Control system and control method

Abstract

To provide a control system and control method, capable of appropriately determining execution authority of a user about a target function of a vehicle.SOLUTION: A control system includes: a calculation section 52 provided in a vehicle 10; and an information terminal 60 carried by a user of the vehicle 10. The calculation section 52 includes: a first movement control section 55 for executing first movement control to move the vehicle 10 in a state where the user is riding in the vehicle 10; and a second movement control section 56 for executing second movement control to move the vehicle 10 in a state where the user is not riding in the vehicle 10. When receiving a request to execute the first movement control from the user, the first movement control section 55 executes first determination processing to determine execution authority of the user about the first movement control, and executes the first movement control on the basis of a result of the determination. When receiving a request to execute the second movement control from the user, the information terminal 60 executes second determination processing to determine execution authority of the user about the second movement control, and causes the calculation section 52 to execute the second movement control on the basis of a result of the determination.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

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

[0003] Conventionally, remote parking systems have been known that use a smartphone to remotely control a vehicle to park it in a designated parking space or to move it out of the parking space. Also known is a Function On Demand (FOD) system that unlocks target functions of the vehicle according to the user's contract status (payment management).

[0004] For example, Patent Document 1 describes a vehicle remote control system including an electronic key pre-registered as a device capable of remotely controlling the vehicle, a portable communication device pre-registered as a property of the vehicle user, an on-board authentication unit mounted on the vehicle and determining whether authentication of the electronic key and the portable communication device has been successful, and a permission determination unit that permits control of autonomous driving to automatically drive the vehicle to the user's location based on the on-board authentication unit's determination that authentication of the electronic key and the portable communication device has been successful.Patent Document 2 describes a method for remotely controlling a vehicle function using a signal receiving unit built into a portable control unit to acquire vehicle signals, in which a visual or audible signal is generated at a predetermined position on the vehicle, and only when the visual or audible signal is acquired by the signal receiving unit, the remote control is activated for a predetermined time after acquiring the authentication signal that is recognized as valid by the vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6354541 [Patent Document 2] Special Publication No. 2016-529767 Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, in an FOD system, target functions are unlocked by, for example, operating the navigation screen or performing personal authentication using a driver monitor camera. Therefore, in the case of a remote parking system that allows a user to remotely control a vehicle using a smartphone, personal authentication inside the vehicle is not possible (it is inconvenient) when the user starts remote operation outside the vehicle. In this case, a method can be considered in which information from the smartphone is transmitted to the vehicle via communication and personal authentication is performed on the vehicle side. However, this method requires personal authentication via communication between the smartphone and the vehicle, which can take time to complete and can involve the risk of information leakage due to the transmission and reception of personal information. Patent Documents 1 and 2 do not disclose user authentication when the user is inside the vehicle and when the user is outside the vehicle and the unlocking of remote functions based on the authentication.

[0007] The present invention aims to provide a control system and a control method that can appropriately determine a user's execution authority for target functions of a vehicle, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0008] The present invention provides A control system including a control device provided in a mobile body and an information terminal carried by a user of the mobile body, The control device a first movement control unit that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit that performs second movement control to move the moving body when the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, the first movement control unit performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority regarding the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process. It is a control system.

[0009] The present invention provides A control method in a control system including a control device provided in a mobile object and an information terminal carried by a user of the mobile object, comprising: The control device a first movement control unit that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit that performs second movement control to move the moving body when the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, it performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority regarding the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process. It is a control method. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control system and a control method that can appropriately determine a user's execution authority regarding a target function of a vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle 10 equipped with a control device included in a control system of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3] 2 is a block diagram showing an example of the internal configuration of a vehicle 10 shown in FIG. 1. FIG. [Figure 4] 1 is a diagram illustrating an example of a control system 1 according to the present invention. [Figure 5] 2 is a diagram illustrating an example of the hardware configuration of an information terminal 60 owned by a user U1 of a vehicle 10. FIG. [Figure 6] 10 is a sequence diagram showing an example of a first movement control for moving the vehicle 10 with the user U1 in the vehicle 10. FIG. [Figure 7] FIG. 7 is a sequence diagram showing a case in which the user U1 does not have authority to execute automatic parking in the first movement control of FIG. 6. [Figure 8] FIG. 10 is a diagram showing an example of a message screen displayed during the first movement control. [Figure 9] 1 is a diagram showing an example of how the movement of a vehicle 10 is controlled from outside the vehicle 10 using an information terminal 60. FIG. [Figure 10] FIG. 10 is a sequence diagram showing an example of a second determination process in remote parking. [Figure 11] FIG. 10 is a sequence diagram showing an example of control of remote parking that is executed based on the result of the second determination process. [Figure 12] FIG. 10 is a diagram showing an example of a disclaimer screen 72 displayed on a terminal screen 71 of an information terminal 60. [Figure 13] 7 is a diagram showing an example of a power-on screen 73 displayed on a terminal screen 71 of an information terminal 60. FIG. [Figure 14]10 is a diagram showing an example of an execution instruction acceptance screen 74 displayed on a terminal screen 71 of an information terminal 60. FIG. [Figure 15] 11 is a sequence diagram showing a case in which the user U1 does not have authority to execute remote parking in the second determination process of FIG. 10. FIG. [Figure 16] FIG. 10 is a diagram showing an example of a message screen displayed during second movement control. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of a control system and a control method of 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 of explanation, the front-rear, left-right, and up-down directions are described in accordance with 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.

[0013] <Vehicle 10 Configuration> Fig. 1 is a side view showing an example of a vehicle 10 equipped with a control device included in the control system 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] <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 24. Vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0018] 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.

[0019] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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).

[0024] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that has a map information database.

[0025] The navigation device 18 includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[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 an auto 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 an auto 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 display device.

[0027] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage 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 storage 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.

[0028] The calculation unit 52 has a first movement control unit 55, a second movement control unit 56, a first communication unit 57, and a first input unit 58. The calculation unit 52 is an example of the "control device" of the present invention.

[0029] The first movement control unit 55 performs a first movement control to move the vehicle 10 while the user is in the vehicle 10. When the first movement control unit 55 receives a first execution request from the user requesting that the first movement control be executed, the first movement control unit 55 performs a first determination process to determine the user's execution authority for the first movement control. The first movement control unit 55 executes the first movement control based on the result of the first determination process. In this embodiment, the "first movement control" refers to controlling the movement of the vehicle 10 from inside the vehicle using an APS (Auto Parking System). The "determination process" refers to a process of authenticating the user (identifying who they are) and determining whether the user has execution authority for the movement control function, for example, by communicating with an external server and querying the server.

[0030] The second movement control unit 56 performs second movement control that allows the vehicle 10 to move when the user is not in the vehicle 10. In this embodiment, the "second movement control" refers to movement control of the vehicle 10 from outside the vehicle using an RPS (Remote Parking System). The second movement control unit 56 receives an instruction to execute movement control from outside the vehicle 10, for example, by communicating with an information terminal carried by the user of the vehicle 10 via the communication IF 24.

[0031] The first communication unit 57 is a communication unit that can communicate with an external first server, for example. The first server is a server that manages license information of the vehicle 10. The first server may be a physical server or a virtual server.

[0032] The first input unit 58 is an input unit capable of receiving a first execution instruction for the first movement control. The first input unit 58 may be, for example, the touch panel 42 of the navigation device 18, an in-vehicle camera (drum monitor camera) that captures an image of the user inside the vehicle, or an APS-SW. The SW may be a mechanical switch such as a push-button or slide-type switch, or may be a capacitance switch or a button displayed on the touch panel.

[0033] Furthermore, when the first determination process determines that the user's execution authority for the first movement control is valid, the first movement control unit 55 controls the state of the first input unit 58 to a state in which an execution instruction for the first movement control is accepted. When the first determination process does not determine that the user's execution authority for the first movement control is valid, the first movement control unit 55 controls the state of the first input unit 58 to a state in which an execution instruction for the first movement control is not accepted. The first movement control unit 55 executes the first determination process by making an inquiry to the first server via the first communication unit 57.

[0034] The first movement control unit 55 also performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, in which the operation of the steering wheel 110 is automatically performed under the control of the first movement control unit 55. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is automatically performed. The first movement control unit 55 also performs auxiliary parking assistance and auxiliary 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.

[0035] For example, the first movement control unit 55 performs movement control to move the vehicle 10 based on recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and a predetermined parking space designated by the user. The movement control includes parking control to automatically park the vehicle 10 in a predetermined parking space (target parking position), and withdrawal control to automatically withdraw the vehicle 10 from the predetermined parking space to a user's call position (target withdrawal position).

[0036] The second movement control unit 56 also performs remote parking assistance and remote leaving assistance for the vehicle 10 through automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the second movement control unit 56. 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 second movement control unit 56 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 have gotten out of the vehicle 10 and be outside (not in the vehicle), or the user may be in the vehicle 10.

[0037] For example, the second movement control unit 56 performs movement control to move the vehicle 10 based on recognition data of the external environment of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and a predetermined parking space designated by the user. The movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (target parking position) and exit control to remotely exit the vehicle 10 from the predetermined parking space to a user's designated pickup location (target exit position). The second movement control unit 56 can execute the parking control and the exit control in accordance with an execution instruction signal received from the outside via the communication IF 24. The input from the outside includes input via wireless communication from an information terminal 60 or the like carried by the user of the vehicle 10. The second movement control unit 56 can also transmit information related to the parking control and the exit control to the external information terminal 60 via the communication IF 24.

[0038] Furthermore, the first movement control unit 55 and the second movement control unit 56 register a predetermined parking space designated by the user as a designated parking space in the memory unit 54. The first movement control unit 55 and the second movement control unit 56 register feature points related to the designated parking space in the memory unit 54 based on recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The first movement control unit 55 and the second movement control unit 56 perform parking control to park the vehicle 10 in the designated parking space and exit control to exit the vehicle 10 from the designated parking space based on the recognition data of the outside world of the vehicle 10 and the feature points of the designated parking space designated by the user.

[0039] 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.

[0040] 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).

[0041] The communication IF 24 enables wireless communication with another communication device 120. The other communication device 120 includes a base station, a communication device of another vehicle, an external server, and an information terminal such as a smartphone or tablet carried by the user of the vehicle 10. For example, the communication IF 24 includes a UWB interface capable of performing UWB (Ultra Wide Band: registered trademark) communication. For wireless communication with the information terminal 60, other than UWB communication, for example, BLE (Bluetooth Low Energy: registered trademark), NFC (Near Field Communication: registered trademark), etc. may be used.

[0042] 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).

[0043] 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).

[0044] <Control system of the present invention> Fig. 4 is a diagram showing an example of a control system 1 of the present invention. As shown in Fig. 4, the control system 1 includes a server 90, which is an example of the "first server" and "second server" of the present invention, a vehicle 10 that can communicate with the server 90, and an information terminal 60. In this example, one vehicle 10 is shown, but the number of vehicles may be multiple.

[0045] The server 90 is an external server installed in a facility such as a management center. The server 90 manages authority information regarding the execution authority of the vehicle 10, which is acquired when the user U1 uses the vehicle 10, in association with the user U1 (user ID). The software for controlling the movement of the vehicle 10 described above is managed by this server 90. Use of this software is one piece of authority information regarding the execution authority of the vehicle 10. The user can download the software from this server 90. The control system 1 is, for example, a Function on Demand (FoD) system.

[0046] The server 90 controls the enabling / disabling (ON / OFF) of functions provided in the vehicle 10 when a user uses the vehicle 10. Specifically, the server 90 controls the switching between enabling / disabling of functions in the vehicle 10 by transmitting to the vehicle 10 a function ON signal that enables a function or a function OFF signal that disables a function.

[0047] The information terminal 60 is, for example, a smartphone or tablet owned by the user. After purchasing the vehicle 10, the user purchases execution authority for a predetermined function of the vehicle 10 online, for example, using the information terminal 60. The user can use the purchased function of the vehicle 10 by transmitting the execution authority ID obtained through the purchase from the information terminal 60 to the server 90.

[0048] Vehicle 10 is a vehicle capable of so-called automated driving or assisted driving. Note that the automated driving control includes the first mobility control by the APS and the second mobility control by the RPS described above. Vehicle 10 may be a vehicle whose users are limited, such as a vehicle owned by an individual, or a vehicle whose users are not limited, such as a vehicle owned by a corporation. Those who can use a privately owned vehicle include, for example, the vehicle owner, their family, relatives, and friends. Vehicles owned by a corporation include vehicles that can be used by an unspecified number of users who have signed a specified contract, such as for rental cars or shared cars.

[0049] <Hardware configuration of information terminal 60> 5 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user U1 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] The user interface 64 includes, for example, an input device that accepts operation input from the user U1 and an output device that outputs information to the user U1. 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.

[0056] The processor 61 performs movement control to instruct the movement of the vehicle 10. For example, the processor 61 instructs the vehicle 10 to execute movement control (including parking control and leaving control) based on a specific operation by the user U1 on the terminal screen 71 (see FIG. 4) of the information terminal 60. The specific operation includes, for example, a slide operation to move the vehicle 10, a tap operation to reserve parking and leaving plans, etc. The slide operation includes a continuous position instruction operation (for example, a swipe operation), a rotation instruction operation in a predetermined rotation direction (for example, a rotational swipe operation), etc. The processor 61 also generates a guidance image that prompts the user U1 to perform an instruction operation on the terminal screen of the information terminal 60, and controls the display of the generated guidance image on the terminal screen.

[0057] Furthermore, when the processor 61 receives a second execution request from the user U1 requesting execution of the second movement control, the processor 61 performs a second determination process to determine the user U1's execution authority for the second movement control. Based on the result of the second determination process, the processor 61 causes the second movement control unit 56 of the vehicle 10 to execute the second movement control. The "second determination process" is a determination process that is executed without the intervention of the second movement control unit 56 of the vehicle 10. In other words, the second determination process is a determination process that is executed by the processor 61 of the information terminal 60 communicating with the server 90 without the intervention of the calculation unit 52 of the vehicle 10 and inquiring about the execution authority of the user U1. "Causing the vehicle 10 to execute the second movement control" means, for example, moving the vehicle 10 by transmitting a movement instruction signal to the vehicle 10 in response to the acceptance of a rotational swipe operation on the terminal screen 71.

[0058] Furthermore, when the processor 61 determines through the second determination process that the execution authority of the user U1 regarding the second movement control is valid, the processor 61 controls the state of the touch panel on the terminal screen 71 to a state in which an execution instruction for the second movement control is accepted. When the processor 61 determines through the second determination process that the execution authority of the user U1 regarding the second movement control is not valid, the processor 61 controls the state of the touch panel on the terminal screen 71 to a state in which an execution instruction for the second movement control is not accepted. The terminal screen 71 of the information terminal 60 is an input unit capable of accepting a second execution instruction for the second movement control, and is an example of the "second input unit" of the present invention.

[0059] Furthermore, the processor 61 executes the second determination process by making an inquiry to the server 90, which is an example of a second server, via the communication interface 63. The processor 61 and the communication interface 63 are a communication unit capable of communicating with the second server, and are an example of the "second communication unit" of the present invention. The second server may be the same as the first server, or may be a different server. The second server may be a physical server or a virtual server. The processor 61 and the user interface 64 are a communication unit capable of communicating with the terminal screen 71, and are an example of the "second communication unit" of the present invention.

[0060] Furthermore, when the processor 61 is unable to communicate with the second server, it causes the second movement control unit 56 of the vehicle 10 to execute second movement control based on the results of past second determination processing stored in the memory 62. For example, when the vehicle is underground (out of service area) where radio waves cannot reach the server 90, personal authentication may be performed using the most recent history stored in the information terminal 60. Furthermore, the "results of past second determination processing" stored in the memory 62 may be set with an expiration date during which they can be used for personal authentication. The memory 62 is an example of a "storage unit" in the present invention.

[0061] The processor 61 transmits to the vehicle 10 a parking instruction for remotely parking the vehicle 10 and an exit instruction for remotely exiting the vehicle 10 based on a specific operation on the terminal screen 71 of the information terminal 60. An application is installed in the information terminal 60 that is capable of controlling the movement of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10.

[0062] <Automatic movement control by vehicle 10> 6 is a sequence diagram showing an example of a first movement control for moving the vehicle 10 with the user U1 in the vehicle 10. The first movement control of this example is an example of parking control when the vehicle 10 is automatically parked.

[0063] 6, the vehicle 10 receives an operation to activate the automatic parking function (step S11). The operation to activate the automatic parking function is a first execution request for automatic parking (first movement control) from the user, and is, for example, a tap operation on the "parking assistance button" displayed on the touch panel 42 of the navigation device 18.

[0064] Next, the vehicle 10 performs user authentication for the user U1 (step S12). The user authentication may be performed, for example, by inputting a user ID into the touch panel 42, or by facial authentication using a camera image. The vehicle 10 transmits the user information collected through the user authentication and an inquiry as to whether the user has authority to execute the first movement control to the server 90 (first server) (step S13).

[0065] When the server 90 receives the query about the execution authority of the user U1, the server 90 acquires execution authority information that is managed in association with, for example, a user ID (step S14). In this example, it is assumed that the user U1 has execution authority for automatic parking of the vehicle 10. The server 90 transmits execution authority information (authorized) to the vehicle 10 indicating that the user U1 has execution authority for automatic parking of the vehicle 10 (step S15).

[0066] When the vehicle 10 receives the execution authority information (authority granted) from the server 90 in step S15, it enables the "APS switch" that accepts an instruction to execute the first movement control by the APS, and lights up the "APS switch" button on the touch panel 42, for example (step S16). Then, when the "APS switch" button on the touch panel 42 is touched by the user U1, the vehicle 10 accepts the operation of the APS switch (step S17).

[0067] Next, the vehicle 10 starts automatic parking of the vehicle 10 based on the external recognition data acquired by each camera and the designated parking space (step S18). When the vehicle 10 completes automatic parking (step S19), the vehicle 10 turns off the ignition (step S20).

[0068] Note that the user authentication in step S12 may be performed in advance, for example, when starting to drive the vehicle 10. Furthermore, although the first movement control in this example has been described as a control for automatically parking the vehicle 10, it is not limited to this. For example, the first movement control may be a control for automatically leaving the vehicle 10. In the case of automatic leaving, it is not necessary to turn off the ignition after completing automatic leaving.

[0069] Fig. 7 is a sequence diagram showing a case where user U1 does not have authority to execute auto-parking in the first movement control of Fig. 6. As shown in Fig. 7, the processes from step S11 to step S13 are the same as the processes from step S11 to step S13 described in Fig. 6.

[0070] When the server 90 receives the query about the execution authority from the user U1 in step S13, it acquires execution authority information that is managed in association with the user ID (step S14). In this example, the user U1 does not have the execution authority for the automatic parking of the vehicle 10 (no authority). The server 90 transmits execution authority information (no authority) to the vehicle 10 indicating that the user U1 does not have the execution authority for the automatic parking of the vehicle 10 (step S15).

[0071] When the vehicle 10 receives the execution authority information (no authority) from the server 90 in step S15, the vehicle 10 displays a message indicating that the execution authority is not present on the touch panel 42 (step S21).

[0072] The first movement control is not limited to control for automatically parking the vehicle 10, but may be control for automatically leaving the vehicle 10.

[0073] <Message during first movement control> Fig. 8 is a diagram showing an example of a message screen displayed during the first movement control. The message screen in this example is a screen displayed on the touch panel 42 when the user U1 does not have the authority to execute auto-parking in step S21 of the first movement control in Fig. 7.

[0074] 8, the message screen 81 includes an execution authority message 81a such as "You do not have authority to execute the APS function," which notifies the user that there is no execution authority. The message screen 81 also includes a "Purchase" button 81b for purchasing the execution authority for the APS function online, and a "Close" button 81c for canceling the operation to automatically park the vehicle 10.

[0075] <Remote movement control using information terminal 60> Next, remote movement control of the vehicle 10 using the information terminal 60 will be described with reference to FIGS.

[0076] 9 is a diagram showing an example of how the movement of the vehicle 10 is controlled using an information terminal 60 from outside the vehicle 10. A user U1 of the vehicle 10, while not in the vehicle 10, uses the information terminal 60 owned by the user U1 to issue an instruction to execute a second movement control (parking instruction) to remotely park the vehicle 10 in a parking space P. While remote parking is shown in this example, the same applies to an exit instruction to remotely exit the vehicle 10 from the parking space P, for example.

[0077] When the information terminal 60 receives a second execution request for the second movement control from the user U1, it performs a second determination process with the server 90 to determine whether the user U1 has the authority to execute the second movement control, and causes the vehicle 10 to execute the second movement control based on the results of the second determination process.

[0078] 10 is a sequence diagram showing an example of the second determination process in remote parking. First, as shown in FIG. 10, the information terminal 60 carried by the user U1 accepts an operation to activate the remote parking function (step S31). The operation to activate the remote parking function is a second execution request for remote parking (second movement control) from the user U1, and is, for example, an operation to activate an application for issuing an instruction to execute movement control of the vehicle 10 and tap the "remote parking button."

[0079] Next, the information terminal 60 performs user authentication for the user U1 (step S32). The user authentication may be performed, for example, by inputting a user ID into the terminal screen 71 of the information terminal 60, or by facial authentication using a camera image. The information terminal 60 transmits the user information collected by the user authentication and an inquiry as to whether the user has the authority to execute the second movement control to the server 90 (second server) (step S33).

[0080] When the server 90 receives the query about the execution authority of the user U1, the server 90 acquires execution authority information managed in association with, for example, a user ID (step S34). In this example, it is assumed that the user U1 has the execution authority for remote parking of the vehicle 10. The server 90 transmits execution authority information (authorized) indicating that the user U1 has the execution authority for remote parking of the vehicle 10 to the information terminal 60 (step S35).

[0081] When the information terminal 60 receives the execution authority information (authority present) from the server 90 in step S35, it enables the "RPS switch" that accepts an instruction to execute the second movement control by the RPS, and lights up the "RPS switch" button on the touch panel 42, for example (step S36). Then, when the "RPS switch" button on the touch panel 42 is touched by the user U1, the vehicle 10 accepts the RPS switch operation (step S37) and proceeds to the processing steps in FIG. 11.

[0082] Fig. 11 is a sequence diagram showing an example of control of remote parking that is executed based on the result of the second determination process. As explained in Fig. 10, when it is determined that user U1 has the authority to remotely park vehicle 10 and the operation of the RPS switch is accepted, information terminal 60 displays a disclaimer (notes prescribed for remote parking) on ​​terminal screen 71 and accepts an agreement operation from user U1 who agrees to the disclaimer (step S38). The disclaimer screen will be described later with reference to Fig. 12.

[0083] Next, after accepting the disclaimer agreement operation from user U1, information terminal 60 accepts a power-on operation to start vehicle 10 (step S39). The screen for accepting the power-on operation will be described later with reference to Fig. 13. Information terminal 60 transmits the power-on instruction accepted in step S39 and the disclaimer agreement response information accepted in step S38 to vehicle 10 (step S40).

[0084] The vehicle 10 selects the information terminal 60 that transmitted the agreement response information as the driver terminal of the user U1 who has the execution authority (step S41). As a result, the information terminal 60 becomes communicatively connected to the vehicle 10 as a driver terminal that can instruct remote parking of the vehicle 10. The vehicle 10 transmits a display instruction to the information terminal 60 selected as the driver terminal to display a reception screen for receiving instructions on the parking position of the vehicle 10 (step S42).

[0085] When the information terminal 60 receives the display instruction from the vehicle 10, it displays a parking position reception screen on the terminal screen 71 and receives the parking position instruction from the user U1 (step S43). When the information terminal 60 receives the parking position instruction, it transmits the received parking position instruction to the vehicle 10 (step S44).

[0086] When the vehicle 10 receives the parking position instruction from the information terminal 60, the vehicle 10 transmits a display instruction to the information terminal 60 to display a screen for accepting instructions to execute remote parking (step S45).

[0087] When the information terminal 60 receives the instruction to display the reception screen from the vehicle 10, it displays the reception screen on the terminal screen 71 and receives an instruction to perform remote parking from the user U1 (step S46). The reception screen for receiving an instruction to perform remote parking will be described later with reference to Fig. 14. When the information terminal 60 receives the instruction to perform remote parking from the user U1, it transmits the received instruction to perform remote parking to the vehicle 10 (step S47).

[0088] When the vehicle 10 receives the instruction to execute remote parking from the information terminal 60, it starts remote parking of the vehicle 10 in accordance with the instruction (step S48). When the vehicle 10 completes remote parking (step S49), it turns off the ignition (step S50).

[0089] 10 may be performed in advance, for example, when the information terminal 60 is released from sleep mode. Also, the second movement control in this example has been described as control for remotely parking the vehicle 10, but is not limited to this. For example, the second movement control may be control for remotely leaving the vehicle 10. In the case of remote leaving, it is not necessary to turn off the ignition after completing the remote leaving.

[0090] 12 is a diagram showing an example of a disclaimer screen 72 displayed on the terminal screen 71 of the information terminal 60. The disclaimer screen 72 is a screen that is displayed when it is determined that the user U1 has authority to execute remote parking of the vehicle 10. The disclaimer screen 72 is displayed, for example, in step S38 of FIG.

[0091] As shown in FIG. 12, the disclaimer screen 72 includes an agreement sentence 72a indicating the content of the agreement, such as "Note: This function is not a fully automated driving function." The disclaimer screen 72 also includes an agreement button 72b that the user U1 operates when agreeing to the notes. The disclaimer screen 72 further includes a sentence such as "I agree to the notes," which is displayed when the agreement button 72b is swiped and indicates that the user U1 agrees to the notes.

[0092] 13 is a diagram showing an example of a power-on screen 73 displayed on the terminal screen 71 of the information terminal 60. The power-on screen 73 is a screen that is displayed when a disclaimer agreement operation by user U1 is accepted. The power-on screen 73 is displayed, for example, in step S39 of FIG. 11.

[0093] 13, the power startup screen 73 includes, for example, a vehicle image 73a of the vehicle 10 and a power startup button 73b for proceeding with remote parking. The power startup screen 73 also includes a close button 73c for closing the power startup screen 73 when the remote parking is to be canceled.

[0094] 14 is a diagram showing an example of an execution instruction reception screen 74 displayed on the terminal screen 71 of the information terminal 60. The execution instruction reception screen 74 is a screen that is displayed when an instruction to display a reception screen for accepting a remote parking execution instruction is received from the vehicle 10. The execution instruction reception screen 74 is displayed, for example, in step S46 in FIG.

[0095] As shown in FIG. 14 , the execution instruction receiving screen 74 includes a movement icon 74a that moves by following the touch position of the user U1, for example, by a rotational swipe operation. The execution instruction receiving screen 74 also includes a guidance message 74b for executing remote parking of the vehicle 10 or temporarily suspending remote parking of the vehicle 10, such as, for example, “Rotate swipe to park” or “Remove your finger to stop.” The movement icon 74a and the guidance message 74b are examples of guidance images that prompt the user U1 to issue an instruction to execute remote parking. The execution instruction receiving screen 74 also includes an execution status image 74c above the area where the movement icon 74a is displayed, which indicates the execution status of parking control for the vehicle 10 (how the vehicle is moving). The execution instruction receiving screen 74 also includes, for example, a caution message 74d, such as “Please check your surroundings directly,” on the right side of the execution status image 74c, to alert the user U1 who is performing the instruction operation. For example, the information terminal 60 transmits a remote parking move instruction to instruct the vehicle 10 to move while accepting a rotational swipe operation of the movement icon 74a, and transmits a remote parking stop instruction to instruct the vehicle 10 to stop when the rotational swipe operation of the movement icon 74a stops.

[0096] Fig. 15 is a sequence diagram showing a case where user U1 does not have authority to execute remote parking in the second determination process of Fig. 10. As shown in Fig. 15, the processes from step S31 to step S33 are the same as the processes from step S31 to step S33 described in Fig. 10.

[0097] When the server 90 receives the query about the execution authority from the user U1, it acquires execution authority information that is managed in association with the user ID (step S34). In this example, the user U1 does not have the execution authority for remote parking of the vehicle 10 (no authority). The server 90 transmits execution authority information (no authority) indicating that the user U1 does not have the execution authority for remote parking of the vehicle 10 to the information terminal 60 (step S35).

[0098] When the information terminal 60 receives the execution authority information (no authority) from the server 90 in step S35, it displays a message to the effect that there is no execution authority on the terminal screen 71 (step S41).

[0099] In this example, the control is not limited to remote parking of the vehicle 10, but may be remote removal of the vehicle 10.

[0100] <Message during second movement control> 16 is a diagram showing an example of a message screen displayed during the second movement control. The message screen in this example is a screen displayed on the terminal screen 71 of the information terminal 60 when the user U1 does not have the authority to execute remote parking in step S41 of the process in FIG. 15.

[0101] 16, the message screen 75 includes an execution authority message 75a such as "You do not have authority to execute the RPS function," which notifies the user that the execution authority does not exist. The message screen 75 also includes a "Purchase" button 75b for purchasing the execution authority for the RPS function online, and a "Close" button 75c for canceling the operation to remotely park the vehicle 10.

[0102] As described above, in the control system 1 of this embodiment, for the first movement control in which the user U1 moves the vehicle 10 while the user U1 is in the vehicle 10, the calculation unit 52 of the vehicle 10 performs a first determination process to determine whether the user U1 has execution authority for the first movement control. For the second movement control in which the user U1 moves the vehicle 10 while the user U1 is not in the vehicle 10, the information terminal 60 carried by the user U1 performs a second determination process to determine whether the user U1 has execution authority for the second movement control, without going through the calculation unit 52 of the vehicle 10. Therefore, even when the user U1 is not in the vehicle 10, it is possible to determine whether the user U1 has execution authority for the vehicle 10. This reduces the response time when executing the determination process and prevents the leakage of the user's personal information, compared to a configuration in which the information terminal 60 performs the execution authority determination process via, for example, the calculation unit 52 of the vehicle 10. Therefore, it is possible to appropriately determine the execution authority of the user U1 for the target function of the vehicle 10.

[0103] 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 a control device or an information terminal, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device and the information terminal, or may be included in a server device that can communicate with these control devices, information terminals, and electronic devices.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] (1) A control system (control system 1) including a control device (computing unit 52) ​​provided in a moving body (vehicle 10) and an information terminal (information terminal 60) carried by a user of the moving body, The control device a first movement control unit (first movement control unit 55) that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit (second movement control unit 56) that performs second movement control to move the moving body when the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, the first movement control unit performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority regarding the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process. Control system.

[0108] According to (1), in the second movement control for moving the mobile body when the user is not riding on the mobile body, the information terminal carried by the user performs the execution authority determination process without going through the control device of the mobile body, so that the execution authority determination process can be performed even when the user is not riding on the mobile body, and response time can be shortened and personal information leakage can be prevented compared to a configuration in which the information terminal performs the execution authority determination process through the control device of the mobile body. This makes it possible to appropriately determine the execution authority of the user for the target function of the mobile body.

[0109] (2) The control system according to (1), The control device a first input unit (first input unit 58) capable of receiving an instruction to execute the first movement control; When the first determination process determines that the user's execution authority regarding the first movement control is valid, control the first input unit to a state in which it receives an execution instruction for the first movement control; The information terminal a second input unit (terminal screen 71) capable of receiving an instruction to execute the second movement control; When the second determination process determines that the user's execution authority regarding the second movement control is valid, control the second input unit to a state in which it can accept an execution instruction for the second movement control. Control system.

[0110] According to (2), when the user's execution authority for the second movement control is determined to be valid, the information terminal sets the second input unit to a state in which it can accept an instruction to execute the second movement control without going through the control device of the mobile body, so that the execution authority can be accepted even when the user is not riding on the mobile body, and it is possible to shorten the response time and prevent the leakage of personal information compared to a configuration in which the information terminal accepts the execution authority via the control device of the mobile body. This makes it possible to appropriately determine the user's execution authority for the target function of the mobile body.

[0111] (3) The control system according to (2), when it is determined that the user's execution authority regarding the first movement control is valid by the first determination process, the control device controls the first input unit to a state in which it does not accept an execution instruction of the first movement control; When the second determination process does not determine that the user's execution authority regarding the second movement control is valid, the information terminal controls the second input unit to a state in which it does not accept an execution instruction for the second movement control. Control system.

[0112] According to (3), when the user's execution authority for the second movement control is not determined to be valid, the information terminal sets the second input unit to a state in which it does not accept an instruction to execute the second movement control, so that it is possible to recognize that the execution authority is not accepted even when the user is not riding on the moving body, and it is possible to shorten the response time and prevent the leakage of personal information compared to a configuration in which the information terminal accepts the execution authority via the control device of the moving body. This makes it possible to appropriately determine the user's execution authority for the target function of the moving body.

[0113] (4) A control system according to any one of (1) to (3), the control device includes a first communication unit (first communication unit 57) capable of communicating with a first server, and executes the first determination process by making an inquiry to the first server via the first communication unit; The information terminal includes a second communication unit (a processor 61 and a communication interface 63) capable of communicating with a second server that is the same as or different from the first server, and executes the second determination process by making an inquiry to the second server via the second communication unit. Control system.

[0114] As in (4), by having the information terminal make an inquiry to the second server via the second communication unit and execute the second determination process without going through the control device of the mobile body, it is possible to perform the determination process of the execution authority even when the user is not on the mobile body, and it is possible to shorten the response time and prevent the leakage of personal information compared to a configuration in which the information terminal executes the determination process of the execution authority via the control device of the mobile body. This makes it possible to appropriately determine the execution authority of the user for the target function of the mobile body.

[0115] (5) The control system according to (4), The information terminal a storage unit (memory 62) that stores past results of the second determination process; when communication with the second server is not possible, causing the control device to execute the second movement control based on the result of the second determination process stored in the storage unit; Control system.

[0116] According to (5), when communication with the second server is not possible, the information terminal performs the execution authority determination process based on the result of the second determination process stored in the storage unit without going through the control device of the mobile body, so that the execution authority determination process can be performed even when the user is not on the mobile body and the communication environment is poor, and response time can be shortened and personal information leakage can be prevented compared to a configuration in which the information terminal performs the execution authority determination process through the control device of the mobile body. This makes it possible to appropriately determine the user's execution authority for the target function of the mobile body.

[0117] (6) A control method in a control system including a control device provided in a mobile body and an information terminal carried by a user of the mobile body, comprising: The control device a first movement control unit that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit that performs second movement control to move the moving body when the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, it performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second movement control from the user, the information terminal performs a second determination process to determine the user's execution authority regarding the second movement control, and causes the control device to execute the second movement control based on a result of the second determination process. Control method.

[0118] According to (6), in the second movement control for moving the mobile body when the user is not riding on the mobile body, the information terminal carried by the user performs the process of determining the execution authority without going through the control device of the mobile body, so that the execution authority determination process can be performed even when the user is not riding on the mobile body, and the response time can be shortened and the leakage of personal information can be prevented compared to a configuration in which the information terminal performs the process of determining the execution authority via the control device of the mobile body. This makes it possible to appropriately determine the execution authority of the user for the target function of the mobile body. [Explanation of symbols]

[0119] 10 Vehicles (moving objects) 52 Calculation unit (control device) 55 First movement control section 56 Second movement control section 57 First Communications Department 58 First input section 60 Information terminal 61 Processor (second communication unit) 62 Memory (storage section) 63 Communication interface (second communication unit) 71 Terminal screen (second input section)

Claims

1. A control system including a control device provided in a mobile body and an information terminal carried by a user of the mobile body, The control device a first movement control unit that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit that performs second movement control to move the moving body in a state where the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, the first movement control unit performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second mobility control from the user, the information terminal performs a second determination process to determine the user's authority to execute the second mobility control, and causes the control device to execute the second mobility control based on a result of the second determination process. Control system.

2. 2. The control system of claim 1, The control device a first input unit capable of receiving an instruction to execute the first movement control; When it is determined by the first determination process that the execution authority of the user regarding the first movement control is valid, control is made to a state in which the first input unit receives an execution instruction of the first movement control; The information terminal a second input unit capable of receiving an instruction to execute the second movement control; When it is determined by the second determination process that the user's execution authority regarding the second movement control is valid, the second input unit is controlled to a state in which it can accept an execution instruction for the second movement control. Control system.

3. 3. The control system of claim 2, When the control device determines that the user's execution authority regarding the first movement control is valid by the first determination process, the control device controls the first input unit to a state in which the first input unit does not accept an execution instruction for the first movement control; When the user's authority to execute the second movement control is not determined to be valid by the second determination process, the information terminal controls the second input unit to a state in which the second input unit does not accept an instruction to execute the second movement control. Control system.

4. 4. A control system according to any one of claims 1 to 3, the control device includes a first communication unit capable of communicating with a first server, and executes the first determination process by making an inquiry to the first server via the first communication unit; the information terminal includes a second communication unit capable of communicating with a second server that is the same as or different from the first server, and executes the second determination process by making an inquiry to the second server via the second communication unit. Control system.

5. 5. The control system of claim 4, The information terminal a storage unit that stores past results of the second determination process; when communication with the second server is not possible, causing the control device to execute the second movement control based on the result of the second determination process stored in the storage unit; Control system.

6. A control method in a control system including a control device provided in a mobile object and an information terminal carried by a user of the mobile object, comprising: The control device a first movement control unit that performs first movement control to move the moving body while the user is riding on the moving body; a second movement control unit that performs second movement control to move the moving body in a state where the user is not riding on the moving body; Equipped with When the first movement control unit receives a request to execute the first movement control from the user, the first movement control unit performs a first determination process to determine the user's authority to execute the first movement control, and executes the first movement control based on a result of the first determination process; When the information terminal receives a request to execute the second mobility control from the user, the information terminal performs a second determination process to determine the user's authority to execute the second mobility control, and causes the control device to execute the second mobility control based on a result of the second determination process. Control method.

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