Control device, control method, and control program

Abstract

A control device, a control method, and a control program are provided that are capable of appropriately controlling the movement of a moving body in order to open and close an opening / closing member of the moving body. [Solution] An information terminal (60) of a vehicle (10) equipped with a tailgate (TG) includes a processor that performs movement control to move the vehicle (10) to a target movement position. If a reservation has been made to open or close the tailgate (TG), the processor stops the vehicle (10) at an opening / closing position different from the target movement position after starting movement control, performs opening or closing processing of the tailgate (TG), and resumes movement of the vehicle (10) to the target movement position after the opening / closing processing is completed.

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, there has been a need to improve road safety in order to make cities and human settlements inclusive, safe, resilient, and sustainable. From the perspective of improving road safety, it is necessary to ensure road safety even when a vehicle malfunctions.

[0003] Conventionally, remote parking systems have been known that remotely control a vehicle to park it in a designated parking space or to remove it from the parking space. Patent Document 1 describes a parking assistance device that starts automatic parking of a vehicle when at least one of movement and voice that matches a parking instruction action by a user is detected. Patent Document 2 describes a vehicle remote control system that determines a vehicle removal position based on the vehicle's parking position and the positions of passengers who plan to board the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-164444 [Patent Document 2] International Publication No. 2011 / 128965 Brochure Summary of the Invention [Problem to be solved by the invention]

[0005] According to the parking assistance device of Patent Document 1, automatic parking control of a vehicle can be initiated based on a parking instruction action from a user, thereby enabling automatic parking control without the user having to remotely take out an operation terminal and perform a predetermined operation. According to the vehicle remote operation system of Patent Document 2, it is possible to cause a vehicle to leave a predetermined position based on the vehicle's parking position and the position of the passenger, thereby improving convenience in the leaving operation and boarding of the vehicle. However, neither of these systems is necessarily sufficient to improve the convenience of automatic parking and leaving a vehicle, and there is room for further improvement in the control of automatic parking and leaving a vehicle.

[0006] An object of the present invention is to provide a control device, a control method, and a control program that are capable of appropriately controlling the movement of a moving body in order to open and close an opening / closing member of the moving body. [Means for solving the problem]

[0007] The present invention provides In a control device for a moving body having an opening / closing body, a control unit that performs movement control to move the moving body to a target movement position, The control unit When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. It is a control device.

[0008] The present invention provides a processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position, When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. It is a control method.

[0009] The present invention provides A processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. It is a control program for executing the process. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that are capable of appropriately controlling the movement of a moving body in order to open and close an opening / closing member of the moving body. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle whose movement is controlled by a control device, a control method, and a control program according to an embodiment of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle shown in FIG. [Figure 3] FIG. 2 is a block diagram showing the internal configuration of the vehicle shown in FIG. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information terminal. [Figure 5] FIG. 10 is a diagram showing a part of a process of automatically parking a vehicle in a predetermined parking position using an information terminal. [Figure 6] FIG. 10 is a diagram showing a part of a process of automatically parking a vehicle in a predetermined parking position using an information terminal. [Figure 7] FIG. 10 is a diagram showing a part of a process of automatically parking a vehicle in a predetermined parking position using an information terminal. [Figure 8] FIG. 10 is a diagram showing a part of a process of automatically parking a vehicle in a predetermined parking position using an information terminal. [Figure 9] FIG. 10 is a diagram showing a part of a process of automatically parking a vehicle in a predetermined parking position using an information terminal. [Figure 10] 10 is a flowchart showing a parking instruction control for a vehicle by an information terminal. [Figure 11] 10 is a flowchart showing a parking instruction control for a vehicle by an information terminal. [Figure 12] FIG. 10 is a diagram illustrating an example of a child lock screen displayed on the information terminal. [Figure 13] FIG. 10 is a diagram showing an example of a disclaimer notice and agreement screen displayed on an information terminal. [Figure 14] FIG. 10 is a diagram illustrating an example of a connection screen with a vehicle displayed on an information terminal. [Figure 15] FIG. 10 is a diagram showing an example of a disembarking guidance screen displayed on an information terminal. [Figure 16] FIG. 10 is a diagram showing an example of a first action plan screen displayed on an information terminal. [Figure 17] FIG. 10 is a diagram showing an example of a second action plan screen displayed on the information terminal. [Figure 18] FIG. 10 is a diagram illustrating an example of an operation input start screen displayed on the information terminal. [Figure 19] FIG. 10 is a diagram illustrating an example of an operation input screen displayed on the information terminal. [Figure 20] FIG. 10 is a diagram illustrating an example of an opening / closing screen displayed on the information terminal. [Figure 21] FIG. 10 is a diagram illustrating an example of an opening / closing screen displayed on the information terminal. [Figure 22] FIG. 10 is a diagram illustrating an example of an automatic parking completion screen displayed on the information terminal. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0013] <Vehicle 10 whose movement is controlled by the control device of the present invention> Fig. 1 is a side view of a vehicle 10 whose movement is controlled by a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of a moving 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 a digital camera provided in front of the vehicle 10 and captures images in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures images in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures images in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures images in the right side of the vehicle 10.

[0017] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Fig. 1. As shown in Fig. 3, the 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 unit 24. The vehicle 10 further has a driving force control system 26, a braking force control system 28, and an opening / closing drive unit 40.

[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 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a side image.

[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 is equipped with 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 automatic parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking using a driver's operation. The exit assistance buttons include an automatic exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving using a driver's operation. Note that components other than the touch panel 42, such as a smartphone or a tablet terminal, may be used as the input device or the 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 an automatic parking control unit 55 that controls the movement execution of the vehicle 10, an opening / closing control unit 56 that controls the opening and closing of the opening / closing body of the vehicle 10, and an obstacle detection unit 57 that detects obstacles when the vehicle 10 is parked and when it leaves the parking lot.

[0029] The automatic parking control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, which automatically operates the steering wheel 110 under the control of the automatic parking control unit 55. In the automatic parking assistance and automatic leaving assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated. In addition, the automatic parking control unit 55 performs auxiliary parking assistance and auxiliary leaving assistance when the driver operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and manually leave the vehicle 10.

[0030] For example, the automatic parking control unit 55 controls the execution of automatic parking, such that the vehicle 10 is parked in a predetermined parking space, based on the 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 the parking space specified by the user. The automatic parking control unit 55 also controls the execution of automatic exit, such that the vehicle 10 is exited from the predetermined exit space, based on the recognition data of the outside world of the vehicle 10 and the exit space specified by the user. Specifically, the automatic parking control unit 55 detects the parking space specified by the user and characteristic points related to the exit space. The automatic parking control unit 55 controls the execution of automatic parking, such that the vehicle 10 is parked in the predetermined parking space, based on the recognition data of the outside world of the vehicle 10 and the characteristic points of the parking space specified by the user. The automatic parking control unit 55 also controls the execution of automatic exit, such that the vehicle 10 is exited from the predetermined exit space, based on the recognition data of the outside world of the vehicle 10 and the characteristic points of the exit space specified by the user.

[0031] The automatic parking control unit 55 also calculates suitable opening and closing positions for opening and closing an opening / closing body of the vehicle 10. Examples of the opening / closing body of the vehicle 10 include a tailgate, a sliding door, and a hinged door. The suitable opening and closing positions for the opening / closing body refer to, for example, a position at which the tailgate can be smoothly opened and closed when unloading luggage from or loading luggage into the rear luggage compartment if the opening / closing body is a tailgate. If the opening / closing body is a sliding door, the suitable opening and closing positions for the opening / closing body refer to, for example, a position at which a user can smoothly get in and out of the vehicle 10 when the sliding door is opened. If the opening / closing body is a hinged door, the suitable opening and closing positions for the opening / closing body refer to, for example, a position at which the hinged door can be smoothly opened and closed when a user gets in and out of the vehicle 10, and a position at which a user can smoothly get in and out of the vehicle 10 when the hinged door is opened. When automatically parking and automatically leaving the vehicle 10, the automatic parking control unit 55 calculates the suitable opening and closing positions for the opening / closing body based on the target movement position of the vehicle 10 and recognition data of the external environment of the vehicle 10. The target movement position of the vehicle 10 is a target parking position and a target exit position. The external recognition data of the vehicle 10 includes, for example, obstacles such as walls, pillars, other vehicles, and people that exist around the vehicle 10. When the automatic parking control unit 55 detects the presence of an obstacle around the target parking position and exit position of the vehicle 10 during automatic parking and automatic exit of the vehicle 10, it calculates an appropriate open / close position of the opening / closing device in response to the presence of the obstacle. The open / close position is a position along the route to the target movement position. The "midway along the route" may be a position just before the vehicle 10 reaches the target movement position or a position after the vehicle 10 has passed the target movement position. The automatic parking control unit 55 controls the execution of the automatic parking and automatic exit and calculates the open / close position of the opening / closing device based on instruction signals input from the outside (an information terminal described below) via the input / output unit 50. The automatic parking control unit 55 also transmits information related to the execution control and calculation process to the external information terminal via the input / output unit 50.

[0032] The opening / closing control unit 56 performs opening / closing control to automatically open and close opening / closing bodies such as a tailgate, a sliding door, and a hinged door of the vehicle 10. The opening / closing control unit 56 performs opening / closing control of the opening / closing bodies based on an instruction signal input from the outside via the input / output unit 50.

[0033] The obstacle detection unit 57 detects obstacles present around the vehicle 10. For example, when the vehicle 10 is automatically parked or automatically pulled out, the obstacle detection unit 57 detects whether or not an obstacle exists around the target parking position and pull-out position of the vehicle 10. As described above, examples of obstacles include walls, pillars, other vehicles, people, etc.

[0034] 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.

[0035] 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).

[0036] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 include base stations, communication devices of other vehicles, and smartphones or tablet terminals carried by the users of the vehicle 10. Information terminals such as smartphones and tablets are examples of the control device of the present invention.

[0037] The driving force control system 26 is equipped with a driving ECU 130. The driving force control system 26 executes driving force control 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).

[0038] The braking force control system 28 is equipped with a braking ECU 132. The braking force control system 28 executes braking force control 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).

[0039] The opening / closing drive unit 40 is an actuator that drives opening / closing bodies such as a tailgate, a sliding door, and a hinged door of the vehicle 10. The opening / closing drive unit 40 receives an opening / closing control signal from the opening / closing control unit 56, and drives the opening / closing bodies of the vehicle 10 based on the received opening / closing control signal.

[0040] <Hardware configuration of information terminal> Fig. 4 is a diagram showing an example of the hardware configuration of the information terminal 60. The hardware of the information terminal 60 can be realized, for example, by an information processing device 80 shown in Fig. 4. The information processing device 80 includes a processor 81, a memory 82, a communication interface 83, and a user interface 84. The processor 81, the memory 82, the communication interface 83, and the user interface 84 are connected by, for example, a bus 85.

[0041] The processor 81 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information processing device 80. The processor 81 is an example of a control unit of the present invention. The processor 81 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 81 may also be realized by combining a plurality of digital circuits.

[0042] The memory 82 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a RAM (Random Access Memory). The main memory is used as a work area for the processor 81.

[0043] 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 processing device 80. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 81.

[0044] The auxiliary memory may also include a portable memory that is removable from the information processing device 80. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive or an SD (Secure Digital) memory card, and an external hard disk drive.

[0045] The communication interface 83 is a communication interface that performs wireless communication with an external device (for example, the communication unit 24 of the vehicle 10) of the information processing device 80. The communication interface 83 is controlled by the processor 81.

[0046] The user interface 84 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized, for example, by a touch panel. The output device can be realized, for example, by a display or a speaker. The user interface 84 is controlled by the processor 81.

[0047] For example, the processor 81 performs movement instruction control to instruct the movement of the vehicle 10. Specifically, the processor 81 performs movement instruction control for the vehicle 10 based on a user's operation on the terminal screen of the information terminal 60. The movement instruction control includes, for example, parking instruction control to automatically park the vehicle 10 at a predetermined parking position and exit instruction control to automatically exit the vehicle 10 to a predetermined exit position. 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. When the user touches the terminal screen configured as a touch panel, the processor 81 transmits an instruction signal to the vehicle 10 via wireless communication to instruct the vehicle 10 to automatically park and automatically exit. For example, BLE (Bluetooth Low Energy: registered trademark) is used as the wireless communication.

[0048] <Example of movement control of vehicle 10> An example of movement control for moving the vehicle 10 to a target movement position will be described with reference to FIGS.

[0049] Figures 5 to 9 are diagrams showing the main steps when user M1 uses information terminal 60 to wirelessly communicate with calculation unit 52 of vehicle 10 from outside vehicle 10 and automatically parks vehicle 10 in a specified parking position.

[0050] For example, assume that user M1 is the driver of vehicle 10 and user M2 is a passenger. Users M1 and M2 have luggage loaded in the rear luggage compartment of vehicle 10 and plan to unload the luggage from the rear luggage compartment. In this case, user M1 can use the information terminal 60 to make an "opening / closing reservation" for the opening / closing body, indicating that the tailgate is scheduled to be opened or closed in order to unload the luggage from the rear luggage compartment. The opening / closing reservation is made, for example, before the vehicle 10 starts moving by automatic parking. When the opening / closing reservation is made, the information terminal 60 transmits the opening / closing reservation acceptance information to the vehicle 10. The opening / closing reservation for the opening / closing body will be described in detail from FIG. 10 onwards.

[0051] When the vehicle 10 receives the opening / closing reservation acceptance information from the information terminal 60, the automatic parking control unit 55 calculates an opening / closing position of the opening / closing body suitable for opening and closing the opening / closing body based on the received opening / closing reservation acceptance information. In the example shown in the figure, the tailgate is opened and closed to unload luggage, so the automatic parking control unit 55 calculates an opening / closing position suitable for opening and closing the tailgate. At this time, the vehicle 10 uses the obstacle detection unit 57 to determine whether an obstacle exists in the parking path of the vehicle 10 during this automatic parking. In the example shown in the figure, the obstacle detection unit 57 detects a wall W behind the car stop block P and determines that the wall W is an obstacle present in the vicinity of the target parking position. If the wall W is detected as an obstacle, the automatic parking control unit 55 calculates an opening / closing position suitable for opening and closing the tailgate in consideration of the presence of the wall W.

[0052] Here, the user M1 operates the information terminal 60 to start automatic parking of the vehicle 10. In response to the operation of the information terminal 60 by the user M1, the information terminal 60 transmits a parking instruction signal to the vehicle 10 to cause the vehicle 10 to automatically park.

[0053] 5, when the automatic parking control unit 55 of the vehicle 10 receives a parking instruction signal from the information terminal 60, it starts movement execution control to automatically park the vehicle 10 at a predetermined parking position based on the received parking instruction signal. As a result, the vehicle 10 starts moving backward in the direction of arrow A toward, for example, the parking stop block P (a characteristic point of the parking space) that is the target parking position.

[0054] As described above, in the automatic parking of this example shown in the figure, there is a plan to unload luggage from the rear luggage compartment, and the tailgate has been reserved for opening and closing. Furthermore, a wall W behind the parking stop block P has been detected as an obstacle present in the vicinity of the target parking position. Therefore, as shown in FIG. 6 , the information terminal 60 temporarily stops the movement of the vehicle 10 in the automatic parking at an opening / closing position suitable for opening and closing the tailgate, which is calculated based on the presence of the wall W. Specifically, the information terminal 60 stops the vehicle 10 at a position Q where the rear wheels Tb of the vehicle 10 will not reach the position of the parking stop block P, and where the user can open the tailgate and smoothly unload luggage from the rear luggage compartment.

[0055] Next, the user M1 operates the information terminal 60 to open the tailgate of the vehicle 10. In response to the operation of the information terminal 60 by the user M1, the information terminal 60 transmits an opening instruction signal to the vehicle 10 to open the tailgate of the vehicle 10.

[0056] 7, when the opening / closing control unit 56 of the vehicle 10 receives the opening instruction signal from the information terminal 60, it controls the opening / closing drive unit 40 to open the tailgate TG of the vehicle 10 based on the received opening instruction signal. As a result, the tailgate TG of the vehicle 10 is opened, and for example, a user M2 can unload luggage N from the rear luggage compartment.

[0057] Next, when the luggage N is carried out from the vehicle 10, the user M1 operates the information terminal 60 to close the tailgate TG. In response to the operation of the information terminal 60 by the user M1, the information terminal 60 transmits a closing instruction signal to the vehicle 10 to close the tailgate TG of the vehicle 10.

[0058] 8, when the opening / closing control unit 56 of the vehicle 10 receives the close instruction signal from the information terminal 60, it controls the opening / closing drive unit 40 to close the tailgate TG of the vehicle 10 based on the received close instruction signal. This closes the tailgate TG of the vehicle 10, completing the process of unloading the luggage N from the rear luggage compartment.

[0059] Next, the user M1 operates the information terminal 60 to resume automatic parking of the vehicle 10. In response to the operation of the information terminal 60 by the user M1, the information terminal 60 transmits a parking resume instruction signal to the vehicle 10 to resume automatic parking of the vehicle 10.

[0060] As shown in Fig. 9, when the automatic parking control unit 55 of the vehicle 10 receives the parking restart instruction signal from the information terminal 60, it restarts movement execution control for automatically parking the vehicle 10 at a predetermined parking position based on the received parking restart instruction signal. As a result, the vehicle 10 resumes movement by moving backward in the direction of arrow A. The automatic parking control unit 55 stops the movement of the vehicle 10 when it reaches the position of the car stop block P, which is the target parking position. The automatic parking control unit 55 sends a movement completion signal to the information terminal 60 indicating that the vehicle 10 has been parked at the target parking position, and ends the movement execution control for automatic parking.

[0061] When the information terminal 60 receives the movement completion signal from the vehicle 10, it ends the parking instruction control of the automatic parking that parks the vehicle 10 at the target parking position.

[0062] <Specific Movement Instruction Control by Information Terminal 60> Next, an example of movement instruction control of the vehicle 10 by the processor 81 of the information terminal 60 will be described with reference to FIGS.

[0063] 10 and 11 are flowcharts showing parking instruction control of the vehicle 10 by the processor 81 of the information terminal 60. Fig. 12 to Fig. 22 are diagrams showing examples of images displayed on the terminal screen 61 of the information terminal 60 that controls parking instruction control of the vehicle 10.

[0064] For example, user M1, who is driving vehicle 10, is attempting to automatically park vehicle 10 in an available parking space in a parking lot. When user M1 touches an automatic parking button (not shown) displayed on touch panel 42 of navigation device 18, an overhead image of the area around vehicle 10 acquired by front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is displayed on touch panel 42. Furthermore, when user M1 selects a parking space in which to park vehicle 10 on touch panel 42, the selection of the parking space is accepted by automatic parking control unit 55 of vehicle 10.

[0065] For example, user M1 gets off vehicle 10 while carrying information terminal 60, and launches an application for automatic parking installed on information terminal 60 in order to automatically park vehicle 10. The process shown in FIG. 6 starts when the application for automatic parking is launched on information terminal 60. The processor 81 displays, for example, a child protection screen 62 as shown in Fig. 12 on the terminal screen 61 of the information terminal 60 (step S11). After the user M1 inputs a predetermined authentication code on the child protection screen 62, the OK button 62a is touched.

[0066] When the OK button 62a is touched in step S11, the processor 81 displays a disclaimer notice and agreement screen 63, which is defined for automatic parking, on the terminal screen 61 (step S12), as shown in Fig. 13, for example. If the user agrees to the contents of the disclaimer notice and agreement screen 63, the user swipes the agreement button 63a, and if the user does not agree, the user touches the cancel button 63b to cancel automatic parking.

[0067] When the Agree button 63a is operated in step S12, the processor 81 starts processing for communication connection with the vehicle 10, and displays, for example, a connection screen 64 as shown in Fig. 14 on the terminal screen 61 (step S13). The processor 81 displays, on the connection screen 64, a connection message 64a, such as "Connecting to vehicle," indicating that connection processing with the vehicle 10 is in progress, and a Cancel button 64b for canceling this connection processing.

[0068] When the communication connection with the vehicle 10 is completed in step S13, the processor 81 displays, for example, a disembarking guidance screen 65 as shown in Fig. 15 on the terminal screen 61 (step S14). The processor 81 displays, on the disembarking guidance screen 65, a confirmation message 65a that prompts the user to disembark from the vehicle 10 and prompts the user to perform the next operation, such as "Please check the area around the vehicle. Get off the vehicle with your smart key, and make sure that everyone has disembarked before proceeding." The processor 81 also displays, on the disembarking guidance screen 65, a confirmation button 65b that indicates that the confirmation message 65a has been confirmed, and a cancel button 65c for canceling this operation.

[0069] When the confirmation button 65b is touched in step S14, the processor 81 displays, for example, a first behavior plan screen 66 as shown in FIG. 16 on the terminal screen 61 (step S15). The processor 81 displays, on the first behavior plan screen 66, an overhead image 66a of the area around the vehicle 10 received from the vehicle 10 and a parking plan image 66b received from the vehicle 10, indicating the parking space for the vehicle 10. A parking message 66c, such as "Parking backward using perpendicular parking," may be added to the parking plan image 66b. The processor 81 also displays, on the first behavior plan screen 66, an OK button 66d indicating that automatic parking may be started with this content, and a cancel button 66e for canceling this automatic parking. The processor 81 also displays, on the first behavior plan screen 66, an open / close reservation button 66f for reserving the opening and closing of the opening / closing body.

[0070] When the open / close reservation button 66f is touched on the first action plan screen 66, the processor 81 displays, for example, a second action plan screen 67 as shown in Fig. 17 on the terminal screen 61. On the second action plan screen 67, an open / close reservation item 67a is displayed in place of the open / close reservation button 66f in the display space for the open / close reservation button 66f on the first action plan screen 66 shown in Fig. 16. The open / close reservation item 67a includes, for example, a "PTG reservation OPEN" for reserving the opening and closing of the tailgate, a "Right PSD reservation OPEN" for reserving the opening and closing of the right sliding door, a "Left PSD reservation OPEN" for reserving the opening and closing of the left sliding door, a "Right PHD reservation OPEN" for reserving the opening and closing of the right hinged door, and a "Left PHD reservation OPEN" for reserving the opening and closing of the left hinged door.

[0071] Next, the processor 81 determines whether or not a reservation for opening / closing the open-close body has been accepted (step S16). The processor 81 determines that a reservation for opening / closing the open-close body has been accepted, for example, when at least one opening / closing reservation item 67a (checkbox) is checked on the second action plan screen 67 shown in Fig. 17 and then the OK button 66d is touched. In contrast, the processor 81 determines that a reservation for opening / closing the open-close body has not been accepted, for example, when the OK button 66d is touched without checking any of the opening / closing reservation items 67a on the second action plan screen 67 shown in Fig. 17, or when the OK button 66d is touched without touching the opening / closing reservation button 66f on the first action plan screen 66 shown in Fig. 16.

[0072] In step S16, if an opening / closing reservation is accepted (step S16: Yes), the processor 81 sets the opening / closing position of the opening / closing body reserved for opening / closing, and stores the opening / closing reservation information including the set opening / closing position in the memory 82 (step S17).

[0073] Specifically, in step S17, the processor 81 transmits the received opening / closing reservation acceptance information to the vehicle 10.

[0074] When the automatic parking control unit 55 of the vehicle 10 receives the opening / closing reservation acceptance information from the information terminal 60, it calculates the opening / closing position of the opening / closing object suitable for opening and closing the reserved opening / closing object based on the received opening / closing reservation acceptance information. Here, for example, it is assumed that the opening / closing object reserved for opening and closing is a "tailgate TG." As described above, the opening / closing position suitable for opening and closing the tailgate TG is a position where the tailgate TG can be smoothly opened and closed when unloading luggage N from the rear luggage compartment, and where the luggage N can be smoothly removed. The calculation of the opening / closing position is affected by the presence or absence of obstacles around the vehicle 10. Therefore, the automatic parking control unit 55 calculates the opening / closing position suitable for opening and closing the tailgate TG taking these factors into consideration. The automatic parking control unit 55 stores the calculated opening / closing position of the tailgate TG and the opening / closing reservation acceptance information received from the information terminal 60 in the memory unit 54. The automatic parking control unit 55 then transmits the calculated opening / closing position of the tailgate TG to the information terminal 60.

[0075] When the processor 81 of the information terminal 60 receives the opening / closing position of the tailgate TG from the vehicle 10, it sets the received opening / closing position of the tailgate TG as opening / closing position information for this process for automatically parking the vehicle 10. In addition, the processor 81 stores the opening / closing reservation information including the received opening / closing position of the tailgate TG in the memory 82.

[0076] Next, the processor 81 proceeds to step S18 and displays, on the terminal screen 61, an operation input start screen 68 that prompts the user to start automatic parking, as shown in FIG. 18 (step S18). The processor 81 displays, on the operation input start screen 68, for example, an image of six spheres 68a rotating counterclockwise in the direction indicated by an arrow 68b. That is, an image is displayed that prompts the user to perform a rotational swipe operation that slides counterclockwise on the terminal screen 61. The processor 81 also displays, on the operation input start screen 68, a guidance message 68c such as "Please rotate while touching the screen." The processor 81 also displays, on the operation input start screen 68, a vehicle image 68d indicating that the vehicle 10 will be parked in reverse and a warning message 68e such as "Please check your surroundings directly." The processor 81 also displays, on the operation input start screen 68, a stop button 68f for canceling the automatic parking.

[0077] On the other hand, in step S16, if the opening / closing reservation has not been accepted (step S16: No), the processor 81 proceeds to step S18 and displays the operation input start screen 68 shown in FIG.

[0078] Next, the processor 81 determines whether or not a rotational swipe operation has been started on the terminal screen 61 (step S19).

[0079] In step S19, if a rotational swipe operation has not been started (step S19: No), the processor 81 waits by repeating the process of step S19 until a rotational swipe operation is started.

[0080] In step S19, if a rotational swipe operation is started (step S19: Yes), the processor 81 displays, on the terminal screen 61, an operation input screen 69 showing the state in which the rotational swipe operation is being performed, as shown in FIG. 19, for example (step S20). The processor 81 displays, on the operation input screen 69, for example, a moving icon 69a that moves following the touch position of the user M1 during the rotational swipe operation. The processor 81 also displays a guidance message 69b for stopping the automatic parking of the vehicle 10, such as "Remove your finger to stop." The processor 81 also displays, on the operation input screen 69, a vehicle image 69c indicating that the vehicle 10 is being parked in reverse, a warning message 68e, and a cancel button 68f, as in FIG. 18. In this way, when a rotational swipe operation is performed on the terminal screen 61, the moving icon 69a rotates following the touch position, and the vehicle 10 starts moving in accordance with the rotational movement. Furthermore, when the finger that has been performing the rotational swipe operation is removed from the terminal screen 61, or when the rotational swipe operation is stopped, the automatic parking movement of the vehicle 10 is temporarily stopped.

[0081] Next, the processor 81 starts automatic parking of the vehicle 10 by transmitting a parking instruction signal to the vehicle 10 (step S21). When the automatic parking control unit 55 of the vehicle 10 receives the parking instruction signal from the information terminal 60, it starts automatic parking of the vehicle 10 in accordance with the received parking instruction signal.

[0082] Next, the processor 81 determines whether or not there is opening / closing reservation information for the opening / closing body in the currently performed automatic parking (step S22).

[0083] In step S22, if there is opening / closing reservation information (step S22: Yes), the processor 81 determines whether the vehicle 10 performing automatic parking has arrived at an opening / closing position suitable for opening and closing the tailgate TG (step S23).

[0084] In step S23, if the tailgate TG has not reached the opening / closing position suitable for opening or closing (step S23: No), the processor 81 returns to step S22 and repeats the processing of each step.

[0085] In step S23, if the tailgate TG has arrived at an opening / closing position suitable for opening or closing (step S23: Yes), the processor 81 temporarily suspends the ongoing automatic parking at that opening / closing position (step S24).

[0086] Next, the processor 81 displays an opening / closing screen 70 on the terminal screen 61, for example, as shown in FIG. 20, which guides the user to open or close the tailgate TG (step S25). When opening the tailgate TG, the processor 81 displays, for example, a vehicle image 70a of the vehicle 10 stopped at an opening / closing position suitable for opening or closing the tailgate TG, and a guidance message 70b such as "The vehicle has stopped. The tailgate can now be opened," on the opening / closing screen 70. The processor 81 also displays, on the opening / closing screen 70, an opening operation image 70c that prompts a swipe operation to open the tailgate TG, and a guidance message 70d such as "Open the tailgate." When the opening operation image 70c is swiped to the right, the processor 81 opens the tailgate TG.

[0087] When the tailgate TG is closed, the processor 81 displays, for example, a vehicle image 70e of the vehicle 10 stopped at the open / close position with the tailgate TG closed, and a guidance message 70f such as "Please close the tailgate," on the opening / closing screen 70, as shown in Fig. 21. The processor 81 also displays a closing operation image 70g that prompts a swipe operation to close the tailgate TG, and a guidance message 70h such as "Close the tailgate," on the opening / closing screen 70. When the closing operation image 70g is swiped to the left, the processor 81 closes the tailgate TG.

[0088] The processor 81 also displays a parking resume button 70i on the opening / closing screen 70 for resuming remote parking after the luggage N has been unloaded from the rear luggage compartment and the tailgate TG has been closed. The processor 81 also displays a cancel button 70j on the opening / closing screen 70 for canceling automatic parking.

[0089] Next, the processor 81 determines whether or not the opening and closing of the tailgate TG is complete, i.e., whether or not the unloading of the luggage N from the rear luggage compartment is complete (step S26). The completion of the opening and closing of the tailgate TG is determined, for example, when the parking resume button 70i is touched after the unloading of the luggage N from the rear luggage compartment is complete and the tailgate TG is closed.

[0090] In step S26, if the opening and closing of the tailgate TG has not been completed (step S26: No), the processor 81 waits until the opening and closing is completed.

[0091] In step S26, if the opening and closing of the tailgate TG is completed (step S26: Yes), the processor 81 deletes the opening and closing reservation information of the opening and closing body in the automatic parking that is currently being performed (step S27), returns to step S18, and repeats each process.

[0092] As a result, in steps S18 to S21, when the rotational swipe operation is resumed, the processor 81 resumes automatic parking of the vehicle 10. Also, since the opening / closing reservation information was deleted in step S27, the processor 81 proceeds to the processing of step S28 in the branch processing of step S22.

[0093] In step S22, if there is no opening / closing reservation information (step S22: No), the processor 81 determines whether or not automatic parking is completed, that is, whether or not parking of the vehicle 10 in the parking space selected by the user M1 is completed (step S28). Whether or not automatic parking is completed can be determined based on information related to execution control transmitted from the automatic parking control unit 55 of the vehicle 10.

[0094] In step S28, if the automatic parking has not been completed (step S28: No), the processor 81 returns to step S22 and repeats the processing of each step.

[0095] If automatic parking is completed in step S28 (step S28: Yes), the processor 81 displays, for example, an automatic parking completion screen 71 as shown in FIG. 22 on the terminal screen 61 (step S29). The processor 81 displays a parking completion message 71a, such as "Parking is completed. Please touch the screen." on the automatic parking completion screen 71. As a result, when the terminal screen 61 is touched, the automatic parking application is terminated.

[0096] In automatic parking of the vehicle 10, even if the presence of an obstacle around the vehicle 10 cannot be detected at the start of automatic parking, the obstacle may be detected during automatic parking. In such cases, the processor 81 may reset an opening / closing position suitable for opening and closing the tailgate TG based on the obstacle detected during automatic parking, and update the opening / closing reservation information. For example, if an obstacle is detected during automatic parking while it is determined in step S25 that the vehicle 10 has not yet arrived at the opening / closing position and the process returns to step S22, that is, while automatic parking is being performed, the processor 81 may reset the opening / closing position of the tailgate TG, taking into account whether the obstacle will hinder the opening or closing of the tailgate TG. The processor 81 may also store the opening / closing reservation information including the reset opening / closing position in the memory 82.

[0097] As described above, when a reservation for opening or closing the tailgate TG (opening / closing body) has been made, the processor 81 of the information terminal 60, after starting automatic parking to move the vehicle 10 to a target parking position, stops the vehicle 10 at an opening / closing position that is different from the target parking position and is suitable for opening or closing the tailgate TG, performs processing to open or close the tailgate TG, and resumes moving the vehicle 10 to the target parking position after the opening / closing processing is completed. In this way, by making a reservation for opening or closing the tailgate TG (opening / closing body), it is possible to temporarily stop the vehicle 10 at an opening / closing position suitable for opening or closing the tailgate TG before the vehicle 10 reaches the target parking position and perform processing to open or close the tailgate TG, and it is also possible to resume automatic parking of the vehicle 10 after the opening / closing processing. Therefore, for example, it is possible to stop the vehicle 10 in a location where it is easy to open or close the tailgate TG during automatic parking, unload luggage N from the rear luggage compartment, and continue automatic parking after unloading the luggage N, thereby improving usability.

[0098] Furthermore, when an obstacle is detected around the vehicle 10, the processor 81 of the information terminal 60 sets an opening / closing position suitable for opening and closing the tailgate TG, taking into consideration the effect of the obstacle on the opening and closing of the tailgate TG. This prevents a situation in which the tailgate TG cannot be opened or closed due to an obstacle, making it possible to set an optimal opening / closing position for the tailgate TG.

[0099] Furthermore, when the vehicle 10 is stopped at an opening / closing position suitable for opening or closing the tailgate TG, the processor 81 of the information terminal 60 displays a notification urging the user to open or close the tailgate TG on the terminal screen 61. This allows the user M1 to know the timing for opening or closing the tailgate TG, thereby improving usability.

[0100] Furthermore, when the processor 81 of the information terminal 60 receives an instruction to open or close the tailgate TG from the user M1 after receiving a notification prompting the user M1 to open or close the tailgate TG, the processor 81 causes the vehicle 10 to open or close the tailgate TG. This allows the tailgate TG to be opened or closed according to the user M1's wishes, thereby improving usability.

[0101] Furthermore, the processor 81 of the information terminal 60 can perform opening and closing processing for the opening and closing object for which the opening and closing reservation has been made by the user M1, among the plurality of opening and closing objects, thereby improving usability.

[0102] Furthermore, the processor 81 of the information terminal 60 can remotely control the movement of the vehicle 10 and reserve the opening and closing of the opening-closing body based on input operations to the information terminal 60 carried by the user M1. Therefore, compared to when the user M1 gets into the vehicle 10 and controls the movement of the vehicle 10 and reserves the opening and closing of the opening-closing body by operating an in-vehicle operation unit, for example, the operational burden on the user M1 can be reduced, and usability can be improved.

[0103] 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.

[0104] For example, in the above embodiment, the case where the vehicle 10 is automatically parked has been described, but similar control can also be applied to the case where the vehicle 10 is automatically departing. In the case of automatic departing, for example, if there is a plan to open the tailgate TG and load luggage N into the rear luggage compartment, the opening and closing of the tailgate TG is reserved before the start of automatic departing. In this case, the processor 81 moves the vehicle 10 to the location where the user M1 is located by automatic departing, but if it is found that the tailgate TG cannot be opened or closed smoothly or that the luggage N cannot be loaded smoothly when the vehicle 10 is moved to the location where the user M1 is located, the processor 81 controls the vehicle 10 to stop slightly before or slightly past the location where the user M1 is located. This makes it possible to smoothly open and close the tailgate TG and load the luggage N.

[0105] In the above embodiment, the case where the opening and closing body (for example, the tailgate TG) is automatically opened and closed by operating the information terminal 60 has been described, but the present invention is not limited to this. For example, the opening and closing body may be opened and closed manually by the users M1 and M2.

[0106] In the above embodiment, the opening and closing of the tailgate TG has been described as an example of the opening and closing process of the opening and closing body, but the present invention is not limited to this. The opening and closing process of the opening and closing body may be, for example, a process for enabling the opening and closing body to be manually opened and closed. Specifically, it may be a process for unlocking the opening and closing body. Furthermore, the opening and closing process of the opening and closing body may be, for example, a process for displaying guidance information related to the opening and closing body on the terminal screen 61 of the information terminal 60.

[0107] In the above embodiment, the case where the user M1 gets off the vehicle 10 and performs automatic parking and automatic leaving using the information terminal 60 from outside the vehicle 10 has been described, but the present invention is not limited to this. For example, the case where the user M1 remains in the vehicle 10 and performs automatic parking and automatic leaving using the information terminal 60 from inside the vehicle 10 may also be used.

[0108] In the above embodiment, the case where the information terminal 60 is used as an example of a control device to instruct movement control of the vehicle 10 has been described, but the present invention is not limited to this. For example, an in-vehicle device mounted on the vehicle 10 may be used as an example of a control device, and the in-vehicle device may instruct movement control of the vehicle 10. Furthermore, a combination of the information terminal 60 and the in-vehicle device may be used as an example of a control device, and movement control of the vehicle 10 may be instructed by cooperation between the information terminal 60 and the in-vehicle device.

[0109] In the above embodiment, the moving body is a vehicle (four-wheeled automobile), but the present invention is not limited to this. 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.

[0110] 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 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.

[0111] 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.

[0112] (1) In a control device (information terminal 60) of a moving body (vehicle 10) equipped with an opening / closing body (tailgate TG), A control unit (processor 81) performs movement control to move the moving body to a target movement position, The control unit When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. Control device.

[0113] According to (1), by reserving the opening and closing of the opening and closing body, the moving body can be stopped before reaching the target movement position and the opening and closing process of the opening and closing body can be performed, so that movement control can be performed in accordance with the user's wishes, improving usability.

[0114] (2) The control device according to (1), The opening / closing position is a position on a path to the target movement position. Control device.

[0115] According to (2), it is possible to open or close the opening / closing body before it reaches the target movement position, thereby improving usability.

[0116] (3) The control device according to (1) or (2), setting the opening / closing positions based on a detection result of an obstacle around the moving object; Control device.

[0117] According to (3), it is possible to prevent the opening and closing of the opening and closing body from becoming impossible due to an obstacle, and it is possible to set the optimal opening and closing position.

[0118] (4) The control device according to any one of (1) to (3), When the moving body is stopped at the open / close position, the control unit notifies the user of the moving body to prompt the user to open or close the opening / closing body. Control device.

[0119] According to (4), the user can grasp the opening and closing timing of the opening and closing body, thereby improving usability.

[0120] (5) The control device according to (4), the control unit, when receiving an instruction to open or close the opening / closing body from the user of the moving body after the notification, causes the opening / closing body to be opened or closed. Control device.

[0121] According to (5), the opening and closing body can be opened and closed according to the user's will, thereby improving usability.

[0122] (6) The control device according to any one of (1) to (5), The moving body includes a plurality of opening and closing bodies, the control unit performs the opening / closing process for the opening / closing body for which the opening / closing reservation has been made among the plurality of opening / closing bodies. Control device.

[0123] According to (6), it is possible to perform opening and closing processing for an opening and closing object for which opening and closing has been reserved by a user, thereby improving usability.

[0124] (7) The control device according to any one of (1) to (6), The movement control and the acceptance of the opening / closing reservation are performed based on an input operation on an information terminal carried by a user of the mobile body. Control device.

[0125] According to (7), compared to getting on the vehicle to control movement and input opening and closing reservations, being able to operate it remotely reduces the burden on the user and improves usability.

[0126] (8) A processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position, When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. Control method.

[0127] According to (8), by reserving the opening and closing of the opening and closing body, the moving body can be stopped before reaching the target movement position and the opening and closing process of the opening and closing body can be performed, so that movement control can be performed in accordance with the user's wishes, improving usability.

[0128] (9) A processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position, When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. A control program for executing processing.

[0129] According to (9), by reserving the opening and closing of the opening and closing body, the moving body can be stopped before reaching the target movement position and the opening and closing process of the opening and closing body can be performed, so that movement control can be performed in accordance with the user's wishes, improving usability. [Explanation of symbols]

[0130] 10 Vehicles (moving objects) 60 Information terminal (control device) 81 Processor (control unit) TG tailgate (opening and closing body)

Claims

1. In a control device for a moving body having an opening / closing body, a control unit that performs movement control to move the moving body to a target movement position, The control unit When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. Control device.

2. The control device according to claim 1, The opening / closing position is a position on a path to the target movement position. Control device.

3. The control device according to claim 1 or 2, setting the opening / closing positions based on a detection result of an obstacle around the moving object; Control device.

4. The control device according to any one of claims 1 to 3, When the moving body is stopped at the open / close position, the control unit notifies the user of the moving body to prompt the user to open or close the opening / closing body. Control device.

5. The control device according to claim 4, the control unit, when receiving an instruction to open or close the opening / closing body from the user of the moving body after the notification, causes the opening / closing body to be opened or closed. Control device.

6. The control device according to any one of claims 1 to 5, The moving body includes a plurality of opening and closing bodies, the control unit performs the opening / closing process for the opening / closing body for which the opening / closing reservation has been made among the plurality of opening / closing bodies. Control device.

7. The control device according to any one of claims 1 to 6, The movement control and the acceptance of the opening / closing reservation are performed based on an input operation on an information terminal carried by a user of the mobile body. Control device.

8. a processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position, When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. Control method.

9. A processor of a control device that performs movement control to move a moving body having an opening / closing body to a target moving position When the opening / closing of the opening / closing body has been reserved, the moving body is stopped at an opening / closing position different from the target movement position after the start of the movement control, and the opening / closing process of the opening / closing body is performed, and after the opening / closing process is completed, the movement of the moving body to the target movement position is resumed. A control program for executing processing.

Images