Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program that are capable of efficiently controlling the movement of a moving object while ensuring safety.SOLUTION: A control device includes: a communication unit 55 that communicates with an information terminal 60 carried by a user of a vehicle 10; an external environment recognition unit 56 that acquires external environment recognition data for the vehicle 10; and a control unit 57 that controls movement of the vehicle 10 on the basis of instructions from the information terminal 60. The control unit 57 switches between: a first control that controls movement speed of the vehicle 10 in movement control, on the basis of a distance between the vehicle 10 and the information terminal 60; and a second control that controls the movement speed of the vehicle 10 in the movement control on the basis of the external environment recognition data.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

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

[0003] BACKGROUND ART Conventionally, remote parking systems have been known that use a smartphone to remotely control a vehicle to park the vehicle in a designated parking space or to cause the vehicle to leave the parking space.

[0004] For example, Patent Document 1 describes a vehicle control device that controls the movement of a vehicle via instructions from a remote control terminal outside the vehicle, and determines whether or not to operate the remote control of the vehicle based on the difference between the distance between the vehicle and the operator and the distance between the vehicle and the remote control terminal, and prohibits operation of the remote control if, for example, the position of the operator and the position of the remote control terminal are separated by more than a predetermined distance, or if the operator is not detected. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7000401 Summary of the Invention [Problem to be solved by the invention]

[0006] In large parking lots such as public parking lots, depending on the parking location, when a vehicle is pulled out of the parking location and called to a predetermined exit location, the distance to call the vehicle is long, which can cause issues such as it taking a long time for the vehicle to reach the exit location or requiring the user calling the vehicle to perform remote operations for a long time. However, Patent Document 1 does not describe how to address these issues.

[0007] An object of the present invention is to provide a control device, a control method, and a control program that are capable of efficiently controlling the movement of a moving object while ensuring safety. [Means for solving the problem]

[0008] The present invention provides A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile object; an external environment recognition unit that acquires external environment recognition data of the moving object; a control unit that controls the movement of the moving object based on an instruction from the information terminal, The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. It is a control device.

[0009] The present invention provides A control device for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. It is a control method.

[0010] The present invention provides A control program for a control device of a mobile body, the control program comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. It is a control program that executes the process. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that are capable of efficiently controlling the movement of a moving object while ensuring safety. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of a vehicle 10 shown in FIG. 1. FIG. [Figure 4] 2 is a diagram illustrating an example of a hardware configuration of an information terminal 60 owned by a user of a vehicle 10. FIG. [Figure 5] 10 is a flowchart showing an example of a process of the information terminal 60 when the vehicle 10 leaves the garage. [Figure 6]10 is a diagram showing an example of a call instruction screen 67 displayed on a display screen 66 of an information terminal 60. FIG. [Figure 7] 10 is a flowchart showing an example of processing of the vehicle 10 when it leaves the garage. [Figure 8] 10 is a flowchart showing an example of a first control of a moving speed according to a determination result. [Figure 9] 10 is a flowchart showing an example of a second control of the movement speed according to the determination result. [Figure 10] FIG. 10 is a diagram illustrating an example of a call start state in which a user calls a vehicle. [Figure 11] FIG. 2 is a diagram showing an example of an exit route of a vehicle V1. [Figure 12] FIG. 10 is a diagram showing an example of a state in which the summoning of the vehicle V1 has been completed. [Figure 13] 10 is a flowchart showing a modified example of the processing of the information terminal 60 when the vehicle 10 leaves the garage. [Figure 14] 10 is a flowchart showing a modified example of the processing of the vehicle 10 when it leaves the garage. [Figure 15] 10 is a flowchart showing a modified example of the first control of the movement speed according to the determination result. [Figure 16] 10 is a flowchart showing a modified example of the second control of the movement speed according to the determination result. [Figure 17] 10 is a diagram showing an example of a vehicle confirmation notification screen 68 displayed on a display screen 66 of an information terminal 60. FIG. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

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

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

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

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

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

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

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

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

[0025] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with route guidance to the destination. The navigation device 18 has a storage device (not shown) that has a map information database. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0026] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to movement assistance for the vehicle 10 via the touch panel 42. The movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include a remote parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking via a user's operation. The exit assistance buttons include a remote exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving via a user's operation. Note that components other than the touch panel 42, such as an information terminal such as a smartphone or tablet, may be used as the input device or the display device.

[0027] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to stopping with passengers getting in and out, and does not include temporary stops at traffic signals, etc. Also, a "parking position" refers to a position where a moving body (vehicle 10) is stopped, i.e., a parking position.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the memory unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 is an example of a "control device" of the present invention. The memory unit 54 also stores information regarding the remote movement of the vehicle 10 (remote entry and exit).

[0029] The calculation unit 52 has a communication unit 55 that communicates with the outside of the vehicle 10, an external environment recognition unit 56 that recognizes an external environment recognition image of the vehicle 10, a control unit 57 that controls the remote movement of the vehicle 10, and a notification unit 58 that notifies movement information of the vehicle 10.

[0030] The communication unit 55 performs wireless communication with another communication device 120 via the communication IF 24. The other communication device 120 includes a base station, a communication device of another vehicle, an information terminal 60 such as a smartphone or tablet that can be carried by the user of the vehicle 10, and the like. The communication unit 55 transmits and receives information related to the remote movement of the vehicle 10 to and from the information terminal 60, etc. via the communication IF 24.

[0031] The external environment recognition unit 56 acquires external environment recognition data representing the recognition results of the external environment of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R from each camera.

[0032] The control unit 57 performs remote parking assistance and remote leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the control unit 57. In the remote parking assistance and remote leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. The control unit 57 also performs assisted parking assistance and assisted leaving assistance when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10. Note that during remote parking assistance and remote leaving assistance, the user may be in the vehicle 10, or may be outside the vehicle 10 (not in the vehicle).

[0033] For example, the control unit 57 performs movement control to move the vehicle 10 based on external environment recognition data of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and a predetermined parking space designated by the user. The movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (parking position) and exit control to remotely exit the vehicle 10 from the parking space to a predetermined target position (exit position). The control unit 57 performs the parking control and the exit control based on instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted via wireless communication from an information terminal 60 or the like carried by the user of the vehicle 10. The control unit 57 also outputs information related to the parking control and the exit control to the information terminal 60 or the like via the input / output unit 50.

[0034] Specifically, the control unit 57 controls the movement speed of the vehicle 10 in the movement control using different control methods based on the distance between the position of the vehicle 10 and the position of the information terminal 60. For example, when the distance between the vehicle 10 and the information terminal 60 is equal to or greater than a first predetermined value, the control unit 57 performs a first control that controls the movement speed of the vehicle 10 based on the communication status between the vehicle 10 and the information terminal 60. Furthermore, when the distance between the vehicle 10 and the information terminal 60 is less than the first predetermined value, the control unit 57 performs a second control that controls the movement speed of the vehicle 10 based on external environment recognition data acquired by a camera or the like. The first predetermined value is, for example, a distance at which the face of the user holding the information terminal 60 cannot be recognized in an image captured by the camera. The control unit 57 switches the control of the movement speed of the vehicle 10 in the movement control between the first control and the second control based on the distance between the vehicle 10 and the information terminal 60. The "distance" between the vehicle 10 and the information terminal 60 is measured by wireless communication (for example, UWB (Ultra Wide Band: registered trademark) communication) performed between the vehicle 10 and the information terminal 60.

[0035] For example, in the first control, the control unit 57 determines whether the vehicle 10 is in a first confirmation state in which the user can confirm the vehicle 10 based on the communication status with the information terminal 60, and controls the movement speed of the vehicle 10 in the movement control based on the determination result.

[0036] In the first control, the control unit 57 determines that the first confirmation state is in which the user can confirm the vehicle 10 when the section between the vehicle 10 and the information terminal 60 is a straight section. A straight section refers to, for example, a surrounding environment in which the position of the vehicle 10 is visible to the user carrying the information terminal 60. A visible surrounding environment includes, for example, a state in which there are no objects that obstruct communication between the vehicle 10 and the information terminal 60. Furthermore, in the first control, the control unit 57 determines that the first confirmation state is in which the user can confirm the vehicle 10 when the information terminal 60 is pointed toward the vehicle 10. "Pointed toward" refers to a state in which, from the communication status with the information terminal 60, the back of the information terminal 60 is pointed toward the vehicle 10 when viewed from a plan view, for example, and it can be estimated that the user is looking toward the vehicle 10.

[0037] When the control unit 57 determines that the vehicle 10 is in the first confirmation state in the first control, it increases the movement speed of the vehicle 10 in the movement control compared to when it determines that the vehicle 10 is not in the first confirmation state. Furthermore, when the control unit 57 determines that the vehicle 10 is not in the first confirmation state, it issues a notification to the user via the notification unit 58 to urge the user to check the vehicle 10. Urging the user to check means, for example, urging the user to move to a position where the vehicle 10 can be seen or urging the user to look towards the vehicle 10.

[0038] For example, in the second control, the control unit 57 determines whether the vehicle 10 is in a second confirmation state in which the user is checking the vehicle 10 based on external recognition data acquired by a camera or the like, and controls the movement speed of the vehicle 10 in the movement control based on the determination result.

[0039] In the second control, when the control unit 57 can detect the user based on the external environment recognition data, it determines that the second confirmation state is in which the user is checking the vehicle 10. When the control unit 57 can detect the user, it means, for example, when the user's face can be detected. The user's face is a face that can be determined to be the user checking the vehicle 10. Whether or not the user is checking may be determined, for example, based on whether or not the user's line of sight or face is facing the vehicle 10.

[0040] The control unit 57 controls the movement of the vehicle 10 in a state where image authentication of the user has been performed on the information terminal 60, receives user feature information acquired in the image authentication of the information terminal 60 from the information terminal 60, and in a second control, detects the user based on the external environment recognition data and the user feature information. The user feature information includes, for example, the user's facial features, the user's clothing, the user's hairstyle, etc.

[0041] By detecting the user, the control unit 57 narrows down the acquisition area of ​​external environment recognition data by a camera or the like to a position where a user corresponding to the stored feature information is present. For example, when the control unit 57 detects a person who has a high degree of match with the feature information in object detection (person detection) based on the external environment recognition data (camera image), the control unit 57 then narrows down the area to monitor the user's status. Alternatively, the control unit 57 simply detects a person who has a high degree of match with the user's feature information in object detection (person detection) based on the external environment recognition data (camera image).

[0042] When the control unit 57 determines that the vehicle 10 is in the second confirmation state in the second control, it increases the movement speed of the vehicle 10 in the movement control compared to when it determines that the vehicle 10 is not in the second confirmation state. Furthermore, when the control unit 57 determines that the vehicle 10 is not in the second confirmation state, it issues a notification to the user via the notification unit 58 to prompt the user to check the vehicle 10. Prompting the user to check means, for example, prompting the user to find (check) the vehicle 10 and turn their head toward the vehicle 10.

[0043] In the first control, the control unit 57 determines whether or not the vehicle 10 is in a first confirmation state in which the user can confirm the vehicle 10, based on the state of communication with the information terminal 60, and if it determines that the vehicle is in the first confirmation state, it sets the movement speed of the vehicle 10 in the movement control to a first speed that is higher than when it is determined that the vehicle is not in the first confirmation state. Also, in the second control, if it determines that the vehicle is in a second confirmation state based on external environment recognition data acquired by a camera or the like, it sets the movement speed of the vehicle 10 in the movement control to a second speed that is higher than when it is determined that the vehicle is not in the second confirmation state and is higher than the first speed in the first control.

[0044] In addition, when controlling the movement of vehicle 10, if the distance between vehicle 10 and an obstacle around vehicle 10 is equal to or greater than a second predetermined value, control unit 57 increases the movement speed of vehicle 10 in the movement control compared to when the distance between vehicle 10 and the obstacle is less than the second predetermined value.

[0045] For example, when it is determined that the vehicle 10 is not in a first confirmation state in which the user can confirm the vehicle 10, the notification unit 58 issues a notification urging the user to confirm the vehicle 10. Furthermore, when it is determined that the vehicle 10 is not in a second confirmation state in which the user confirms the vehicle 10, the notification unit 58 issues a notification urging the user to confirm the vehicle 10. The notification may be issued, for example, via the navigation device 18 of the vehicle 10 or via the information terminal 60 of the user.

[0046] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0047] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0048] The communication IF 24 enables wireless communication with other communication devices 120. For example, the communication IF 24 includes a UWB interface that enables UWB communication with the information terminal 60.

[0049] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0050] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0051] <Hardware Configuration of User's Information Terminal 60> 4 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected by, for example, a bus 65.

[0052] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information terminal 60. The processor 61 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 61 may also be realized by combining a plurality of digital circuits.

[0053] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 61.

[0054] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. The auxiliary memory stores various programs that operate the information terminal 60. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0055] The auxiliary memory may also include a portable memory that is removable from the information terminal 60. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive and an SD (Secure Digital) memory card, and external hard disk drives.

[0056] The communication interface 63 is a communication interface that performs wireless communication with the outside of the information terminal 60 (for example, the communication IF 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0057] The user interface 64 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized by, for example, a touch panel. The output device can be realized by, for example, a display or a speaker. The user interface 64 is controlled by the processor 61.

[0058] The processor 61 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement instruction control (including parking instruction control and leaving instruction control) for the vehicle 10 based on a specific operation by the user on the display screen of the information terminal 60. The specific operation includes, for example, a tap operation to instruct parking and leaving (calling) the vehicle 10, a slide operation to move the vehicle 10, and the like. The slide operation includes a continuous position instruction operation (for example, a swipe operation), a rotation instruction operation in a predetermined rotation direction (for example, a rotational swipe operation), and the like. The processor 61 also generates a guidance image that prompts the user to perform an instruction operation on the display screen of the information terminal 60, and performs control to display the generated guidance image on the display screen.

[0059] The processor 61 transmits to the vehicle 10 a parking instruction for remotely parking the vehicle 10 and an exit instruction for remotely exiting the vehicle 10 based on a specific operation on the display screen of the information terminal 60. An application is installed in the information terminal 60 that can automatically move the vehicle 10 (remote parking, remote exit) by transmitting and receiving information related to movement control of the vehicle 10 to and from the vehicle 10.

[0060] <Processing of the information terminal 60> FIG. 5 is a flowchart showing an example of the processing of the information terminal 60 when the vehicle 10 leaves the garage.

[0061] The information terminal 60 (processor 61) determines whether a call has been made by a user to call the vehicle 10 to the departure location (step S11). The vehicle 10 is called when an application for remotely departing the vehicle 10, which is installed on the information terminal 60, is launched and an execution button is tapped.

[0062] In step S11, if a call has not been performed (step S11: No), the information terminal 60 repeats the determination process of step S11. In step S11, if a call has been performed (step S11: Yes), the information terminal 60 performs user authentication using a face authentication system (step S12). User authentication is performed by acquiring feature information of the user from a face image of the user captured by the camera of the information terminal 60, and determining whether or not the user is registered as a user of the vehicle 10 based on the acquired feature information.

[0063] Next, the information terminal 60 starts transmitting a movement instruction to the vehicle 10 in response to a user operation on the display screen of the information terminal 60 (step S13). As described above, the user operation includes a tap operation, a swipe operation, a rotational swipe operation, and the like. For example, the information terminal 60 continues to transmit a movement instruction signal while the user continues a rotational swipe operation, and stops transmitting the movement instruction when the operation is stopped (or may transmit a stop instruction). User operations on the display screen will be described later with reference to FIG. 6.

[0064] Next, the information terminal 60 determines whether or not the vehicle 10 has arrived at the call-up location, which is the departure location from which the vehicle 10 was called (step S14).

[0065] In step S14, if the call position has not been reached (step S14: No), the information terminal 60 repeats the determination process of step S14. In step S14, if the call position has been reached (step S14: Yes), the information terminal 60 ends this process.

[0066] <Display screen of information terminal 60> Fig. 6 is a diagram showing an example of a call instruction screen 67 displayed on the display screen 66 of the information terminal 60. The call instruction screen 67 is an example of a screen displayed in step S13 of Fig. 5. The user can call the vehicle 10 to the departure position by performing a specific operation on the call instruction screen 67.

[0067] 6, the call instruction screen 67 displays a message 67a such as "Calling a vehicle." The call instruction screen 67 also displays a guidance message 67b that provides guidance on the operation, such as "Rotate your finger to move the vehicle. Release your finger to stop it." The call instruction screen 67 also displays a movement icon 67c that moves following the position touched by the user during the rotary swipe operation.

[0068] <Processing of Vehicle 10> FIG. 7 is a flowchart showing an example of processing performed by the vehicle 10 when the vehicle leaves the garage.

[0069] The vehicle 10 (control ECU 20) determines whether or not a movement instruction instructing the vehicle 10 to leave the garage has been received from the information terminal 60 (step S21).

[0070] In step S21, if a movement instruction has not been received from the information terminal 60 (step S21: No), the vehicle 10 repeats the determination process of step S21. In step S21, if a movement instruction has been received from the information terminal 60 (step S21: Yes), the vehicle 10 starts movement control at a movement speed V11 in accordance with a user operation (step S22). As described in step S13 of FIG. 5, the user operation includes specific operations such as a tap operation, a swipe operation, and a rotational swipe operation. The vehicle 10 stops movement control when it is no longer possible to receive a movement instruction from the information terminal 60 or when it receives a stop instruction from the information terminal 60.

[0071] Next, the vehicle 10 acquires the distance between the vehicle 10 and the information terminal 60 (step S23). The distance between the vehicle 10 and the information terminal 60 is measured by UWB communication performed between the vehicle 10 and the information terminal 60.

[0072] The vehicle 10 determines whether the distance between the vehicle 10 and the information terminal 60 acquired in step S23 is equal to or greater than a predetermined value (step S24).

[0073] In step S24, if the distance between the vehicle 10 and the information terminal 60 is equal to or greater than a predetermined value (step S24: Yes), the vehicle 10 determines the relative position based on the state of communication with the information terminal 60 (step S25). Determining the relative position based on the state of communication means determining whether the vehicle 10 is in a state (first confirmation state) where the user carrying the information terminal 60 can confirm the vehicle 10 based on the communication status with the information terminal 60. The first confirmation state refers to, for example, a case where the section between the vehicle 10 and the information terminal 60 is a straight section or a case where the information terminal 60 is directed toward the vehicle 10 (a case where it can be assumed that the user is looking toward the vehicle 10). This determination of the relative position can be performed using, for example, a UWB communication function. Alternatively, this determination of the relative position may be performed using a three-dimensional sensor such as a LiDAR in addition to or instead of communication such as UWB communication.

[0074] Next, the vehicle 10 performs a first control to move the vehicle 10 at a moving speed according to the determination result of step S25 (step S26). That is, when the relative position of the vehicle 10 with respect to the information terminal 60 is in the first confirmation state, the moving speed of the vehicle 10 in the movement control is set higher than when the relative position is not in the first confirmation state.

[0075] Next, the vehicle 10 returns to step S23 and repeats each process.

[0076] On the other hand, if the distance between the vehicle 10 and the information terminal 60 is not equal to or greater than the predetermined value in step S24 (step S24: No), the vehicle 10 determines the relative position using the on-board camera (step S27). Determining the relative position using the on-board camera means determining whether or not the user is checking the vehicle 10 (second checking state) based on the external environment recognition data acquired by the camera. The second checking state refers to, for example, when the user's face can be detected based on the external environment recognition data. Note that, in order to identify the user of the information terminal 60, information stored in advance as, for example, the user's feature points may be used.

[0077] Next, the vehicle 10 performs a second control to move the vehicle 10 at a movement speed according to the determination result of step S27 (step S28). That is, when the relative position of the vehicle 10 with respect to the information terminal 60 is in the second confirmation state, the vehicle 10 increases the movement speed of the vehicle 10 in the movement control compared to when the relative position is not in the second confirmation state.

[0078] Next, the vehicle 10 determines whether or not it has arrived at the call location, which is the departure location called from the information terminal 60 (step S29). If the vehicle 10 has not arrived at the call location in step S29 (step S29: No), the vehicle 10 returns to step S27 and repeats each process. If the vehicle 10 has arrived at the call location in step S29 (step S29: Yes), the vehicle 10 ends this process.

[0079] <First control of movement speed> 8 is a flowchart showing an example of a first control of the moving speed in accordance with the determination result. This first control is the control in step S26 in FIG.

[0080] First, vehicle 10 determines whether the section between vehicle 10 and information terminal 60 is a straight section (step S31). If, in step S31, the section between vehicle 10 and information terminal 60 is a straight section (step S31: Yes), vehicle 10 sets correction value A1 for adjusting the travel speed of vehicle 10 to A1=1 [km / h] (step S32). If, in step S31, the section between vehicle 10 and information terminal 60 is not a straight section (step S31: No), vehicle 10 sets correction value A1 for adjusting the travel speed of vehicle 10 to A1=0 [km / h] (step S33).

[0081] After setting the correction value A1 in step S32 or step S33, the vehicle 10 determines whether the information terminal 60 is facing the vehicle 10 (it can be assumed that the user is looking toward the vehicle 10) (step S34). If the information terminal 60 is facing the vehicle 10 in step S34 (step S34: Yes), the vehicle 10 sets the correction value A2 for adjusting the moving speed of the vehicle 10 to A2=1 [km / h] (step S35). If the information terminal 60 is not facing the vehicle 10 in step S34 (step S34: No), the vehicle 10 sets the correction value A2 for adjusting the moving speed of the vehicle 10 to A2=0 [km / h] (step S36).

[0082] After setting the correction value A2 in step S35 or step S36, the vehicle 10 sets the travel speed V01 of the vehicle 10 to V01=V11+A1+A2 (step S37), where V11 is the travel speed of the vehicle 10 that started in step S22 of FIG.

[0083] <Second control of movement speed> 9 is a flowchart showing an example of second control of the moving speed in accordance with the determination result. This second control is the control in step S28 in FIG.

[0084] First, the vehicle 10 determines whether or not the user has been detected (step S41). The fact that the user has been detected means that the user's face has been detected as looking toward the vehicle 10 based on the external environment recognition data. If the user has been detected in step S41 (step S41: Yes), the vehicle 10 sets the correction value A3 for adjusting the moving speed of the vehicle 10 to A3=1 [km / h] (step S42). If the user cannot be detected in step S41 (step S41: No), the vehicle 10 sets the correction value A3 for adjusting the moving speed of the vehicle 10 to A3=0 [km / h] (step S43).

[0085] After setting the correction value A3 in step S42 or step S43, the vehicle 10 sets the travel speed V02 of the vehicle 10 to V02=V12+A3 (step S44). V12 may be the same as or different from V11. However, V01 <V02、すなわちV11+A1+A2<V12+A3とする。

[0086] <Vehicle pickup in parking lots> Next, referring to FIGS. 10 to 12, the process of hailing a vehicle in the parking lot 70 will be described.

[0087] FIG. 10 is a diagram showing an example of a call start state in which a user calls a vehicle. User U1 is attempting to call his / her own vehicle V1, which is parked in a parking lot 70, to his / her location using an information terminal 60 carried by user U1. In addition to user U1's own vehicle V1, multiple other vehicles V2 are parked in the parking lot 70. When an application for remotely retrieving his / her own vehicle V1 is launched on the information terminal 60, face authentication of user U1 is performed using the camera of the information terminal 60, and then remote retrieval of his / her own vehicle V1 is initiated in response to an operation by user U1. His / her own vehicle V1 is an example of a "mobile body" in the present invention.

[0088] 11 is a diagram showing an example of an exit route for the host vehicle V1. When the host vehicle V1 receives a movement instruction to leave the vehicle from the information terminal 60, the host vehicle V1 generates an exit route 73 from the parking position 71 of the host vehicle V1 to the requested exit position 72 based on external recognition data acquired by a camera or the like, and controls the movement of the host vehicle V1 based on the generated exit route 73.

[0089] When the distance between the vehicle V1 and the information terminal 60 is, for example, so far (greater than or equal to a first predetermined value) that the face of the user U1 cannot be recognized in a camera image, the vehicle V1 performs a first control that controls the moving speed based on the state of communication with the information terminal 60. In the first control, when the vehicle V1 is in a first confirmation state in which the user U1 can confirm the vehicle V1, for example, when the section between the vehicle V1 and the information terminal 60 is a straight section, the moving speed of the vehicle V1 is set to a first speed that is faster than when the vehicle V1 is not in the first confirmation state.

[0090] Furthermore, when the distance between the vehicle V1 and the information terminal 60 is, for example, a distance at which the face of the user U1 can be recognized in a camera image (less than a first predetermined value), the vehicle V1 performs a second control that controls the movement speed based on external environment recognition data acquired by a camera, etc. In the second control, when the vehicle V1 is in a second confirmation state in which the user U1 is checking the vehicle V1, for example, when it can be determined that the face of the user U1 is facing in the direction of the vehicle V1 based on the external environment recognition data, the movement speed of the vehicle V1 is set to a second speed that is faster than when the vehicle is not in the second confirmation state and faster than the first speed in the first control.

[0091] 12 is a diagram showing an example of a state in which the calling of the vehicle V1 has been completed. The vehicle V1 switches between the first control and the second control, which control the movement speed of the vehicle V1 in the movement control, based on the distance between the vehicle V1 and the information terminal 60, and moves to the departure position 72 (see FIG. 11) called by the user U1.

[0092] As described above, the control device (control ECU 20) of this embodiment performs a first control in which the movement speed of the host vehicle V1 during the exit control (movement control) is controlled based on the communication state when the distance between the host vehicle V1 (vehicle 10) parked in the parking lot 70 and the information terminal 60 carried by the user U1 is equal to or greater than a first predetermined value. Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is less than the first predetermined value, the control device performs a second control in which the movement speed of the vehicle 10 during the exit control is controlled based on the external environment recognition data. Therefore, the movement speed of the host vehicle V1 can be changed by appropriate control according to the distance between the host vehicle V1 and the information terminal 60 on the movement route, thereby enabling efficient movement control of the vehicle 10 while ensuring safety. As a result, even when the host vehicle V1 is parked in a large parking lot 70 with a long movement route, the travel time required to move the host vehicle V1 to the exit position can be shortened, and the time required for the user U1 to operate the information terminal 60 to exit the host vehicle V1 can be shortened.

[0093] Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is equal to or greater than a first predetermined value, the control device of this embodiment determines, based on the state of communication with the information terminal 60, whether the host vehicle V1 is in a first confirmation state in which the user U1 can confirm the host vehicle V1, and increases the movement speed of the host vehicle V1 when the first confirmation state is reached compared to when the first confirmation state is not reached. Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is less than the first predetermined value, the control device determines, based on external environment recognition data acquired by the camera of the host vehicle V1, whether the host vehicle V1 is in a second confirmation state in which the user U1 confirms the host vehicle V1, and increases the movement speed of the host vehicle V1 when the second confirmation state is reached compared to when the second confirmation state is not reached. As a result, the movement speed of the host vehicle V1 can be appropriately controlled both when the distance between the host vehicle V1 and the information terminal 60 is equal to or greater than the first predetermined value and when it is less than the first predetermined value, and the host vehicle V1 can be efficiently controlled to move to, for example, a depot exit position while ensuring safety.

[0094] Furthermore, when the distance between the host vehicle V1 and the information terminal 60 is equal to or greater than a first predetermined value, when the section between the host vehicle V1 and the information terminal 60 is a straight section and the host vehicle V1 is visible from the information terminal 60, or when the information terminal 60 is pointed toward the host vehicle V1 (a state in which it can be assumed that the user U1 is looking toward the host vehicle V1), the control device of this embodiment determines that the host vehicle V1 is in a first confirmation state in which the user U1 can confirm the host vehicle V1. Therefore, the movement speed of the host vehicle V1 can be appropriately controlled, and the host vehicle V1 can be efficiently controlled to, for example, an exit position while ensuring safety.

[0095] Furthermore, when the distance between the vehicle V1 and the information terminal 60 is less than a first predetermined value, the control device of this embodiment determines that the user U1 is in a second confirmation state in which the user U1 is checking the vehicle V1 if it can detect, based on the external environment recognition data, that the user U1 is checking and looking at the vehicle V1. This makes it possible to appropriately control the movement speed of the vehicle V1, and efficiently control the movement of the vehicle V1 to, for example, a departure position while ensuring safety.

[0096] Furthermore, the control device of this embodiment sets the second speed of the vehicle 10 in the second control when the distance between the host vehicle V1 and the information terminal 60 is less than the first predetermined value higher than the first speed of the vehicle 10 in the first control when the distance is equal to or greater than the first predetermined value. This makes it possible to appropriately set the movement speed of the host vehicle V1 according to the distance between the host vehicle V1 and the information terminal 60, and to efficiently control the movement of the moving body while ensuring safety.

[0097] <Modification of the processing of the information terminal 60> 13 is a flowchart showing a modified example of the processing of the information terminal 60 when the vehicle 10 leaves the garage. First, the information terminal 60 (processor 61) determines whether or not a call has been made by a user to call the vehicle 10 to the departure location, similar to the processing of step S11 in FIG. 5 (step S11).

[0098] In step S11, if a call is executed (step S11: Yes), the information terminal 60 performs user authentication using a face authentication system, and transmits the user characteristic information acquired by the user authentication to the vehicle 10 (step S121).

[0099] The processing from step S13 to step S14 is the same as the processing from step S13 to step S14 in FIG.

[0100] <Modification of the processing of the vehicle 10> 14 is a flowchart showing a modified example of the processing of the vehicle 10 when leaving the garage. In the processing of the modified example, first, the vehicle 10 (control ECU 20) receives the user characteristic information transmitted from the information terminal 60 (step S211).

[0101] The processes from step S21 to step S26 are the same as the processes from step S21 to step S26 in FIG.

[0102] If the distance between the vehicle 10 and the information terminal 60 is not equal to or greater than a predetermined value in step S24 (step S24: No), the vehicle 10 determines the relative position using the on-board camera based on the user characteristic information received in step S211 (step S271). As described in step S27 of FIG. 7, determining the relative position using the on-board camera means determining whether or not the user is checking the vehicle 10 (second checking state) based on external environment recognition data acquired by the camera. In addition, the second checking state refers to, for example, a case where it is detected that the user's face is looking toward the vehicle 10 based on the external environment recognition data. Therefore, "based on the user characteristic information" means accurately determining whether or not the user carrying the information terminal 60 is the user of the communication partner by adding the user characteristic information to the external environment recognition data.

[0103] The processes from step S28 to step S29 are the same as the processes from step S28 to step S29 in FIG.

[0104] Thus, according to the modified example of the processing of the vehicle 10, in the second control that controls the movement speed of the vehicle 10 based on the external environment recognition data, whether or not the vehicle is in the second confirmation state in which the user is checking the vehicle 10 is determined based on the external environment recognition data and the user characteristic information acquired by image authentication of the information terminal 60. This makes it possible to more accurately determine whether the target user is checking the vehicle 10, and to efficiently control the movement of the moving body while ensuring safety.

[0105] <Modification of the first control of the movement speed> 15 is a flowchart showing a modified example of the first control of the moving speed according to the determination result. The processes from step S31 to step S33 are the same as the processes from step S31 to step S33 in FIG.

[0106] After setting the correction value A1 to A1=0 [km / h] in step S33, the vehicle 10 transmits a notification to the information terminal 60 (user) urging the user to check the vehicle 10 being called (step S331). The notification urging the user to check is, for example, a notification urging the user to move to a position where the vehicle 10 can be seen. After sending the notification urging the user to check the vehicle 10, the vehicle 10 proceeds to step S34.

[0107] The processes from step S34 to step S36 are the same as the processes from step S34 to step S36 in FIG.

[0108] After setting the correction value A2 to A2=0 [km / h] in step S36, the vehicle 10 transmits a notification to the information terminal 60 (user) urging the user to check the vehicle 10 being called (step S361). The notification urging the user to check is, for example, a notification urging the user to look toward the vehicle 10. After sending the notification urging the user to check the vehicle 10, the vehicle 10 proceeds to step S37. The processing in step S37 is the same as the processing in step S37 in FIG. 8.

[0109] <Modification of the second control of the movement speed> 16 is a flowchart showing a modified example of the second control of the moving speed according to the determination result. The processes from step S41 to step S43 are the same as the processes from step S41 to step S43 in FIG.

[0110] After setting the correction value A3 to A3=0 [km / h] in step S43, the vehicle 10 transmits a notification to the information terminal 60 (user) urging the user to check the vehicle 10 being called (step S431). The notification urging the user to check is, for example, a notification urging the user to find the vehicle 10 and turn their eyes toward the vehicle 10. After issuing the notification urging the user to check the vehicle 10, the vehicle 10 proceeds to step S44. The processing of step S44 is the same as the processing of step S44 in FIG. 9.

[0111] <Display screen of information terminal 60> 17 is a diagram showing an example of a vehicle confirmation notification screen 68 displayed on the display screen 66 of the information terminal 60. The vehicle confirmation notification screen 68 is an example of a screen displayed in steps S331 and S361 of FIG. 15 and step S431 of FIG. 16.

[0112] 17, the vehicle confirmation notification screen 68 displays a message 68a such as "Check for vehicles to increase movement speed. If you cannot see the vehicle, move to a location where you can see the vehicle." The vehicle confirmation notification screen 68 also displays a guidance message 67b such as "Rotary swipes will move the vehicle. Release your finger to stop it," which is displayed while the vehicle 10 is being called, and a movement icon 67c that moves following the touch position of the user during the rotational swipe operation.

[0113] According to the modified examples of the first and second control of the moving speed, when the control device determines that the user cannot confirm the vehicle 10 in the first control that controls the moving speed of the vehicle 10 based on the communication state, and when the control device determines that the user has not confirmed the vehicle 10 in the second control that controls the moving speed of the vehicle 10 based on external recognition data, the control device issues a notification urging the user to confirm the vehicle 10. This makes it possible to guide the user so that the state of the user and the moving body becomes the first confirmation state or the second confirmation state, thereby enabling the movement of the moving body to be efficiently controlled while ensuring safety.

[0114] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0115] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0116] In the above embodiment, an example has been described in which the moving body is a vehicle (four-wheeled automobile), but this is not limiting. For example, the moving body may be a motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0117] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0118] (1) A control device (control ECU 20) for a moving body (vehicle 10), a communication unit (communication unit 55) that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit (external environment recognition unit 56) that acquires external environment recognition data of the moving object; a control unit (control unit 57) that controls the movement of the moving object based on an instruction from the information terminal; The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. Control device.

[0119] According to (1), the moving speed of the moving object can be switched between control based on the communication state and control based on the external environment recognition data depending on the distance between the moving object and the information terminal on the moving route. Therefore, it is possible to appropriately control the moving speed of the moving object in a section according to the distance, and it is possible to efficiently control the movement of the moving object while ensuring safety.

[0120] (2) The control device according to (1), The control unit When the distance is equal to or greater than a first predetermined value, the first control is performed; When the distance is less than the first predetermined value, the second control is performed. Control device.

[0121] According to (2), when the distance between the mobile body and the information terminal is equal to or greater than a first predetermined value, the moving speed of the mobile body is controlled by a first control based on the communication state, and when the distance is less than the first predetermined value, the moving speed of the mobile body is controlled by a second control based on external environment recognition data. Therefore, the moving speed of the mobile body can be appropriately controlled according to the distance between the mobile body and the information terminal, and the movement of the mobile body can be efficiently controlled while ensuring safety.

[0122] (3) The control device according to (1) or (2), The control unit, in the first control, determines whether or not the moving object is in a first confirmation state in which the user can confirm the moving object based on the state of the communication, and controls a moving speed of the moving object in the movement control based on a determination result of whether or not the moving object is in the first confirmation state. Control device.

[0123] According to (3), when the distance between the moving body and the information terminal is equal to or greater than a first predetermined value, it is possible to determine whether the moving body can be seen by the user based on the state of communication, and to control the moving speed of the moving body. Therefore, when the distance between the moving body and the information terminal is equal to or greater than the first predetermined value, it is possible to appropriately control the moving speed of the moving body, thereby ensuring safety and efficiently controlling the movement of the moving body.

[0124] (4) The control device according to (3), When it is determined that the first confirmation state is present in the first control, the control unit increases the movement speed of the moving body in the movement control compared to when it is determined that the first confirmation state is not present. Control device.

[0125] As in (4), when the distance between the moving body and the information terminal is equal to or greater than a first predetermined value, the moving speed of the moving body is increased when the moving body can be seen by the user, thereby enabling the movement of the moving body to be efficiently controlled while ensuring safety.

[0126] (5) The control device according to (3) or (4), the control unit determines that the first confirmation state is in a case where the section between the moving object and the information terminal is a straight section. Control device.

[0127] As in (5), in order for the user to be able to see the moving object, it is preferable that the section between the moving object and the information terminal is a straight section.

[0128] (6) The control device according to any one of (3) to (5), the control unit determines that the information terminal is in the first confirmation state when the information terminal is pointed toward the moving object. Control device.

[0129] As in (6), it is preferable that the user can see the moving object when the information terminal is pointed toward the moving object.

[0130] (7) The control device according to any one of (3) to (6), When it is determined that the moving object is not in the first confirmation state, the control unit notifies the user to prompt the user to confirm the moving object. Control device.

[0131] As in (7), by sending a notification urging the user to check the moving object, the state of the user and the moving object can be set to the first check state, thereby enabling the movement of the moving object to be efficiently controlled while ensuring safety.

[0132] (8) The control device according to any one of (1) to (7), The control unit, in the second control, determines whether or not the user is in a second confirmation state in which the user is checking the moving object based on the external environment recognition data, and controls the movement speed of the moving object in the movement control based on the determination result of whether or not the user is in the second confirmation state. Control device.

[0133] According to (8), when the distance between the moving body and the information terminal is less than a first predetermined value, it is possible to determine whether the user is checking the moving body based on the external environment recognition data, and to control the moving speed of the moving body. Therefore, when the distance between the moving body and the information terminal is less than the first predetermined value, it is possible to appropriately control the moving speed of the moving body, thereby efficiently controlling the movement of the moving body while ensuring safety.

[0134] (9) The control device according to (8), When it is determined that the second confirmation state is present in the second control, the control unit increases the movement speed of the moving body in the movement control compared to when it is determined that the second confirmation state is not present. Control device.

[0135] As in (9), when the distance between the moving body and the information terminal is less than a first predetermined value, the moving speed of the moving body is increased while the user is checking the moving body, thereby enabling the movement of the moving body to be efficiently controlled while ensuring safety.

[0136] (10) The control device according to (8) or (9), The control unit determines that the second confirmation state is in a case where the user can be detected based on the external environment recognition data in the second control. Control device.

[0137] As in (10), the state in which the user is checking the moving object is preferably a state in which the user can detect the moving object based on the external environment recognition data.

[0138] (11) The control device according to (10), The control unit performing the movement control in a state where image authentication of the user has been performed in the information terminal; receiving, from the information terminal, characteristic information of the user acquired in the image authentication; In the second control, the user is detected based on the external environment recognition data and feature information of the user. Control device.

[0139] According to (11), by detecting a user based on external recognition data and user feature information, the user can be identified more quickly and accurately, and the movement of a moving object can be controlled efficiently while ensuring safety.

[0140] (12) The control device according to any one of (8) to (11), When it is determined that the moving object is not in the second confirmation state, the control unit notifies the user to prompt the user to confirm the moving object. Control device.

[0141] As in (12), by sending a notification urging the user to check the moving object, the state of the user and the moving object can be set to the second check state, thereby enabling the movement of the moving object to be efficiently controlled while ensuring safety.

[0142] (13) The control device according to any one of (8) to (12), The control unit In the first control, it is determined whether or not the moving object is in a first confirmation state in which the user can confirm the moving object based on the state of the communication, and when it is determined that the moving object is in the first confirmation state, a moving speed of the moving object in the movement control is set to a first speed that is higher than when it is determined that the moving object is not in the first confirmation state; In the second control, when it is determined that the second confirmation state is present, the movement speed of the moving body in the movement control is set to a second speed that is higher than when it is determined that the second confirmation state is not present and is higher than the first speed. Control device.

[0143] As in (13), by making the second speed of the moving body in the second control when the distance between the moving body and the information terminal is less than the first predetermined value higher than the first speed of the moving body in the first control when the distance is equal to or greater than the first predetermined value, the speed of the moving body can be appropriately controlled according to the distance, and the movement of the moving body can be efficiently controlled while ensuring safety.

[0144] (14) The control device according to any one of (1) to (13), When the distance between the moving body and the obstacle is equal to or greater than a second predetermined value, the control unit increases the moving speed of the moving body in the movement control compared to when the distance between the moving body and the obstacle is less than the second predetermined value. Control device.

[0145] As in (14), it is preferable to increase the moving speed of the moving body when the distance between the moving body and the obstacle is large.

[0146] (15) A control device for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data for the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. Control method.

[0147] According to (15), the moving speed of the moving object can be switched between control based on the communication state and control based on the external environment recognition data depending on the distance between the moving object and the information terminal on the moving route. Therefore, it is possible to appropriately control the moving speed of the moving object in a section according to the distance, and it is possible to efficiently control the movement of the moving object while ensuring safety.

[0148] (16) A control program for a control device of a mobile body, the control program including: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls the moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on the distance between the moving body and the information terminal. A control program that executes processing.

[0149] According to (16), the moving speed of the moving body can be switched between control based on the communication state and control based on external environment recognition data depending on the distance between the moving body and the information terminal on the moving route. Therefore, it is possible to appropriately control the moving speed of the moving body in sections according to the distance, and it is possible to efficiently control the movement of the moving body while ensuring safety. [Explanation of symbols]

[0150] 10 Vehicles (moving objects) 20 Control ECU (control device) 55 Communications Department 56 External world recognition department 57 Control Unit 60 Information terminal

Claims

1. A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile object; an external environment recognition unit that acquires external environment recognition data of the moving object; a control unit that controls the movement of the moving object based on an instruction from the information terminal, The control unit Switching between a first control that controls a moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on a distance between the moving body and the information terminal. Control device.

2. The control device according to claim 1, The control unit When the distance is equal to or greater than a first predetermined value, the first control is performed; When the distance is less than the first predetermined value, the second control is performed. Control device.

3. The control device according to claim 1, The control unit, in the first control, determines whether or not the moving object is in a first confirmation state in which the moving object can be confirmed by the user based on the communication, and controls a moving speed of the moving object in the movement control based on a determination result of whether or not the moving object is in the first confirmation state. Control device.

4. The control device according to claim 3, When it is determined that the moving object is in the first confirmation state in the first control, the control unit increases the moving speed of the moving object in the movement control compared to when it is determined that the moving object is not in the first confirmation state. Control device.

5. The control device according to claim 3, the control unit determines that the first confirmation state is in a case where the section between the moving object and the information terminal is a straight section; Control device.

6. The control device according to claim 3, the control unit determines that the information terminal is in the first confirmation state when the information terminal is pointed toward the moving object. Control device.

7. The control device according to claim 3, When it is determined that the moving object is not in the first confirmation state, the control unit notifies the user to prompt the user to confirm the moving object. Control device.

8. The control device according to claim 1, The control unit, in the second control, determines whether or not the user is in a second confirmation state in which the user is confirming the moving object based on the external environment recognition data, and controls the movement speed of the moving object in the movement control based on a determination result of whether or not the user is in the second confirmation state. Control device.

9. The control device according to claim 8, When it is determined that the second confirmation state is present in the second control, the control unit increases the movement speed of the moving body in the movement control compared to when it is determined that the second confirmation state is not present. Control device.

10. The control device according to claim 8, The control unit determines that the second confirmation state is in a case where the user can be detected based on the external environment recognition data in the second control. Control device.

11. The control device according to claim 10, The control unit performing the movement control in a state where image authentication of the user has been performed in the information terminal; receiving, from the information terminal, characteristic information of the user acquired in the image authentication; In the second control, the user is detected based on the external environment recognition data and feature information of the user. Control device.

12. The control device according to claim 8, When it is determined that the moving object is not in the second confirmation state, the control unit issues a notification to the user to prompt the user to confirm the moving object. Control device.

13. The control device according to claim 8, The control unit In the first control, it is determined based on the communication whether or not the moving object is in a first confirmation state in which the user can confirm the moving object, and when it is determined that the moving object is in the first confirmation state, a moving speed of the moving object in the movement control is set to a first speed that is higher than when it is determined that the moving object is not in the first confirmation state; In the second control, when it is determined that the second confirmation state is present, the movement speed of the moving body in the movement control is set to a second speed that is higher than when it is determined that the second confirmation state is not present and is higher than the first speed. Control device.

14. 14. The control device according to any one of claims 1 to 13, When a distance between the moving body and an obstacle is equal to or greater than a second predetermined value, the control unit increases the moving speed of the moving body in the movement control compared to when the distance between the moving body and the obstacle is less than the second predetermined value. Control device.

15. A control device for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls a moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on a distance between the moving body and the information terminal. Control method.

16. A control program for a control device of a mobile body, the control program comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; an external environment recognition unit that acquires external environment recognition data of the mobile body; and a control unit that controls the movement of the mobile body based on an instruction from the information terminal, The control unit Switching between a first control that controls a moving speed of the moving body in the movement control based on the state of the communication and a second control that controls the moving speed of the moving body in the movement control based on the external environment recognition data, based on a distance between the moving body and the information terminal. A control program that executes processing.

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