Control apparatus, control method, and storage medium

Abstract

To provide a control device, a control method, and a control program capable of suppressing confusion of a user regarding execution of a function of a mobile body.SOLUTION: The control device of the vehicle 30 includes the acquisition unit 2 that acquires the authority information on the execution authority of the predetermined function executable by the vehicle 30, and the automatic driving control unit 100 that executes the predetermined function based on the authority information. The automated driving control unit 100 performs the first notification for notifying that the execution authority is valid when the execution authority is valid, stops the first notification when an abnormality occurs in the acquisition of the authority information in a state where the predetermined function is not selected, and stops the first notification after the selection of the predetermined function is canceled when an abnormality occurs in the acquisition of the authority information in a state where the predetermined function is selected.SELECTED DRAWING: Figure 2

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 transport systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into preventive safety technologies to further improve road safety and convenience.

[0003] Conventionally, there has been known a license management system in which a user acquires license data for enabling a vehicle function, management data associating the license data with the vehicle is managed externally to the vehicle, and the vehicle acquires the management data from the external device to enable the function in the vehicle. In such a license management system, when a predetermined function is enabled in the vehicle, the system may notify the user that the function is available by, for example, lighting an indicator. Furthermore, when a predetermined function is being executed, the system may notify the user by displaying an image related to the execution of the function on a display screen of the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-59278 [Patent Document 2] Japanese Patent Application Laid-Open No. 2023-68389 [Patent Document 3] Patent Publication No. 2021-62683 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when both notifications by indicator illumination and image display are being provided, if a malfunction prevents the vehicle from acquiring management data from the outside and the validity of the functions cannot be guaranteed, it becomes necessary to change the content of the notifications by indicator and image. However, depending on the timing of the change between the content of the notifications by indicator and the content of the notifications by image display, the content of the notifications may be difficult for the user to recognize.

[0006] Patent document 1 describes a display control device in which devices related to the display control of a vehicle are connected via a communication bus such as a CAN (Controller Area Network) bus, and when CAN data cannot be acquired, an abnormality image indicating an abnormality is displayed in the display area to remind occupants of an abnormality in the on-board equipment.

[0007] Patent Document 2 describes a vehicle notification system that detects the vehicle's behavior using information collected from various sensors, etc., determines whether or not the driver needs to take over driving, and if it determines that a handover is necessary, displays a handover message to the driver on a graphical display unit.

[0008] Patent Document 3 describes a parking assistance device in which a parking assistance ECU (Electronic Control Unit) and a drive ECU send and receive signals via a CAN, and if a communication abnormality occurs between the parking assistance ECU and the drive ECU, the driving force restriction is terminated even if the conditions for terminating parking assistance control are not met, thereby allowing the vehicle to travel according to the driving force requested by the driver.

[0009] However, Patent Documents 1 to 3 do not clearly state the timing of switching between notifications by indicators and notifications by image displays. Therefore, in vehicle movement control, there is room for improvement in the way notifications are given to users using multiple methods, such as indicators and image displays.

[0010] An object of the present invention is to provide a control device, a control method, and a control program that can reduce user confusion regarding the execution of functions of a mobile object, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0011] The present invention provides In a control device for a moving body, an acquisition unit that acquires authority information regarding authority to execute a predetermined function that can be executed by the mobile device; a control unit that executes the predetermined function based on the authority information, The control unit If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in obtaining the execution authority while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. It is a control device.

[0012] The present invention provides A control method for a mobile body using a control device comprising: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the processor: If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in obtaining the execution authority while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. It is a control method.

[0013] The present invention provides A control program for a control device of a mobile body, the control program comprising: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the processor, If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in obtaining the execution authority while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. It is a control program that executes the process. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a control device, a control method, and a control program that can suppress user confusion regarding the execution of functions of a mobile object. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram illustrating an example of the configuration of an FoD system 1 including a control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram illustrating the function of the control device of the present embodiment. [Figure 3] FIG. 1 is a diagram illustrating an example of a control device mounted on a vehicle. [Figure 4] 10 is a flowchart showing an example of control of a display screen during automatic parking of a vehicle. [Figure 5] 10 is a flowchart showing an example of control of a switch / indicator that notifies the presence or absence of execution authority related to automatic parking. [Figure 6] FIG. 10 is a diagram showing an example of an image of a normal screen displayed on a display of an input / output device. [Figure 7]FIG. 10 is a diagram showing an example of an image displayed when an automatic parking switch / indicator for starting automatic parking of the vehicle is pressed. [Figure 8] FIG. 10 is a diagram showing an example of an image displayed when a remote parking button for starting automatic parking of the vehicle is pressed. [Figure 9] FIG. 10 is a diagram showing an example of an image displayed when a parking space for automatically parking a vehicle is selected. [Figure 10] FIG. 10 is a diagram showing an example of an image displayed when a parking position for a vehicle is selected in remote parking. [Figure 11] FIG. 10 is a diagram showing an example of an image displayed on the parking position selection screen when a parking space has not been selected. [Figure 12] FIG. 10 is a diagram showing an example of an image displayed on a parking position selection screen in remote parking when a parking space has not been selected. [Figure 13] FIG. 10 is a diagram showing an example of an image displayed while automatic parking is being performed by the APS. [Figure 14] FIG. 10 is a diagram showing an example of an image displayed while the RPS is performing automatic parking. DETAILED DESCRIPTION OF THE INVENTION

[0016] An embodiment of a control device of the present invention will be described below with reference to the drawings. In the following description of the embodiment, an example will be described in which a moving body in the present invention is a vehicle 30 such as an automobile.

[0017] Fig. 1 is a diagram showing an example of the configuration of an FoD (Function on Demand) system 1 including a control device of this embodiment. As shown in Fig. 1, the FoD system 1 includes a server 20, a vehicle 30 capable of communicating with the server 20, and an information terminal 10. In this example, one vehicle 30 is shown, but the number of vehicles may be multiple.

[0018] The server 20 is an external server installed in a facility such as a management center. The server 20 manages authority information related to the execution authority of the vehicle that a user acquires when using the vehicle 30, in association with the user (user ID).

[0019] The server 20 controls the enabling / disabling (ON / OFF) of functions provided in the vehicle 30 when a user uses the vehicle 30. Specifically, the server 20 controls the switching between enabling / disabling of functions in the vehicle 30 by transmitting to the vehicle 30 a function ON signal that enables a function or a function OFF signal that disables a function.

[0020] The information terminal 10 is an information terminal owned by a user, such as a smartphone. After purchasing the vehicle 30 itself, the user purchases execution authority for a predetermined function of the vehicle 30 online, for example, using the information terminal 10. The user can use the purchased function of the vehicle 30 by transmitting the execution authority ID obtained through the purchase from the information terminal 10 to the server 20.

[0021] Vehicle 30 is a vehicle capable of so-called automatic driving or assisted driving. Vehicle 30 may be a vehicle whose users are limited, such as a vehicle owned by an individual, or may be a vehicle whose users are not limited, such as a vehicle owned by a corporation. Those who can use a privately owned vehicle include, for example, the vehicle owner, their family, relatives, 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. The control device of this embodiment is a control device provided in vehicle 30 and is capable of controlling automatic driving or assisted driving of vehicle 30.

[0022] Fig. 2 is a block diagram illustrating the functions of the control device of this embodiment. As shown in Fig. 2, the control device 300 includes an acquisition unit 2 that acquires authority information of the vehicle 30 from the outside, and an automatic driving control unit 100 that performs control related to automatic parking of the vehicle 30 based on the authority information acquired by the acquisition unit 2. The control device 300 also includes a first notification unit 3 and a second notification unit 4 that operate based on a notification instruction from the automatic driving control unit 100. The respective units are connected, for example, by a CAN (Controller Area Network) communication network.

[0023] The acquisition unit 2 acquires, for example, from the server 20, authority information regarding the authority to execute predetermined functions that can be executed by the vehicle 30. The predetermined functions are functions related to movement control of the vehicle 30. The predetermined functions include, for example, automatic parking of the vehicle 30 (such as an Auto Parking System (APS) or a Remote Parking System (RPS)). The predetermined functions may also include automatic leaving of the vehicle 30, Auto Lane Changing (ALC), parking assistance that displays an image to assist in parking, and the like.

[0024] The autonomous driving control unit 100 executes a predetermined function that can be executed by the vehicle 30 based on the authority information acquired by the acquisition unit 2. For example, if the execution authority for the predetermined function based on the authority information is valid, the autonomous driving control unit 100 issues a first notification notifying that the execution authority is valid. Valid execution authority for a predetermined function means that the function can be executed in the vehicle 30. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, the first notification is the lighting of an indicator notifying that automatic parking is executable.

[0025] Furthermore, the autonomous driving control unit 100 stops the first notification if an abnormality occurs in acquiring the authority information when the predetermined function is not selected. A state in which the predetermined function is not selected means that the user has not selected a function of the vehicle 30. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, a state in which the predetermined function is not selected means that the automatic parking button that starts automatic parking has not been pressed. An abnormality in acquiring the authority information means that the authority information cannot be acquired normally due to, for example, an abnormality in the communication unit (acquisition unit 2), an abnormality in the communication section between the server 20 and the communication unit (for example, a communication abnormality due to a large obstruction or radio wave interference), an abnormality in the server 20, or the like.

[0026] Furthermore, if an abnormality occurs in acquiring authority information while a predetermined function is selected, the autonomous driving control unit 100 cancels the selection of the predetermined function and then stops the first notification. A state in which a predetermined function is selected refers to a state in which the predetermined function is selected by a user's selection operation from among the functions possessed by the vehicle 30. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, a state in which the predetermined function is selected refers to a state in which the automatic parking button is pressed. In other words, a state in which the predetermined function is being prepared for execution or is being executed, that is, a state in which the user intends to execute the predetermined function. Canceling the selection of a predetermined function refers to restoring the state transitioned by selecting the function. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, and an automatic parking execution screen is displayed based on the pressing of the automatic parking button, this refers to returning to the normal screen that is displayed when the automatic parking button is not pressed. The normal screen includes, for example, external environmental information around the vehicle 30.

[0027] Furthermore, when a predetermined function is selected, the autonomous driving control unit 100 issues a second notification regarding the execution of the predetermined function. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, the second notification is to display an automatic parking execution screen that notifies the driver of the movement status of the automatic parking. The autonomous driving control unit 100 continues to execute the first notification while the second notification is being executed. In other words, the autonomous driving control unit 100 does not stop the first notification while the second notification is being executed, and stops the first notification after stopping the second notification.

[0028] The first notification unit 3 issues a first notification based on a notification instruction from the autonomous driving control unit 100. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, the first notification unit 3 turns on an indicator to notify that automatic parking is possible. The second notification unit 4 issues a second notification based on a notification instruction from the autonomous driving control unit 100. For example, if the predetermined function is a function related to automatic parking of the vehicle 30, the second notification unit 4 displays an automatic parking execution screen to notify the status of automatic parking.

[0029] Furthermore, when the authority to execute a predetermined function is valid and the predetermined function is selected, if an abnormality occurs in acquiring authority information before the selected predetermined function is executed, the autonomous driving control unit 100 issues a third notification notifying that the predetermined function cannot be executed, and then stops the first notification. For example, if the selected predetermined function is a function related to automatic parking of the vehicle 30, the third notification is a notification that automatic parking cannot be executed. Furthermore, when the authority to execute a predetermined function is valid and the predetermined function is selected, if an abnormality occurs in acquiring authority information during the execution of the selected predetermined function, the autonomous driving control unit 100 issues a fourth notification notifying that execution of the predetermined function will be stopped, and then stops the first notification. For example, if the selected predetermined function is a function related to automatic parking of the vehicle 30, the fourth notification is a notification that execution of the predetermined function will be stopped.

[0030] Furthermore, when a predetermined function is selected and a second notification regarding the execution of the predetermined function is being sent, if an abnormality occurs in the acquisition of authority information, the autonomous driving control unit 100 transitions from the display screen of the second notification regarding the execution of the predetermined function to a normal screen that is displayed when the predetermined function is not selected, and then stops the first notification. The second notification is an example of a "first screen display" in the present invention. The normal screen is an example of a "second screen display" in the present invention.

[0031] Furthermore, the autonomous driving control unit 100 determines whether an abnormality has occurred in the acquisition of authority information, for example, based on an abnormality in CAN communication between the acquisition unit 2 and the autonomous driving control unit 100. The autonomous driving control unit 100 determines whether an abnormality has occurred in the communication between the acquisition unit 2 and the autonomous driving control unit 100, based on a period of time during which there is no response from the acquisition unit 2. The autonomous driving control unit 100 determines that a timeout error has occurred if, for example, a period of time during which there is no response from the acquisition unit 2 continues for 2000 ms.

[0032] FIG. 3 is a diagram showing an example of a control device 300 mounted on a vehicle 30. As shown in FIG. 3, the control device 300 includes a camera 31, a radar device 32, a viewfinder 33, a vehicle sensor 34, an input / output device 36, a communication unit 38, an automatic parking switch / indicator 39, and a navigation device 40. The control device 300 also includes a driving operator 50, an automatic driving control unit 100, a driving force output device 200, a braking device 210, a steering device 220, and a communication unit 230. These devices are connected to each other via a wired or wireless communication network so that they can communicate with each other. The communication network connecting these devices is, for example, a CAN.

[0033] The camera 31 is a digital camera that captures images of the periphery of the vehicle 30 (for example, the area in front of the vehicle 30) and outputs external environment information (image data) obtained by capturing the images to the autonomous driving control unit 100. The radar device 32 is, for example, a radar device that uses radio waves in the millimeter wave band and detects the positions of objects in the periphery of the vehicle 30 (for example, the area in front of, behind, and to the sides of the vehicle 30) and outputs the detection results to the autonomous driving control unit 100.

[0034] The finder 33 is, for example, a LIDAR (Laser Imaging Detection and Ranging) that uses a predetermined laser light to measure the distance to the position of an object (target object) in the periphery of the vehicle 30 (for example, in front of, behind, and to the side of the vehicle 30), and outputs the measurement result to the autonomous driving control unit 100. The camera 31, the radar device 32, and the finder 33 are an example of the "external environment information acquisition unit" of the present invention.

[0035] The vehicle sensor 34 includes, for example, a vehicle speed sensor that detects the speed of the vehicle 30, an acceleration sensor that detects the acceleration of the vehicle 30, an angular velocity sensor that detects the angular velocity of the vehicle 30 around a vertical axis, and a direction sensor that detects the orientation of the vehicle 30. The vehicle sensor 34 also includes a radio wave intensity sensor that detects the intensity of radio waves used for communication by the communication unit 38 (i.e., the communication environment). The vehicle sensor 34 also includes a face recognition device that recognizes the driver's face, a fingerprint sensor that detects the driver's fingerprint, and a voiceprint sensor that detects the driver's voiceprint. The vehicle sensor 34 outputs the detection results of each sensor to the autonomous driving control unit 100.

[0036] The input / output device 36 includes an output device that outputs various information to a user of the vehicle 30 (hereinafter simply referred to as the user) and an input device that accepts various input operations from the user. The output device of the input / output device 36 is, for example, a display that displays information based on the processing results of the autonomous driving control unit 100. This output device may be a speaker, a buzzer, an indicator light, or the like.

[0037] The input device of the input / output device 36 is, for example, a touch panel or an operation button (such as a key or a switch) that outputs an operation signal to the autonomous driving control unit 100 in response to an input operation received from the user. For example, identification information for identifying the user and functional information of the vehicle 30 that the user wishes to obtain are input to the input device of the input / output device 36. The identification information input from the input device includes, for example, the user's name, address, credit card number, telephone number, etc. The functional information of the vehicle 30 input from the input device includes functional information related to autonomous driving and assisted driving. The functional information may also include, for example, functional information related to the safety of the vehicle 30 and functional information related to comfort, etc.

[0038] The communication unit 38 is a communication interface that is wirelessly connected to the base station 5 and performs vehicle communication with the server 20 via the base station 5. The communication unit 38 transmits authority information of the vehicle 30 acquired by the user and identification information that can identify the user to the server 20 via the base station 5. The communication unit 38 also receives authority information regarding the execution authority of predetermined functions that can be executed by the vehicle 30 from the server 20 via the base station 5. The authority information includes contract information of the user of the vehicle 30.

[0039] The communication unit 38 is an example of the "acquisition unit 2" of the present invention. The communication unit 38 may be configured, for example, by a telematics control unit (TCU) capable of two-way communication. The communication unit 38 may also utilize, for example, a cellular network, a Wi-Fi (registered trademark) network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication). The communication unit 38 may also receive authority information and the like of the vehicle 30 from the information terminal 10 owned by the user, for example, by BLE (Bluetooth Low Energy: registered trademark).

[0040] The automatic parking switch / indicator 39 is a button for starting or ending automatic parking of the vehicle 30, and an indicator for notifying whether automatic parking of the vehicle 30 can be executed (authority to execute). For example, when the automatic parking switch / indicator 39 is lit, automatic parking can be executed, and when it is off, automatic parking cannot be executed. Automatic parking can be started or ended by pressing the automatic parking switch / indicator 39 when it is lit. In other words, the authority to execute automatic parking is valid when the automatic parking switch / indicator 39 is lit.

[0041] The navigation device 40 includes a GNSS (Global Navigation Satellite System) receiver 41 and an input / output device 42. The navigation device 40 also includes a storage device (not shown) such as a hard disk drive (hereinafter also referred to as HDD) or flash memory, and this storage device stores first map information 43. The first map information 43 is information that represents road shapes, for example, using links indicating roads and nodes connected by the links. The first map information 43 may also include information representing road curvatures and POIs (Points of Interest).

[0042] Based on signals received from GNSS satellites, the GNSS receiver 41 identifies the latitude and longitude of the location where the vehicle 30 is located as the position of the vehicle 30. The navigation device 40 may also identify or correct the position of the vehicle 30 by an INS (Inertial Navigation System) that uses the output of the vehicle sensor 34.

[0043] The input / output device 42 includes an output device that outputs various information to the user and an input device that accepts various input operations from the user. The output device of the input / output device 42 is, for example, a display that displays information based on the processing results of the navigation device 40 (for example, displaying a route on a map, which will be described later). The input device of the input / output device 42 is, for example, a touch panel or operation buttons (such as keys or switches) that output operation signals to the navigation device 40 in response to input operations accepted from the user. The input / output device 42 may be common to the input / output device 36.

[0044] Although detailed description will be omitted, the navigation device 40, for example, determines a route (hereinafter also referred to as a route on a map) from the position of the vehicle 30 identified by the GNSS receiver 41 to a destination input by the user by referring to the first map information 43. The navigation device 40 guides the user along the determined route on a map via the input / output device 42. The navigation device 40 is also configured to be able to output information indicating the identified position of the vehicle 30 and the determined route on a map to the autonomous driving control unit 100.

[0045] The driving operators 50 are various operators such as an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a special steering wheel, a joystick, etc. The driving operators 50 are provided with sensors that detect the amount of operation of the driving operators 50 or the presence or absence of operation. The detection results of the sensors of the driving operators 50 are output to some or all of the automatic driving control unit 100, the driving force output device 200, the braking device 210, and the steering device 220.

[0046] The driving force output device 200 outputs a driving force (torque) for driving the vehicle 30 to the driving wheels. The driving force output device 200 includes, for example, an electric motor and an electric motor ECU (Electronic Control Unit) that controls the electric motor. The electric motor ECU controls the electric motor based on detection results from a sensor of the driving operator 50 (for example, an accelerator pedal) and control information from the automatic driving control unit 100. Furthermore, if the vehicle 30 includes an internal combustion engine and a transmission as a driving source, the driving force output device 200 may also include the internal combustion engine and the transmission and an ECU that controls them.

[0047] Braking device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor of braking device 210 based on the detection results of a sensor on driving operator 50 (for example, a brake pedal) and control information from autonomous driving control unit 100, so that a braking torque corresponding to the braking operation is output to each wheel.

[0048] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor of the steering device 220 applies force to, for example, a rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor of the steering device 220 based on detection results from sensors on the driving operator 50 (for example, the steering wheel) and control information from the autonomous driving control unit 100, to change the direction of the steered wheels (i.e., the steering angle).

[0049] The communication unit 230 is a communication interface that directly communicates with the information terminal 10. The information terminal 10 transmits a remote instruction signal to the vehicle 30 via wireless communication from the outside to cause the vehicle 30 to automatically park or automatically leave the vehicle 30. An application that can automatically control the vehicle 30 by transmitting and receiving information related to the remote instructions of the vehicle 30 to and from the vehicle 30 is installed in the information terminal 10. The vehicle 30 receives the remote instruction signal transmitted from the information terminal 10 via the communication unit 230. The autonomous driving control unit 100 of the vehicle 30 controls the automatic parking or automatic leaving of the vehicle 30 in accordance with the remote instruction signal received via the communication unit 230. BLE, for example, is used as the wireless communication.

[0050] The autonomous driving control unit 100 includes an environment recognition unit 110, a high-accuracy position recognition unit 120, a behavior plan generation unit 130, a behavior control unit 140, and an authority management unit 150. The autonomous driving control unit 100 also includes a storage device (not shown) implemented by a flash memory or the like that can be accessed by each functional unit of the autonomous driving control unit 100 (for example, the high-accuracy position recognition unit 120), and second map information 160 is stored in this storage device.

[0051] The environment recognition unit 110 performs sensor fusion processing on information acquired by some or all of the camera 31, radar device 32, and finder 33, and recognizes objects around the vehicle 30 and their positions. The environment recognition unit 110 recognizes, for example, obstacles, road shapes, traffic lights, guardrails, utility poles, surrounding vehicles (including their running status such as speed and acceleration, and their parking status), lane marks, pedestrians, etc., and recognizes their positions. The environment recognition unit 110 is an example of the "external world information acquisition unit" of the present invention.

[0052] The high-accuracy position recognition unit 120 recognizes the detailed position and attitude of the vehicle 30 by referring to the position of the vehicle 30 specified by the navigation device 40, the detection results by the vehicle sensor 34, the images captured by the camera 31, the second map information 160, etc. The high-accuracy position recognition unit 120 recognizes, for example, the lane in which the vehicle 30 is traveling, and the relative position and attitude of the vehicle with respect to the lane.

[0053] The behavior plan generation unit 130 generates a behavior plan for the vehicle 30. Specifically, the behavior plan generation unit 130 generates a target trajectory along which the vehicle 30 will travel in the future as the behavior plan for the vehicle 30. The target trajectory is, for example, information that expresses points (trajectory points) that the vehicle 30 should reach, arranged for each predetermined traveling distance (for example, about several meters). The target trajectory may also include information on speed elements such as a target speed and a target acceleration of the vehicle 30 for each predetermined time or for each trajectory point.

[0054] The behavior control unit 140 controls the vehicle 30 to behave in accordance with the behavior plan generated by the behavior plan generation unit 130. Specifically, the behavior control unit 140 controls the driving force output device 200, the braking device 210, and the steering device 220 so that the vehicle 30 passes through the target trajectory generated by the behavior plan generation unit 130 at the scheduled time. The behavior control unit 140 controls the driving force output device 200 and the braking device 210 based on, for example, a speed element associated with the target trajectory, and controls the steering device 220 according to the degree of curvature of the target trajectory.

[0055] The authority management unit 150 manages authority information regarding the execution authority of predetermined functions that can be executed by the vehicle 30, which is received by the automatic driving control unit 100 from the server 20 via the communication unit 38.

[0056] The second map information 160 is map information with higher accuracy than the first map information 43. The second map information 160 includes, for example, information indicating the center of a lane and information indicating boundary lines of a lane (for example, road dividing lines). The second map information 160 may also include road information, traffic regulation information, address information, facility information, telephone number information, and the like. The second map information 160 may be updated as needed. The second map information 160 may be updated based on, for example, information acquired by some or all of the camera 31, the radar device 32, and the finder 33.

[0057] Each functional unit of the autonomous driving control unit 100 is realized, for example, by a CPU executing a predetermined program (software). Also, some or all of the functional units of the autonomous driving control unit 100 may be realized by hardware such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA, or a GPU (Graphics Processing Unit). For example, the storage device that stores the second map information 160 and the high-accuracy position recognition unit 120 may be realized by an MPU (Map Positioning Unit). Furthermore, some or all of the functional units included in the autonomous driving control unit 100 may be realized by a combination of software and hardware.

[0058] A vehicle 30 equipped with a control device 300 configured as described above is a vehicle capable of automatic driving under automatic driving control. The level of automatic driving is classified into levels 0 to 5 according to the degree of automation, for example, based on SEAJ3016 established by SAE International. A high degree of automation means, for example, that the degree to which the vehicle is controlled based on the operation of the driver (user) of the vehicle 30 is low, that is, the driver is required to perform few tasks, such as monitoring the surroundings of the vehicle 30.

[0059] Specifically, Level 0 is a driving level without automation. At Level 0, all driving operations are performed by the driver. Level 1 is a driving level (driving assistance) in which the vehicle 30 performs any of acceleration, steering, and braking. At Level 1, under certain conditions, the vehicle 30 controls the operation of the accelerator, brake, or steering wheel according to the surrounding conditions, and the driver of the vehicle 30 performs all other driving operations. Level 2 is a driving level (partial driving automation) in which the vehicle 30 performs multiple operations of acceleration, steering, and braking at the same time. At Level 2, the driver of the vehicle 30 is responsible for monitoring the surroundings. Level 3 is a driving level (conditional automation) in which the control device 300 performs all acceleration, steering, and braking, and the driver responds only when requested by the control device 300. At Level 3, the control device 300 monitors the surroundings, and the driver of the vehicle 30 is not responsible for monitoring the surroundings. Level 4 is a driving level (highly automated driving) in which, under certain circumstances, the vehicle 30 performs all driving operations, and the driver of the vehicle 30 does not need to be replaced even if the control device 300 cannot continue driving. Level 5 is a driving level (fully automated driving) in which the control device 300 performs automatic driving under all conditions. Therefore, at levels 4 and 5, the control device 300 can respond even in an emergency.

[0060] The conditions for driving at levels 0 to 5 are merely examples, and may be set arbitrarily in the order of level 5, level 4, level 3, level 2, level 1, and level 0, as long as the degree of automation of vehicle 30 is high, i.e., the driver's tasks are few. For example, some or all of levels 1 to 5 may be in an automated driving state, or some or all of levels 1 to 5 may not be in an automated driving state but may be in a state in which driving assistance is performed. Furthermore, the number of classified driving levels is not limited to six.

[0061] The functions provided by the vehicle 30 are functions related to the automatic driving and assisted driving of the vehicle 30. The functions provided by the vehicle 30 may include any functions related to the automatic driving and assisted driving of the vehicle 30. For example, the driving levels 1 to 5 of the vehicle 30 described above may correspond to functions A to E provided by the vehicle 30, respectively. Furthermore, for example, the functions provided by the vehicle 30 may include an adaptive cruise control system, a lane keeping assist system, a constant speed driving function, a lane change function, a takeover function, a branching function, a merging function, etc.

[0062] Next, an example of control by the control device 300 during automatic parking of the vehicle 30 will be described with reference to Figures 4 and 5. Figure 4 is a flowchart showing an example of control of the display screen during automatic parking of the vehicle 30.

[0063] First, it is assumed that the control device 300 is displaying a normal screen, which is displayed when automatic parking has not yet been selected, on the display of the input / output device 42 of the navigation device 40 of the vehicle 30 (step S11). The normal screen is, for example, an overhead image and a three-dimensional image of the vehicle 30 (see, for example, FIG. 6).

[0064] Next, the control device 300 determines whether the authority to execute automatic parking in the vehicle 30 is valid (step S12). The authority to execute automatic parking being valid means that authority information indicating that the authority to execute automatic parking is valid has been successfully acquired. The authority information being successfully acquired means that the authority information has been recently acquired, for example, that it has been acquired without the occurrence of a "timeout error" or the like, which will be described later in FIG. 5.

[0065] If the authority to execute automatic parking is not valid in step S12 (step S12: No), the control device 300 repeats the process of step S12. If the authority to execute automatic parking is valid in step S12 (step S12: Yes), the control device 300 determines whether or not the automatic parking function of the vehicle 30 has been selected (step S13). The automatic parking function being selected means, for example, that the automatic parking switch / indicator 39 of the vehicle 30 has been pressed by the user.

[0066] If the automatic parking function has not been selected in step S13 (step S13: No), the control device 300 returns to step S12 and repeats each process. If the automatic parking function has been selected in step S13 (step S13: Yes), the control device 300 displays a pre-automatic parking execution screen on the display of the input / output device 42 (step S14). The pre-automatic parking execution screen is, for example, a screen that displays an overhead image and a three-dimensional image of the vehicle 30 and a parking space (target position) where the vehicle 30 will be parked (see, for example, FIG. 7 or FIG. 8). The pre-automatic parking execution screen is an example of a "second notification" of the present invention.

[0067] Next, the control device 300 determines whether or not an instruction to perform automatic parking has been received (step S15). Receiving an instruction to perform automatic parking means, for example, that the user has selected a parking space on the screen of the overhead image and three-dimensional image of the vehicle 30 and the parking space (target position) where the vehicle 30 is to be parked, which are displayed in step S14.

[0068] If an instruction to perform automatic parking has not been received in step S15 (step S15: No), the control device 300 determines whether there is an abnormality in the acquisition of the authority information (step S16). An abnormality in the acquisition of the authority information means that authority information indicating that the authority to perform automatic parking of the vehicle 30 is valid has not been properly acquired. Specifically, this means that a "timeout error" or the like, which will be described later with reference to FIG. 5, has occurred.

[0069] In step S16, if there is no abnormality in the acquisition of the authority information (step S16: No), the control device 300 returns to step S15 and repeats each process. In step S16, if there is an abnormality in the acquisition of the authority information (step S16: Yes), the control device 300 displays an execution impossible notification screen on the display of the input / output device 42 (step S17). After displaying the execution impossible notification screen, the control device 300 returns to step S11, displays the normal screen, and repeats each subsequent process.

[0070] The execution impossible notification screen is a screen that notifies the user that automatic parking of the vehicle 30 cannot be performed (see, for example, FIG. 11 or FIG. 12). The execution impossible notification screen may be displayed on the display of the input / output device 42 together with the automatic parking pre-execution screen displayed in step S14, for example, or may be displayed on the display of the input / output device 42 in place of the automatic parking pre-execution screen. Returning to step S11 and displaying the normal screen means returning the execution impossible notification screen, which was transitioned to by selecting the automatic parking function, to the normal screen (deselecting the function). The execution impossible notification screen is an example of the "third notification" of the present invention.

[0071] On the other hand, if an instruction to perform automatic parking is received in step S15, i.e., if the user selects a parking space (step S15: Yes), the control device 300 begins automatic parking of the vehicle 30 into the selected parking space (step S18).

[0072] Next, the control device 300 displays an automatic parking execution screen on the display of the input / output device 42 (step S19). The automatic parking execution screen is a screen that notifies the user that the vehicle 30 is in the process of moving toward the parking space selected by the user (see, for example, FIG. 9 or FIG. 10). The automatic parking execution screen may be displayed on the display of the input / output device 42 together with the screen before automatic parking execution displayed in step S14 that indicates that the vehicle 30 is in the process of moving toward the parking space, or the automatic parking execution screen alone may be displayed. The automatic parking execution screen is an example of a "second notification" in the present invention.

[0073] Next, the control device 300 determines whether the automatic parking of the vehicle 30 has been completed (step S20).

[0074] In step S20, if automatic parking has ended (step S20: Yes), the control device 300 returns to step S11 and repeats each process. In step S20, if automatic parking has not ended (step S20: No), the control device 300 determines whether or not there is an abnormality in the acquisition of the authority information (step S21). If there is an abnormality in the acquisition of the authority information, it is the same as the case described in step S16.

[0075] In step S21, if there is no abnormality in the acquisition of the authority information (step S21: No), the control device 300 returns to step S20 and repeats each process. In step S21, if there is an abnormality in the acquisition of the authority information (step S21: Yes), the control device 300 performs stop control to stop the automatic parking of the vehicle 30 (step S22). Stopping automatic parking means stopping the execution of automatic parking of the vehicle 30, and if the vehicle 30 is moving, for example, the moving vehicle 30 is stopped before the execution of automatic parking is stopped.

[0076] Next, the control device 300 displays an execution abort notification screen on the display of the input / output device 42 (step S23). After displaying the execution abort notification screen, the control device 300 returns to step S20, determines whether the automatic parking has ended (here, whether the vehicle has stopped), and repeats each subsequent process.

[0077] The execution cancellation notification screen is a screen that notifies the user that the execution of automatic parking of the vehicle 30 will be canceled (see, for example, FIG. 13 or 14). The execution cancellation notification screen may be displayed on the display of the input / output device 42 together with the automatic parking execution screen displayed in step S19, for example, or may be displayed on the display of the input / output device 42 in place of the automatic parking execution screen. The execution cancellation notification screen is an example of a "fourth notification" of the present invention.

[0078] 5 is a flowchart showing an example of control of a switch / indicator that notifies the presence or absence of execution authority related to automatic parking. The control device 300 performs this control process in parallel with the control process of the display screen described above with reference to FIG.

[0079] The control device 300 determines whether it is time to acquire authority information (step S31). The timing for acquiring authority information is set, for example, to a fixed cycle. The control device 300 repeatedly acquires authority information from the server 20 via the communication unit 38 at fixed cycles.

[0080] In step S31, if it is not the acquisition timing (step S31: No), the control device 300 repeats the process of step S31 until it is the acquisition timing. In step S31, if it is the acquisition timing (step S31: Yes), the control device 300 performs an acquisition process of transmitting a request signal to the server 20 via the communication unit to request transmission of the authority information (step S32).

[0081] Next, the control device 300 determines whether the authority information transmitted from the server 20 has been acquired by the automatic driving control unit 100 from the communication unit 38 via CAN communication (step S33).

[0082] In step S33, if the authority information has been acquired (step S33: Yes), the control device 300 determines whether the authority to execute automatic parking is valid in the acquired authority information (step S34).

[0083] If the authority to execute automatic parking is valid in step S34 (step S34: Yes), the control device 300 turns on the automatic parking switch / indicator 39 to notify that the authority is valid (step S35). Turning on the automatic parking switch / indicator 39 is an example of a "first notification" of the present invention. After turning on the automatic parking switch / indicator 39, the control device 300 returns to step S31 and repeats each process.

[0084] On the other hand, if the authority information has not been acquired in step S33 (step S33: No), the control device 300 determines whether a timeout error has occurred (step S36). A timeout error is an error that occurs when the communication unit 38 does not transmit authority information to the autonomous driving control unit 100 for a predetermined period of time.

[0085] In step S36, if a timeout error has not occurred (step S36: No), the control device 300 returns to step S31 and repeats each process.

[0086] In step S36, if a timeout error has occurred (step S36: Yes), the control device 300 determines whether the normal screen (see FIG. 6) is being displayed on the display of the input / output device 42 (step S37).

[0087] In step S37, if the normal screen is not being displayed (step S37: No), the control device 300 waits and repeats the process of step S37 until the normal screen is displayed. Displaying the normal screen means that, as described in Fig. 4, after the process of step S17, step S19, or step S23, for example, the execution impossible notification screen, the automatic parking execution screen, or the execution cancellation notification screen, which was transitioned to by selecting the automatic parking function, returns to the normal screen (the selection of the function is canceled).

[0088] In step S37, if the normal screen is being displayed (step S37: Yes), the control device 300 turns off the automatic parking SW / indicator 39 and notifies that the authority to perform automatic parking of the vehicle 30 is invalid (step S38). That is, the control device 300 notifies that automatic parking of the vehicle 30 cannot be performed by turning off the automatic parking SW / indicator 39. Furthermore, the control device 300 does not turn off the automatic parking SW / indicator 39 until the normal screen is displayed. After turning off the automatic parking SW / indicator 39, the control device 300 returns to step S31 and repeats each process.

[0089] On the other hand, if the authority to execute automatic parking is not valid in step S34 (step S34: No), the control device 300 proceeds to step S37 and performs the processes in and after step S37.

[0090] Next, images displayed on the display of the input / output device 42 in the navigation device 40 of the vehicle 30 will be described with reference to FIGS.

[0091] Fig. 6 is a diagram showing an example of a normal screen image displayed on the display of input / output device 42. As shown in Fig. 6, when a predetermined function executable by vehicle 30 (for example, automatic parking, automatic leaving, automatic lane change, etc.) is not selected, for example, an overhead image 60A and a three-dimensional image 60B of vehicle 30 are displayed as normal screen images on the display of input / output device 42. In this example, overhead image 60A and three-dimensional image 60B including external environment information around vehicle 30 are shown as normal screen images, but the images are not limited to these and may be, for example, navigation images, menu images, entertainment images, etc.

[0092] Fig. 7 is a diagram showing an example of an image that is displayed when automatic parking SW / indicator 39 is pressed to start automatic parking of vehicle 30. For example, when automatic parking SW / indicator 39 is pressed while the image of the normal screen as shown in Fig. 6 is being displayed, an image of a parking position selection screen is displayed, showing an overhead image 60A and a three-dimensional image 60B of vehicle 30, and parking spaces 71, 72, and 73 in which vehicle 30 can be parked, as shown in Fig. 7.

[0093] Additionally, a fine adjustment button 61 that can enlarge the three-dimensional image 60B and a decision button 62 that is touched after selecting a parking frame that indicates the parking position for the vehicle 30 are displayed on the overhead image 60A of the parking position selection screen. Additionally, messages to the user such as "Please select a parking position" 63 and "Please check the surrounding area directly" 64 are displayed on the three-dimensional image 60B of the parking position selection screen. The parking position selection screen is a screen equivalent to the screen before automatic parking is executed that was described in step S14 of FIG. 4.

[0094] 8 is a diagram showing an example of an image displayed when a remote parking button is pressed to start automatic parking of the vehicle 30. Remote parking refers to automatic parking using the RPS, in which a user automatically parks the vehicle 30 from outside the vehicle 30, for example, using the information terminal 10. The remote parking button (not shown) may be, for example, a button provided separately from the automatic parking SW / indicator 39.

[0095] For example, when the remote parking button is pressed while an image of the normal screen as shown in FIG. 6 is being displayed, an image of the remote parking preparation screen is displayed on the display of the input / output device 42 as shown in FIG. 8, with a message such as "Shift into P, get out of the vehicle, and start the smartphone application" 81 displayed.

[0096] The remote parking preparation screen also displays a cancel button 82 that can be used to cancel remote parking of the vehicle 30. When the application is started, it becomes possible to select a parking position for the vehicle 30 for remote parking by operating the screen of the information terminal 10, but if the user is inside the vehicle 30 and wants to select a parking position for remote parking, the parking position selection screen shown in Fig. 7 may be displayed on the display of the input / output device 42 to allow selection. The remote parking preparation screen is a screen that corresponds to the pre-automatic parking execution screen described in step S14 of Fig. 4.

[0097] Fig. 9 is a diagram showing an example of an image that is displayed when a parking space is selected for automatic parking of the vehicle 30. For example, when one of the parking spaces 71 to 73 for automatic parking of the vehicle 30 is selected while the image of the parking position selection screen as shown in Fig. 7 is displayed, an image of an APS execution screen that displays a message such as "Automatic parking by APS is being performed" 83 is displayed on the display of the input / output device 42, as shown in Fig. 9.

[0098] The execution screen also displays a stop button 84 that can be used to stop automatic parking of the vehicle 30. The APS execution screen is a screen that corresponds to the automatic parking execution screen described in step S19 of FIG.

[0099] Fig. 10 is a diagram showing an example of an image displayed when a parking position for the vehicle 30 is selected in remote parking. For example, when the remote parking button is pressed and one of the parking spaces 71 to 73 for automatically parking the vehicle 30 is selected in a state in which the image of the parking position selection screen as shown in Fig. 7 is displayed, an image of an RPS execution screen is displayed on the display of the input / output device 42, showing a message such as "Automatic parking by RPS is being performed" 85, as shown in Fig. 10.

[0100] The execution screen also displays a stop button 86 that can be used to stop automatic parking of the vehicle 30. The images of the parking position selection screen and the RPS execution screen may be displayed on the display of the input / output device 42 in the navigation device 40, or on the display screen of the information terminal 10. The RPS execution screen is a screen that corresponds to the automatic parking execution screen described in step S19 of FIG.

[0101] Fig. 11 is a diagram showing an example of an image displayed when no parking space has been selected on the parking position selection screen of Fig. 7. For example, if an image of the parking position selection screen as shown in Fig. 7 is displayed, but a parking space 71-73 for automatically parking the vehicle 30 has not yet been selected, and an abnormality occurs in the acquisition of authority information from the communication unit 38 to the automatic driving control unit 100, then, as shown in Fig. 11, an image of an APS execution impossible notification screen is displayed on the display of the input / output device 42, displaying a message such as "Automatic parking by APS cannot be performed" 87.

[0102] The execution impossible notification screen also displays a cancel button 88 that can be used to cancel automatic parking of the vehicle 30. The APS execution impossible notification screen is a screen that corresponds to the execution impossible notification screen described in step S17 of FIG.

[0103] Fig. 12 is a diagram showing an example of an image displayed when a parking space has not been selected on the parking position selection screen during remote parking. During remote parking, for example, if an image of the parking position selection screen as shown in Fig. 7 is displayed and a parking space 71-73 for automatically parking the vehicle 30 has not yet been selected, and an abnormality occurs in the acquisition of authority information from the communication unit 38 to the autonomous driving control unit 100, an image of an RPS execution impossible notification screen is displayed on the display of the input / output device 42, displaying a message such as "Automatic parking by RPS cannot be performed" 89, as shown in Fig. 12.

[0104] The execution impossible notification screen also displays a cancel button 90 that can be used to cancel the automatic parking of the vehicle 30. Note that the image of the RPS execution impossible notification screen may be displayed on the display screen of the information terminal 10. The RPS execution impossible notification screen is a screen that corresponds to the execution impossible notification screen described in step S17 of FIG.

[0105] FIG. 13 is a diagram showing an example of an image displayed while the APS is executing automatic parking, as described in FIG. 9. For example, if an abnormality occurs in the acquisition of authority information from the communication unit 38 to the automatic driving control unit 100 while the APS is executing automatic parking while the image of the APS execution screen shown in FIG. 9 is displayed, that is, while the APS is executing automatic parking, an image of an APS execution cancellation notification screen, which displays a message such as "Automatic parking by APS will be canceled" 91, is displayed on the display of the input / output device 42, as shown in FIG. 13. The execution cancellation notification screen also displays a cancel button 92 that can be used to cancel automatic parking of the vehicle 30. The APS execution cancellation notification screen is a screen equivalent to the execution cancellation notification screen described in step S23 of FIG. 4.

[0106] Fig. 14 is a diagram showing an example of an image displayed while the RPS is executing automatic parking, as described in Fig. 10. During remote parking, if an image of the RPS execution screen as shown in Fig. 10 is displayed, that is, if an abnormality occurs in the acquisition of authority information from the communication unit 38 to the automatic driving control unit 100 while the RPS is executing automatic parking, an image of an RPS execution cancellation notification screen, showing a message such as "Automatic parking by RPS will be canceled" 93, is displayed on the display of the input / output device 42, as shown in Fig. 14.

[0107] The execution stop notification screen also displays a stop button 94 that can be used to stop the automatic parking of the vehicle 30. Note that the image of the RPS execution stop notification screen may be displayed on the display screen of the information terminal 10. The RPS execution stop notification screen is a screen that corresponds to the execution stop notification screen described in step S23 of FIG.

[0108] As described above, when the authority to execute automatic parking is valid, the control device 300 lights up the automatic parking SW / indicator 39 to notify that it is valid, and when the automatic parking function is selected, it displays an automatic parking execution screen regarding the execution of automatic parking on the display of the input / output device 42.

[0109] If an abnormality occurs in obtaining the authority information when the automatic parking function is not selected, the control device 300 immediately turns off the automatic parking SW / indicator 39, and if an abnormality occurs in obtaining the authority information when the automatic parking function is selected, the control device 300 returns the displayed automatic parking execution screen to the normal screen that is displayed when the automatic parking function is not selected, and then turns off the automatic parking SW / indicator 39.

[0110] This configuration makes it possible to prevent a situation in which the notification content of the selection state of the automatic parking function notified by the display image of the input / output device 42 and the enabled / disabled state of the authority to execute automatic parking notified by the automatic parking switch / indicator 39 do not become unlinked. For example, it is possible to prevent a situation in which the automatic parking switch / indicator 39 is turned off to notify that the authority to execute automatic parking is disabled even though an image of the automatic parking execution screen is displayed on the display of the input / output device 42. This makes it easier to recognize multiple different notification contents in the automatic parking control of the vehicle 30.

[0111] In addition, if an abnormality occurs in obtaining the authority information when the automatic parking SW / indicator 39 is pressed and the automatic parking pre-execution screen is displayed on the display of the input / output device 42 and the user has not yet selected a parking space, the control device 300 displays an execution impossibility notification screen notifying the user that automatic parking cannot be executed and then turns off the automatic parking SW / indicator 39.If an abnormality occurs in obtaining the authority information when the user has selected a parking space on the automatic parking pre-execution screen and the automatic parking execution screen is displayed, the control device 300 displays an execution cancellation notification screen notifying the user that the automatic parking execution will be canceled, cancels the automatic parking execution, and then turns off the automatic parking SW / indicator 39.

[0112] Even in this configuration, it is possible to prevent a situation in which the notification content of the selection state of the automatic parking function notified by the display image of the input / output device 42 and the enabled / disabled state of the authority to execute automatic parking notified by the automatic parking SW / indicator 39 do not correspond to each other. Furthermore, by displaying the execution impossible notification screen and the execution abort notification screen, the control state of automatic parking in the vehicle 30 can be notified to the user accurately and easily.

[0113] 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.

[0114] 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.

[0115] For example, in the above embodiment, the case where the vehicle 30 automatically parks (APS, RPS) in a parking space (target parking position) has been described, but the present invention is not limited to this. For example, the control device of the present invention may also be applied when the vehicle 30 automatically leaves the parking space or when the vehicle changes lanes (ALC).

[0116] In the above embodiment, the moving body is a vehicle, but the present invention is not limited to this. The concept of the present invention can 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) In a control device for a moving body (vehicle 30), an acquisition unit (communication unit 38) that acquires authority information regarding the authority to execute a predetermined function that can be executed by the mobile device; a control unit (automatic driving control unit 100) that executes the predetermined function based on the authority information, The control unit If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. Control device.

[0119] According to (1), if an abnormality occurs in obtaining authority information while a predetermined function is selected, the selected state of the predetermined function is canceled before the first notification that notifies that the authority to execute the predetermined function is valid is stopped, thereby preventing a state in which the selected state of the predetermined function and the notification content of the first notification are not linked, thereby making it easier to recognize multiple different notification contents in the movement control of a moving object.

[0120] (2) The control device according to (1), the control unit issues a second notification regarding the execution of the predetermined function while the predetermined function is selected. Control device.

[0121] According to (2), by issuing the second notification regarding the execution of the predetermined function, it becomes easier to recognize that the predetermined function has been selected.

[0122] (3) The control device according to (2), The control unit continues the first notification while the second notification is being executed. Control device.

[0123] According to (3), the first notification continues without stopping while the second notification is being executed, thereby preventing the content of the second notification from becoming unlinked with the content of the first notification.

[0124] (4) The control device according to any one of (1) to (3), The control unit When the execution authority is valid and the predetermined function is selected, If an abnormality occurs in acquiring the authority information before the predetermined function is executed, a third notification indicating that the predetermined function cannot be executed is sent and then the first notification is stopped; if an abnormality occurs in acquiring the authority information during execution of the predetermined function, a fourth notification indicating that execution of the predetermined function is to be stopped is sent, and after the execution of the predetermined function is stopped, the first notification is stopped. Control device.

[0125] According to (4), if an abnormality occurs in obtaining authority information while a predetermined function is selected, before the predetermined function is executed, a third notification is issued to notify the user that the predetermined function cannot be executed before the first notification is stopped, and while the predetermined function is being executed, a fourth notification is issued to notify the user that execution of the predetermined function will be stopped before the first notification is stopped, thereby preventing a situation in which the selection state of the predetermined function and the content of the first notification are not linked. Also, by displaying the third and fourth notifications, the control state of automatic parking can be notified to the user accurately and easily.

[0126] (5) The control device according to any one of (1) to (4), The control unit a first screen display in a state in which the predetermined function is selected; The second screen display is possible when the predetermined function is not selected, When the predetermined function is selected and the first screen display is being performed, the first notification is stopped after transition from the first screen display to the second screen display due to occurrence of an abnormality in acquisition of the authority information. Control device.

[0127] According to (5), if an abnormality occurs in obtaining authority information when a specified function is selected, the first screen display when the specified function is selected is transitioned to the second screen display when the specified function is not selected before the first notification is stopped, thereby preventing a situation in which the selection state of the specified function and the notification content of the first notification are not linked.

[0128] (6) The control device according to (5), the predetermined function includes a function related to the movement of the moving object, the first screen display includes a display of an execution screen for a function related to the movement; Control device.

[0129] According to (6), by displaying an execution screen for a function related to the movement of a moving object as the first screen display when a specified function is selected, it is possible to easily recognize that a specified function has been selected.

[0130] (7) The control device according to (5) or (6), Further provided is an external environment information acquisition unit (camera 31, etc.) that acquires external environment information around the moving object, The second screen display includes a display of the outside world information. Control device.

[0131] As in (7), it is desirable that the content of the second screen display when a predetermined function is not selected be external information about the surroundings of the moving object.

[0132] (8) The control device according to any one of (1) to (7), The acquisition unit is a communication unit that acquires the authority information through communication with a server. Control device.

[0133] As in (8), in order to obtain rights information regarding the authority to execute a predetermined function, it is desirable to use a communication unit that communicates with a server.

[0134] (9) The control device according to (8), the communication unit receives, as the authority information, contract information of the user of the mobile object from the server; Control device.

[0135] As in (9), it is preferable that the rights information regarding the authority to execute a predetermined function includes contract information of the user of the mobile body.

[0136] (10) The control device according to (8) or (9), the control unit determines whether an abnormality has occurred in the acquisition of the authority information based on an abnormality in communication between the communication unit and the control unit. Control device.

[0137] As in (10), in order to detect an abnormality that occurs when acquiring rights information, it is preferable to determine whether or not there is a communication abnormality between the communication unit and the control unit.

[0138] (11) The control device according to any one of (1) to (10), the control unit determines whether an abnormality has occurred in communication between the communication unit and the control unit based on a period during which there is no response from the communication unit. Control device.

[0139] As in (11), when determining whether an abnormality has occurred in the communication between the communication unit and the control unit, it is preferable to detect a period in which there is no response from the communication unit.

[0140] (12) A control method for a mobile body using a control device of the mobile body, the control method including: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the method comprising: the processor: If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. Control method.

[0141] According to (12), if an abnormality occurs in obtaining authority information while a predetermined function is selected, the selected state of the predetermined function is canceled before the first notification that notifies that the authority to execute the predetermined function is valid is stopped, so it is possible to prevent a state in which the selected state of the predetermined function and the notification content of the first notification are not linked, thereby making it easier to recognize multiple different notification contents in the movement control of a moving object.

[0142] (13) A control program for a control device of a mobile body, the control program including: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the control program comprising: the processor, If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. A control program that executes processing.

[0143] According to (13), if an abnormality occurs in obtaining authority information while a predetermined function is selected, the selected state of the predetermined function is canceled before the first notification that notifies that the authority to execute the predetermined function is valid is stopped, so it is possible to prevent a state in which the selected state of the predetermined function and the notification content of the first notification are not linked, making it easier to recognize multiple different notification contents in the movement control of a moving object. [Explanation of symbols]

[0144] 30 Vehicles (moving objects) 31 Camera (external information acquisition unit) 38 Communication Department (Acquisition Department) 100 Automatic driving control unit (control unit)

Claims

1. In a control device for a moving body, an acquisition unit that acquires authority information regarding authority to execute a predetermined function that can be executed by the mobile device; a control unit that executes the predetermined function based on the authority information, The control unit If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. Control device.

2. The control device according to claim 1, the control unit issues a second notification regarding execution of the predetermined function while the predetermined function is selected. Control device.

3. The control device according to claim 2, The control unit continues the first notification during a period in which the second notification is being executed. Control device.

4. The control device according to claim 1, The control unit When the execution authority is valid and the predetermined function is selected, If an abnormality occurs in the acquisition of the authority information before the predetermined function is executed, a third notification is sent indicating that the predetermined function cannot be executed, and then the first notification is stopped; If an abnormality occurs in the acquisition of the authority information during the execution of the predetermined function, a fourth notification indicating that the execution of the predetermined function is to be stopped is sent, and the first notification is stopped after the execution of the predetermined function is stopped. Control device.

5. The control device according to claim 1, The control unit a first screen display in a state in which the predetermined function is selected; The second screen display is possible when the predetermined function is not selected, When the predetermined function is selected and the first screen display is being performed, the first notification is stopped after transition from the first screen display to the second screen display due to occurrence of an abnormality in acquisition of the authority information. Control device.

6. The control device according to claim 5, the predetermined function includes a function related to the movement of the moving object, the first screen display includes a display of an execution screen for a function related to the movement; Control device.

7. The control device according to claim 5, An external environment information acquisition unit that acquires external environment information around the moving object, The second screen display includes display of the outside world information. Control device.

8. The control device according to claim 1, The acquisition unit is a communication unit that acquires the authority information through communication with a server. Control device.

9. The control device according to claim 8, the communication unit receives, as the authority information, contract information of the user of the mobile object from the server; Control device.

10. The control device according to claim 8, the control unit determines whether an abnormality has occurred in the acquisition of the authority information based on an abnormality in communication between the communication unit and the control unit. Control device.

11. The control device according to any one of claims 8 to 10, the control unit determines whether an abnormality has occurred in communication between the communication unit and the control unit based on a period during which there is no response from the communication unit. Control device.

12. A control method for a mobile body using a control device comprising: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the processor: If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. Control method.

13. A control program for a control device of a mobile body, the control program comprising: an acquisition unit that acquires authority information regarding authority to execute a predetermined function executable by the mobile body; and a processor that executes the predetermined function based on the authority information, the processor, If the execution authority is valid, issuing a first notification that the execution authority is valid; If an abnormality occurs in acquiring the authority information while the predetermined function is not selected, the first notification is stopped; If an abnormality occurs in acquiring the authority information while the predetermined function is selected, the first notification is stopped after the selection of the predetermined function is cancelled. A control program that executes processing.

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