when the door 21 is closed under control in the first mode MD1. Therefore, even without visually checking the door 21, the user X can easily understand that the door 21 is being closed under control in the second mode MD2, which is different from the control in the first mode MD1.

[0078] (5) According to the above embodiment, when the door 21 is closed under the control of the second mode MD2, a warning sound is output before the door 21 is driven. Therefore, even without visually checking the door 21, the user X can easily understand that the door 21 is being closed under the control of the second mode MD2, which is different from the control of the first mode MD1.

[0079] (6) According to the above embodiment, when the switch 30 is operated, the control device 60 acquires the reservation request RR from the switch 30. The switch 30 is provided in the vehicle 20, which contributes to improving operability for the user X.

[0080] (7) According to the above embodiment, the control device 60 acquires the reservation request RR received by the communication device 40 from the mobile terminal 10 from the communication device 40. Therefore, even if the user X is away from a position where the user X can directly operate the switch 30 of the vehicle 20, the control device 60 can set the control state of the door 21 to the reserved state.

[0081] (8) According to the above embodiment, when the control device 60 receives a cancellation request CR while closing the door 21, the control device 60 cancels the closing of the door 21. Therefore, even if the door 21 starts to close after the user X has once set the door 21 in a reserved state, the user X can cancel the closing of the door 21 at the timing intended by the user X.

[0082] (9) According to the above embodiment, the control device 60 receives the cancel request CR from the switch 30. Therefore, when the user X wants to cancel closing the door 21, he or she can cancel the closing of the door 21 by operating the same switch 30 as when setting the reservation mode. Therefore, the user X can easily know which part to operate.

[0083] (10) According to the above embodiment, the control device 60 acquires the cancellation request CR received by the communication device 40 from the mobile terminal 10. Therefore, even if the user X is away from a position where the user X can directly operate the switch 30 of the vehicle 20, the user X can cancel closing the door 21.

[0084] (11) According to the above embodiment, when the key position KP is determined to be located in the first area AR1 while the door 21 is being closed, the closing of the door 21 is stopped. Therefore, if the door 21 is being closed under control in the first mode MD1, the vehicle 20 can stop closing the door 21 when the user X with the mobile terminal 10 approaches the vehicle 20 again after leaving the vehicle 20. Furthermore, if the door 21 is being closed under control in the second mode MD2, the user X with the mobile terminal 10 may be staying in the first area AR1 after the key position KP is not detected for a specified period of time. In this case, if the key position KP is detected again and the detected key position KP is located in the first area AR1, the vehicle 20 can stop closing the door 21.

[0085] (12) According to the above embodiment, when the pinch detection device 80 detects an object being pinched while the door 21 is being closed, the control device 60 stops closing the door 21. This prevents the door 21 from continuing to close after an object is pinched.

[0086] (13) In the above embodiment, the vehicle key 11 is a digital key. Therefore, wireless communication of the mobile terminal 10 is used to detect the key position KP. The wireless communication of the mobile terminal 10 is easily affected by a living body such as a user X when the living body is present between the mobile terminal 10 and the antenna unit 51. Therefore, the key position KP is likely to be lost, which can easily cause a problem in which the door 21 cannot be closed when the vehicle 20 no longer detects the key position KP. Therefore, when the vehicle key 11 is a digital key, the effect of (1) can be easily achieved.

[0087] (Other embodiments) The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0088] <Regarding first mode control and second mode control> In the above embodiment, the processes of steps S51 and S62 may be performed to close the door 21 at the same speed. That is, the first speed V1 and the second speed V2 may be the same. Also, the control device 60 may not perform at least one of the processes of steps S51 and S62.

[0089] In the above embodiment, the processes of steps S52 and S63 may be performed with the same detection sensitivity. That is, the first detection sensitivity DS1 and the second detection sensitivity DS2 may be the same detection sensitivity. Also, the control device 60 may not perform at least one of the processes of steps S52 and S63.

[0090] In the above embodiment, the processes of steps S53 and S64 may be processes for outputting the same sound. In other words, the first sound MS1 and the second sound MS2 may be the same type of sound. Note that the type of sound is not limited to pitch, and may also be different in melody or rhythm. Furthermore, the control device 60 may not perform at least one of the processes of steps S53 and S64.

[0091] In the above embodiment, the control device 60 does not have to perform the process of step S61. Also, the control device 60 may perform the process of step S61 before step S51.

[0092] In the above embodiment, the processes of steps S16 and S33 may differ in points other than the speed at which the door 21 is closed, the detection sensitivity of the pinch detection control, and the type of sound output when the door 21 is closed. For example, the manner in which the tail lamps of the vehicle 20 are turned on when the door 21 is closed may be different. Also, for example, the process of starting to close the door 21 under control in the second mode MD2 may include a process of sending a message to the mobile terminal 10 informing the user that the door 21 is being closed. In this case, if the process of starting to close the door 21 under control in the first mode MD1 does not include a process of sending the message, the process of sending the message differs from the processes of steps S16 and S33.

[0093] In the above embodiment, the processes of steps S16 and S33 may be controls that close the door 21 and have some different control content. If the control device 60 starts control in the second mode MD2, which includes closing the door 21, in the process of step S33 in addition to the process of step S16, it is possible to prevent the door 21 from remaining open when the key position KP is no longer detected.

[0094] In the above embodiment, the non-detection counter NC is used to determine whether the key position KP has not been detected for a specified period of time. However, the method for determining whether the key position KP has not been detected for a specified period of time is not limited to using the non-detection counter NC. For example, when the execution unit 61 makes a negative determination in step S13, it may again determine whether the key position KP has been detected after the specified period has elapsed. If the key position KP is not detected even after the second detection, it may determine that the key position KP has not been detected for a specified period of time. Alternatively, when the execution unit 61 makes a negative determination in step S13, it may start a timer instead of the process in step S31. Thereafter, instead of the process in step S32, it may determine whether the timer has counted down the specified period of time. In this case, if the timer has not counted down the specified period of time, the process returns to step S13. If the timer has counted down the specified period of time, the process proceeds to step S33. The timer is not stopped or reset unless the key position KP is detected.

[0095] <About the decision to cancel> The control device 60 may omit the process of step S41. The control device 60 may omit the process of step S42. The control device 60 may omit the process of step S43. The control device 60 may omit the process of step S44. The control device 60 can determine whether or not the cancellation condition CC is satisfied by performing at least one of the processes of steps S41 to S44.

[0096] The control device 60 may omit the processes of steps S17 to S19 and step S21. In other words, the control device 60 does not need to stop closing the door 21 after starting to close the door 21.

[0097] <Device> The vehicle key 11 does not have to be a digital key. For example, the vehicle key 11 may be an electronic key capable of wireless communication with the vehicle 20.

[0098] The communication standard between the mobile terminal 10 and the vehicle 20 is not limited to the example in the above embodiment. The communication standard may be a standard other than BLE and UWB, such as Wi-Fi (registered trademark), 4G, or 5G.

[0099] <switch> According to the above embodiment, the switch 30 is capable of outputting a reservation request RR, an open request OR, a cancel request CR, and a close request to the control device 60. However, multiple switches may be provided for each request to be output. In this case, for example, the switch 30 may be capable of outputting only the reservation request RR.

[0100] In the above embodiment, the vehicle 20 does not have to have the switch 30. In this case, if the vehicle 20 has the communication device 40 as an acquisition unit, the control device 60 can acquire the reservation request RR.

[0101] <Communication Device> In the above embodiment, the communication device 40 is capable of outputting a signal indicating signal strength SS, a reservation request RR, an open request OR, a cancel request CR, and a close request to the control device 60. However, multiple devices may be provided for each request to be output. For example, a device that communicates using BLE may output a signal indicating signal strength SS to the control device 60, and a device that communicates using Wi-Fi may output other requests to the control device 60.

[0102] The communication device 40 does not need to acquire a signal indicating the signal strength SS. In this case, the position detection device 50 may always perform position detection control regardless of the signal strength SS. In the above embodiment, the vehicle 20 does not need to have the communication device 40. In this case, if the vehicle 20 has the switch 30 as an acquisition unit, the control device 60 can acquire the reservation request RR.

[0103] <Position detection device> The method of controlling the position detection of the position detection device 50 is not limited to the example of the above embodiment. For example, the position detection device 50 may calculate the distance only from the propagation time of the test signal S2 transmitted to the mobile terminal 10, without using the test signal S3. Also, the position detection device 50 may detect only the distance as the key position KP, without acquiring the angle. Also, for example, the position detection device 50 may detect the position as the key position KP using, for example, longitude and latitude, without using distance measurement.

[0104] When the position detection device 50 does not acquire the key position KP, it may output a signal to the control device 60 indicating that the key position KP has not been acquired. Although the position detection device 50 is exemplified as the detection unit, the detection unit may be present in the control device 60. In other words, the control device 60 and the position detection device 50 may be configured as a single device.

[0105] <Other> The configuration of the door opening / closing device 70 is not limited to the example of the above embodiment. For example, the door opening / closing device 70 may store information indicating the drive speed of the door 21 corresponding to the control of the first mode MD1 and the control of the second mode MD2. In this case, the control unit 72 may receive a signal indicating the control of the first mode MD1 or the control of the second mode MD2 from the control device 60 and close the door 21 at a speed corresponding to the mode.

[0106] The configuration of the pinch detection device 80 is not limited to the example of the above embodiment. For example, the detection sensitivity is not limited to load. In this case, the detection sensor 81 may be a sensor that acquires the rotation speed of the motor 71. In this case, the detection sensitivity may be the rate of decrease in rotation speed. Also, the control device 60 may determine whether or not an object is pinched. In other words, the control device 60 may be provided with a pinch detection unit.

[0107] The vehicle 20 does not have to be equipped with the pinch detection device 80. The vehicle 20 does not have to be equipped with the sound output device 90. The door 21 is not limited to a back door of the vehicle 20, but may be a rear door, etc. Also, the door 21 may be a sliding door.

[0108] The control device 60 may be configured as a circuit including one or more processors that execute various processes according to a computer program (software). The control device 60 may also be configured as a circuit including one or more dedicated hardware circuits, such as an application-specific integrated circuit (ASIC), that execute at least some of the various processes, or a combination thereof. The processor includes a CPU and memory such as RAM and ROM. The memory stores program code or instructions configured to cause the CPU to execute processes. The memory, i.e., computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer. The same applies to the control unit of each device.

[0109] (Additional notes) The technical ideas that can be understood from the above-described embodiment and modified examples will be described. <Appendix 1> a detection unit that detects the position of a vehicle key; acquiring a reservation request for closing a door of the vehicle, and starting a first mode control including closing the door when the position of the vehicle key detected by the detection unit is located at a distance equal to or greater than a predetermined specified distance; a control unit that receives the reservation request and, when the detection unit does not detect the position of the vehicle key for a predetermined period of time, starts control in a second mode that includes closing the door and is different from the first mode; A vehicle equipped with:

[0110] <Appendix 2> The speed at which the door is closed in the second mode of control is slower than the speed at which the door is closed in the first mode of control. Vehicles listed in <Appendix 1>.

[0111] <Appendix 3> The vehicle further includes a pinch sensor that detects whether an object is pinched in the door when the door is closed, The control in the first mode includes control of detecting the pinch by the pinch detection unit, The control in the second mode includes control of detecting the pinch by the pinch detection unit, The pinch detection sensitivity in the second mode control is higher than the pinch detection sensitivity in the first mode control. Vehicles described in <Appendix 1> or <Appendix 2>.

[0112] <Appendix 4> Further provided is a sound output device that outputs sound, the control in the first mode includes outputting a sound from the sound output device when the door is closed; the control in the second mode includes outputting a sound from the sound output device when the door is closed; The type of sound output under the control of the second mode is different from the type of sound output under the control of the second mode. A vehicle described in any one of <Appendix 1> to <Appendix 3>.

[0113] <Appendix 5> an acquisition unit that acquires the reservation request and outputs it to the control unit, The control unit acquires the reservation request from the acquisition unit. A vehicle described in any one of <Appendix 1> to <Appendix 4>.

[0114] <Appendix 6> The acquisition unit is a switch provided in the vehicle that outputs the reservation request to the control unit when operated. Vehicles listed in <Appendix 5>.

[0115] <Appendix 7> When the acquisition unit is a first acquisition unit, a second acquisition unit that acquires the reservation request and outputs it to the control unit, The second acquisition unit is a communication device that receives the reservation request from a terminal via wireless communication and outputs the received reservation request to the control unit. Vehicles described in <Appendix 5> or <Appendix 6>.

[0116] <Appendix 8> The control unit stops closing the door when a request to stop closing the door is received while the door is being closed. A vehicle described in any one of <Appendix 1> to <Appendix 7>.

[0117] <Appendix 9> an acquisition unit that acquires the reservation request and the cancellation request and outputs them to the control unit; The control unit acquires the stop request from the acquisition unit. Vehicles listed in <Appendix 8>.

[0118] <Appendix 10> The acquisition unit is a switch provided in the vehicle that outputs the stop request to the control unit when operated while the door is being closed. Vehicles listed in <Appendix 9>.

[0119] <Appendix 11> When the acquisition unit is a first acquisition unit, a second acquisition unit that acquires the reservation request and outputs it to the control unit, The second acquisition unit is a communication device that receives the reservation request and the cancellation request from a terminal via wireless communication and outputs the received request to the control unit. Vehicles described in <Appendix 9> or <Appendix 10>.

[0120] <Appendix 12> The control unit stops closing the door when the position of the vehicle key detected by the detection unit is located at a distance less than the specified distance from the vehicle while the door is being closed. A vehicle described in any one of <Appendix 1> to <Appendix 11>.

[0121] <Appendix 13> The vehicle further includes a pinch sensor that detects whether an object is pinched in the door when the door is closed, The control unit stops closing the door when the pinch detection unit detects the pinch while the door is being closed. A vehicle described in any one of <Appendix 1> to <Appendix 12>.

[0122] <Appendix 14> The vehicle key is a digital key. A vehicle described in any one of <Appendix 1> to <Appendix 13>. [Explanation of symbols]

[0123] 10...Terminal 11...Vehicle key 20...Vehicle 21...Door 22...Control system 30...Switch 40...Communication equipment 50...Position detection device 60...Control device 70...Door opening and closing device 80...Pinch detection device 90...Sound output device 100...Communication Systems AR1...Area 1 AR2: Area 2 CC…Cancellation conditions CR…Cancellation request KP...Key position L1: First specified distance L2…Second specified distance MD1...First mode MD2...Second mode PR...Control program RR...Reservation request

Claims

1. a detection unit that detects the position of a vehicle key; acquiring a reservation request for closing a door of the vehicle, and starting a first mode control including closing the door when the position of the vehicle key detected by the detection unit is located at a distance equal to or greater than a predetermined specified distance; a control unit that receives the reservation request and, when the detection unit does not detect the position of the vehicle key for a predetermined period of time, starts control of a second mode that includes closing the door and is different from the first mode; A vehicle equipped with:

2. The speed at which the door is closed in the second mode of control is slower than the speed at which the door is closed in the first mode of control. The vehicle of claim 1 .

3. The vehicle further includes a pinch sensor that detects whether an object is pinched in the door when the door is closed, The control in the first mode includes control of detecting the pinch by the pinch detection unit, The control in the second mode includes control of detecting the pinch by the pinch detection unit, The pinch detection sensitivity in the second mode control is higher than the pinch detection sensitivity in the first mode control. The vehicle of claim 1 .

4. Further provided is a sound output device that outputs sound, the control in the first mode includes outputting a sound from the sound output device when the door is closed; the control in the second mode includes outputting a sound from the sound output device when the door is closed; The type of sound output in the second mode control is different from the type of sound output in the first mode control. The vehicle of claim 1 .

5. an acquisition unit that acquires the reservation request and outputs it to the control unit, The control unit acquires the reservation request from the acquisition unit. The vehicle of claim 1 .

6. The acquisition unit is a switch provided in the vehicle that outputs the reservation request to the control unit when operated.

6. The vehicle of claim 5.

7. The acquisition unit is a communication device that receives the reservation request from a terminal via wireless communication and outputs the received reservation request to the control unit.

6. The vehicle of claim 5.

8. The control unit stops closing the door when a request to stop closing the door is received while the door is being closed. The vehicle of claim 1 .

9. an acquisition unit that acquires the reservation request and the cancellation request and outputs them to the control unit; The control unit acquires the stop request from the acquisition unit.

9. The vehicle of claim 8.

10. The acquisition unit is a switch provided in the vehicle that outputs the stop request to the control unit when operated while the door is being closed.

10. The vehicle of claim 9.

11. The acquisition unit is a communication device that receives the reservation request and the cancellation request from a terminal via wireless communication and outputs the received requests to the control unit.

10. The vehicle of claim 9.

12. The control unit stops closing the door when the position of the vehicle key detected by the detection unit is located at a distance less than the specified distance from the vehicle while the door is being closed. The vehicle of claim 1 .

13. The vehicle further includes a pinch sensor that detects whether an object is pinched in the door when the door is closed, The control unit stops closing the door when the pinch detection unit detects the pinch while the door is being closed. The vehicle of claim 1 .

14. The vehicle key is a digital key. The vehicle of claim 1 .

15. A communication system comprising the vehicle according to claim 1 and a terminal capable of communicating with the vehicle, The terminal has a digital key as the vehicle key. Communication system.

16. A communication system comprising the vehicle according to claim 7 and the terminal capable of communicating with the vehicle, The terminal transmits the reservation request to the acquisition unit. Communication system.

17. a detection unit that detects the position of a vehicle key; acquiring a reservation request for closing a door of the vehicle, and starting a first mode control including closing the door when the position of the vehicle key detected by the detection unit is located at a distance equal to or greater than the specified distance; a control unit that receives the reservation request and, when the detection unit does not detect the position of the vehicle key for a predetermined period of time, starts control of a second mode that includes closing the door and is different from the first mode; A vehicle control system comprising:

18. A vehicle control method executed by a control system that controls a vehicle, comprising: The control system includes: Detecting the position of a vehicle key that is a key for the vehicle; acquiring a reservation request for closing a door of the vehicle, and starting a first mode control including closing the door when the detected position of the vehicle key is located at a predetermined distance or more from the vehicle; when the reservation request is received and the position of the vehicle key is not detected for a predetermined period of time, starting control of a second mode that includes closing the door and is different from the first mode; Run How to control the vehicle.

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