Control device, control method, and control program

Abstract

To provide a control device, control method, and control program that can improve user convenience. [Solution] The control device 30 comprises a detection unit 31, a derivation unit 33, and a driving control unit 34. The detection unit 31 detects a parking area where the vehicle 1 can be parked based on external information around the vehicle 1. The derivation unit 33 refers to a storage unit that stores driving path information indicating a first driving path that the vehicle 1 has traveled to reach its current position, and derives a second driving path for driving the vehicle 1 from a predetermined point on the first driving path to the detected parking area. The driving control unit 34 drives the vehicle based on the first driving path and the second driving path. Specifically, the driving control unit 34 drives the vehicle 1 along the first driving path from its current position to the predetermined point, and then drives the vehicle 1 along the second driving path from the predetermined point to the parking area.

Description

Technical Field

[0007]

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

Background Art

[0002] In recent years, in order to comprehensively make cities and human settlements safe, resilient, and sustainable, improvement of traffic safety has been demanded. From the viewpoint of improving traffic safety, for example, the development of vehicle driving support technologies and autonomous driving technologies has been promoted.

[0003] As an example of a driving support technology, in Patent Document 1 below, a peripheral image generated based on an imaging result of an imaging unit provided in a vehicle is displayed on a touch panel, and a first symbol representing a parking area where the vehicle can be parked is displayed on the peripheral image. When a position corresponding to the first symbol is touched, a technology for assisting parking in the parking area represented by the first symbol is disclosed.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, there was room for improvement from the viewpoint of improving user convenience.

[0006] The present invention provides a control device, a control method, and a control program capable of improving user convenience.

Means for Solving the Problems

[0007] <​​​​A detection unit that detects a parking area where the vehicle can be parked based on external information around the vehicle, A derivation unit derives a second driving route for driving the vehicle from a predetermined point on the first driving route to the parking area, by referring to a storage unit that stores driving route information indicating the first driving route the vehicle has traveled to reach its current position. A driving control unit that drives the vehicle based on the first driving path and the second driving path, Equipped with, The driving control unit drives the vehicle along the first driving path from the current position to the predetermined point, and then drives the vehicle along the second driving path from the predetermined point to the parking area. It is a control device.

[0008] Another aspect of the present invention is, The computer that controls the vehicle, Based on external information surrounding the vehicle, a parking area where the vehicle can be parked is detected. Referencing a storage unit that stores route information indicating a first route taken by the vehicle to reach its current position, a second route is derived for driving the vehicle from a predetermined point on the first route to the parking area. The vehicle is driven based on the first and second travel paths. Perform the process, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point, and then driven along the second driving path from the predetermined point to the parking area. This is a control method.

[0009] Another aspect of the present invention is, The computer that controls the vehicle, Based on external information surrounding the vehicle, a parking area where the vehicle can be parked is detected. Referencing a storage unit that stores route information indicating a first route taken by the vehicle to reach its current position, a second route is derived for driving the vehicle from a predetermined point on the first route to the parking area. The vehicle is driven based on the first and second travel paths. Perform the processing, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point, and then driven along the second driving path from the predetermined point to the parking area. This is a control program. [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 can improve user convenience. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of the control device of the present invention. [Figure 2] Figure 2 shows an example of the driving history information 200 stored in the memory unit 35. [Figure 3] Figure 3 shows an example of a situation assumed in this embodiment. [Figure 4] Figure 4 shows an example of the second travel path Rt2 derived by the output unit 33 of the control device 30. [Figure 5] Figure 5 shows an example of driving based on the first driving path Rt1 controlled by the driving control unit 34 of the control device 30. [Figure 6] Figure 6 shows an example of driving based on the second driving path Rt2 controlled by the driving control unit 34 of the control device 30. [Figure 7] Figure 7 shows an example of a case where the output unit 33 of the control device 30 derives multiple second travel paths Rt2. [Figure 8]FIG. 8 is a flowchart (part 1) showing an example of the process performed by the control device 30. [Figure 9] FIG. 9 is a flowchart (part 2) showing an example of the process performed by the control device 30. [Figure 10] FIG. 10 is a diagram showing an example of the third travel route Rt3 and the fourth travel route Rt4 derived by the derivation unit 33 in the modified example. [Figure 11] FIG. 11 is a diagram showing an example of travel based on the first travel route Rt1, the third travel route Rt3, and the fourth travel route Rt4 by the travel control unit 34 in the modified example.

MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described in detail with reference to the drawings. The drawings are to be viewed in the direction of the reference numerals. Note that the following embodiments do not limit the present invention, and not all of the elements described in the following embodiments are essential to the present invention. Hereinafter, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified.

[0013] [1. Vehicle] The vehicle 1 of the present embodiment shown in FIG. 1 is an automobile including a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable steerable wheels. As an example, the vehicle 1 can be a four-wheel automobile having a pair of left and right front wheels and rear wheels respectively.

[0014] The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Also, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or each of the four wheels of a pair of left and right front wheels and rear wheels. Either one of the front wheels and rear wheels of the vehicle 1 may be a steerable steerable wheel, or both may be steerable steerable wheels.

[0015] Vehicle 1 is comprised of a sensor group 10, a navigation device 20, a control device 30, an EPS system 40 (EPS: Electric Power Steering), a drive force control system 50, a braking force control system 60, a communication unit 70, and a notification device 90.

[0016] The sensor group 10 consists of an external sensor 11 that acquires external information for recognizing the surroundings (in other words, the surroundings) of the vehicle 1, and a vehicle sensor 12 that acquires information related to the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 is output to the control device 30 and used for the control of the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0017] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the area around the vehicle 1, including the area in front of the vehicle 1, and outputs the image data of the obtained surrounding images to the control device 30. Such image data is an example of external information. As the camera 111, for example, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0018] More specifically, the camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, mounted on the top of the front windshield or the front grille (not shown) of the vehicle 1 and captures the scenery in front of the vehicle 1. The rear camera 111b is, for example, mounted near the license plate (in other words, the vehicle registration number plate) attached to the rear of the vehicle 1 and captures the scenery behind the vehicle 1. The side cameras 111c are, for example, mounted on the left and right side mirrors (not shown) and capture the scenery to the sides of the vehicle 1 (i.e., the left and right sides).

[0019] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and receives reflected sound from objects present around the vehicle 1 to detect the distance and direction from the vehicle 1 to the object, and outputs the detection results to the control device 30. The detection results from the sonar 112 are another example of external information.

[0020] The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected waves from objects present around the vehicle 1. For example, a millimeter-wave radar can be used as the radar 113. The detection results by the radar 113 are another example of external information.

[0021] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction from the vehicle 1 to the object by receiving reflected light from the object present around the vehicle 1.

[0022] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, a steering touch sensor 126, and a shift position sensor 127.

[0023] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. For example, the wheel sensor 121 detects the rotation angles of the left rear wheel and the right rear wheel. The wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0024] The vehicle speed sensor 122 detects the vehicle speed VP, which is the travel speed of the vehicle 1 (in other words, the speed at which the vehicle body moves). For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the rotational speed of a countershaft (not shown) provided by the vehicle 1.

[0025] The inertial measurement device 123 detects the angular velocities in the pitch, roll, and yaw directions of the vehicle 1, as well as the accelerations in the longitudinal, lateral, and vertical directions of the vehicle 1. The vehicle sensor 12 may also include, instead of the inertial measurement device 123, an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0026] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 1 and outputs the image data of the interior images obtained to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of an occupant (for example, the user driving vehicle 1; hereinafter simply referred to as "user") seated in the driver's seat of vehicle 1 from the front. Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS.

[0027] The operation detection unit 125 detects operations performed using the operation input unit 129, which is provided for user operation. The operation input unit 129 may include, for example, switches or buttons that accept parking assistance requests, as described later.

[0028] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is provided in the part that the user touches when the steering wheel 46 is being properly gripped.

[0029] The shift position sensor 127 detects, for example, whether the shift position of the shift lever (not shown) of the vehicle 1 is "P (parking)", "R (reverse)", "N (neutral)", or "D (drive)". In addition, if the vehicle 1 can take on a shift position other than "P", "R", "N", or "D" (for example, "B (brake)"), the shift position sensor 127 may also detect whether the vehicle is in that other shift position.

[0030] The navigation device 20 is comprised of, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0031] The map information database 24 is composed of road network information. Road network information is information that represents each road by a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on the road, such as an intersection, a bend, or a dead end. In the road network information, each node is set with information such as the location corresponding to that node (for example, coordinates that can identify a specific point on the map, such as latitude and longitude). In addition, in the road network information, each link is set with information such as the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, and the road type.

[0032] The GNSS receiver 21 determines the current position of vehicle 1 (for example, the latitude and longitude of the location where vehicle 1 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 or vehicle speed sensors 122) via the control device 30 and determine or supplement the current position of vehicle 1 using an INS (Inertial Navigation System) that utilizes the detection values ​​from vehicle sensors 12.

[0033] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1, including the user. The touch panel 22 is an example of a notification unit capable of providing notifications to the user. The speaker 23 is another example of a notification unit capable of providing notifications to the user.

[0034] For example, the navigation device 20 searches for a route from the current location of the vehicle 1 to a destination set by the user using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23.

[0035] Furthermore, the navigation device 20 may display predetermined information on the touch panel 22 in accordance with instructions from the control device 30. In addition, the navigation device 20 may output predetermined information (for example, information indicating operations received via the touch panel 22) to the control device 30. For example, the navigation device 20 may display the target parking position setting screen or the parking assist usage recommendation notification, described later, on the touch panel 22 in accordance with instructions from the control device 30.

[0036] The control device 30 is an example of the control device of the present invention and is a computer that provides overall control for the entire vehicle 1. For example, the control device 30 includes, for example, a processor (not shown) that performs various calculations, a storage unit 35 having a non-transient storage medium for storing various information (e.g., programs and various data), and an input / output unit (not shown) that serves as an interface for controlling the input and output of data between the inside and outside of the control device 30.

[0037] The control device 30 includes, for example, a detection unit 31, a display control unit 32, an output unit 33, and a driving control unit 34, which are functional units realized by the processor executing a program stored in the memory unit 35. These functional units will be described later, so their explanation here is omitted. The control device 30 can be realized, for example, by a single ECU (Electronic Control Unit) or by the cooperation of multiple ECUs.

[0038] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0039] The steering angle sensor 41 detects the steering angle θst of the steering 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0040] The EPS motor 43 assists the user's operation of the steering 46 by applying a driving force or reaction force to the steering column 47, which is connected to the steering 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0041] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown in the figure). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0042] Furthermore, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. In addition, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering speed ω of the steering 46. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0043] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the power output from the drive source of the vehicle 1 based on the operation of the accelerator pedal 52 provided on the vehicle 1. The drive ECU 51 can also control the drive force control system 50 (for example, the drive source) according to instructions from the control device 30.

[0044] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling the brake device (not shown) provided in the vehicle 1 based on the operation of the brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 (e.g., the brake device) according to instructions from the control device 30.

[0045] The communication unit 70 is a communication interface that communicates with the external device 2 according to the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a user's terminal device (e.g., a smartphone) or a server device managed by the manufacturer of the vehicle 1. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0046] The notification device 90 is a device that provides notifications (e.g., alarms) to the user in accordance with the control of the control device 30. The notification device 90 is composed of, for example, a MID (Multi-Information Display) 91 and a buzzer 92.

[0047] The MID91 is comprised of a display device such as a liquid crystal display or an OLED, and is installed in a location visible to the user (for example, within the instrument panel of the vehicle 1). For example, the MID91 displays a predetermined image according to instructions from the control device 30. The MID91 is another example of a notification unit capable of providing notifications to the user. The MID91 may also be shared with the aforementioned touch panel 22.

[0048] The buzzer 92 is configured to output predetermined sounds. For example, the buzzer 92 outputs predetermined alarm sounds or sound effects according to instructions from the control device 30. The buzzer 92 is another example of a notification unit capable of providing notifications to the user. The buzzer 92 may also be shared with the speaker 23 mentioned above.

[0049] [2. Control device] Next, the control device 30 will be described in detail. First, with reference to Figure 2, an example of the information stored in the memory unit 35 will be explained.

[0050] (2-1. Driving history information stored in the memory unit) The memory unit 35 stores, for example, the driving history information 200 shown in Figure 2. As shown in Figure 2, the driving history information 200 includes, for example, information indicating the position of vehicle 1, steering angle θst, and shift position (e.g., "P", "R", "N", or "D") for each time period. The information indicating the steering angle θst in the driving history information 200 is an example of "control information" in the present invention. The information indicating the shift position in the driving history information 200 is another example of "control information" in the present invention.

[0051] For example, when the vehicle 1 is being driven manually, the control device 30 acquires information indicating the latitude and longitude of the location of the vehicle 1 as identified by the navigation device 20 (e.g., GNSS receiver 21), the steering angle θst detected by the EPS system 40 (e.g., steering angle sensor 41), and the shift position detected by the shift position sensor 127 at predetermined intervals (e.g., every 10 ms). The control device 30 then stores this acquired information in the storage unit 35, associating it with information indicating the time of acquisition. As a result, driving history information 200 is stored, which includes information indicating the position of the vehicle 1 at the same time during manual driving, information indicating the steering angle θst, and information indicating the shift position.

[0052] Furthermore, the driving history information 200 may include other information. For example, as shown in Figure 2, the driving history information 200 may further include external information for each time period. As an example, the driving history information 200 may include information showing forward images for each time period as external information. In this case, when the vehicle 1 is being driven manually, the control device 30 acquires information at predetermined intervals indicating the latitude and longitude of the location of the vehicle 1 identified by the navigation device 20, the steering angle θst detected by the EPS system 40, the shift position detected by the shift position sensor 127, and the forward image captured by the forward camera 111a. The acquired information is then stored in the storage unit 35 in association with information indicating the time of acquisition. In this way, the driving history information 200, which includes information indicating the position of the vehicle 1 at the same time during manual driving, information indicating the steering angle θst, information indicating the shift position, and external information, can be stored in the storage unit 35.

[0053] Furthermore, the driving history information 200, which includes information indicating the position of vehicle 1 at each time point, can also be said to represent information showing the temporal progression of vehicle 1's position. The temporal progression of vehicle 1's position represents the driving route taken by vehicle 1. Therefore, the driving history information 200 includes driving route information showing the driving route taken by vehicle 1. As mentioned above, if the driving history information 200 is stored based on the fact that vehicle 1 is being driven manually, the driving history information 200 includes driving route information showing the driving route taken by vehicle 1 while being driven manually (hereinafter also referred to as "first driving route Rt1").

[0054] Furthermore, in the driving history information 200, the information indicating the steering angle θst associated with the information indicating the position of each vehicle 1 represents the steering angle θst when vehicle 1 was in that position, i.e., the operating state of the steering 46. Therefore, the driving history information 200 can represent the operating state of the steering 46 when vehicle 1 traveled along the first driving path Rt1.

[0055] Furthermore, in the driving history information 200, the information indicating the shift position, which is associated with the information indicating the position of each vehicle 1, represents the shift position when vehicle 1 was in that position, i.e., the operating state of the shift lever. Therefore, the driving history information 200 can represent the operating state of the shift lever when vehicle 1 traveled along the first driving route Rt1.

[0056] In this embodiment, the control device 30 stores in the storage unit 35 travel history information 200 indicating the first travel path Rt1 for the most recent predetermined distance (e.g., 200 m) of the vehicle 1 to its current position. In other words, the control device 30 deletes from the storage unit 35 any information that has been moved outside the predetermined distance as the vehicle 1 has traveled. This makes it possible to reduce the storage area of ​​the storage unit 35 required to store the travel history information 200.

[0057] Furthermore, in this embodiment, the control device 30 is provided with a storage unit 35 for storing driving history information 200, but it is not limited to this. That is, the storage unit 35 may be provided outside the control device 30 in a manner that allows the control device 30 to access it.

[0058] (2-2. Control by a control device) Next, an example of control by the control device 30 will be described with reference to Figures 3 to 7.

[0059] In the example shown in Figure 3, Vehicle 1 is being manually driven by the user and is located at point P0 within the parking lot PK. That is, in the example shown in Figure 3, point P0 is the current location of Vehicle 1. The user attempted to park Vehicle 1 in an available parking space PA within the parking lot PK by driving it themselves, but was unsuccessful and has temporarily stopped Vehicle 1 at point P0 outside the available parking space PA.

[0060] Furthermore, in the example shown in Figure 3, the first travel route Rt1 is the route that vehicle 1 traveled by manual operation to reach point P0. The storage unit 35 stores travel history information 200, which includes travel route information indicating this first travel route Rt1.

[0061] In the example shown in Figure 3, when the detection unit 31 of the control device 30 receives a predetermined user operation (hereinafter also referred to as "parking assistance request operation") requesting the use of the parking assistance function, for example via the touch panel 22 or the operation input unit 129, it detects a parking area PA as a parking area where the vehicle 1 can be parked, based on external information acquired via the external sensor 11.

[0062] The parking assistance request operation can be, for example, an operation to tap a predetermined button displayed on the touch panel 22. This button may be displayed on the touch panel 22 together with a parking assistance recommendation notification, which will be described later. Furthermore, the parking assistance request operation is not limited to this, and may also be an operation to a physical switch or button provided on the steering wheel 46, for example.

[0063] Furthermore, when detecting a parking area, the detection unit 31 may detect a parking space that is not occupied by another vehicle (i.e., an empty parking space) among the parking spaces demarcated by white lines, etc., as a parking area, or it may detect any area in which vehicle 1 can be physically parked as a parking area. In addition, the detection unit 31 may perform the detection of a parking area while vehicle 1 is in motion (for example, when vehicle 1 is traveling at a low speed). Moreover, the detection unit 31 may detect a parking area in which it is estimated that the user attempted to park vehicle 1 (for example, the parking area PA shown in Figure 3). As an example, the detection unit 31 may estimate the parking area in which the user attempted to park based on the location of each parking area in the vicinity of vehicle 1 and the driving path of vehicle 1 shown in the driving history information 200, and detect that parking area. In this way, it becomes possible to present the user with a parking area in which it is estimated that the user attempted to park (i.e., the location desired by the user as the place to park vehicle 1) as a candidate for the target parking location.

[0064] When the detection unit 31 detects a parking area PA, the display control unit 32 of the control device 30 displays, for example, a target parking location setting screen on the touch panel 22, which allows the user to specify a target parking location. Here, the target parking location setting screen can be, for example, a display screen that shows a parking frame image corresponding to each of the detected parking areas on an overhead image that depicts the area around the vehicle 1 from an overhead perspective. For example, in the example shown in Figure 3, since a parking area PA has been detected, the target parking location setting screen is displayed, showing a parking frame image corresponding to the parking area PA on an overhead image of the area around the vehicle 1.

[0065] Then, when the user taps any of the parking frame images on the target parking position setting screen displayed on the touch panel 22, the control device 30 sets the parking area corresponding to that parking frame image as the target parking position. In other words, the control device 30 sets the parking area specified by the user as the target parking position. In the example described here, it is assumed that the parking area PA is set as the target parking position.

[0066] In this case, the derivation unit 33 of the control device 30 refers to the driving history information 200 stored in the storage unit 35 and derives a second driving route Rt2 for driving the vehicle 1 from a predetermined point on the first driving route Rt1 (hereinafter also referred to as the "connection point Pc") to the parking area PA which is the target parking position.

[0067] As an example, as shown in Figure 4, the derivation unit 33 derives a route for vehicle 1 to travel from point P1 on the first travel route Rt1 to the parking area PA as the second travel route Rt2. In this case, the derivation unit 33 should derive the route that vehicle 1 would take if it were to travel from point P1 to the parking area PA, taking into consideration the specifications of vehicle 1 (for example, body dimensions and minimum turning radius), as the second travel route Rt2.

[0068] Then, the driving control unit 34 drives the vehicle 1 based on the first driving route Rt1 indicated by the driving history information 200 stored in the storage unit 35, and the second driving route Rt2 derived by the derivation unit 33.

[0069] As an example, suppose the second travel path Rt2 shown in Figure 4 is derived by the derivation unit 33. In this case, the travel control unit 34 first causes the vehicle 1 to travel along the first travel path Rt1 from point P0, which is the current position of the vehicle 1, to point P1, which is the connection point Pc, as shown in Figure 5 (see arrow α in Figure 5). At this time, the travel control unit 34 only needs to control the steering of the vehicle 1 via the EPS system 40 so that the vehicle 1 travels while tracing the portion of the first travel path Rt1 from point P0 to point P1. At this time, the travel control unit 34 may also control the driving force of the vehicle 1 via the driving force control system 50, or control the braking force of the vehicle 1 via the braking force control system 60. However, it is not limited to this, and the driving force and braking force of the vehicle 1 may be adjusted by the user, for example, via the accelerator pedal 52 and brake pedal 62. In other words, the control device 30 may only control the steering of the vehicle 1.

[0070] Then, when vehicle 1 reaches point P1, the driving control unit 34 drives vehicle 1 along the second driving path Rt2 from point P1, which is the connection point Pc, to the parking area PA, which is the target parking position, as shown in Figure 6 (see arrow β in Figure 6). At this time, the driving control unit 34 should control the steering of vehicle 1 via the EPS system 40 so that vehicle 1 travels to the parking area PA while tracing the second driving path Rt2. At this time, the driving control unit 34 may also control the driving force of vehicle 1 via the driving force control system 50, or control the braking force of vehicle 1 via the braking force control system 60. However, it is not limited to this, and the driving force and braking force of vehicle 1 may be adjusted by the user via the accelerator pedal 52 and brake pedal 62. In other words, the control device 30 may only control the steering of vehicle 1.

[0071] As explained above, the control device 30 makes it possible to easily park the vehicle 1 in the desired parking area (for example, the parking area PA shown in Figure 3) even if the user fails to park in the desired parking area through manual driving. This improves user convenience. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0072] Furthermore, the control device 30 can perform a continuous drive along the first travel path Rt1 to the connection point Pc and then along the second travel path Rt2 to the parking area PA in response to a parking assistance request operation. This makes it possible for the user to park the vehicle 1 in the desired parking area without extra effort, compared to a case where a predetermined start operation is required for each of the two drives: the drive along the first travel path Rt1 (in other words, the drive to return the vehicle 1 to its previous position) and the drive along the second travel path Rt2 (in other words, the drive to park the vehicle in the target parking position). Therefore, user convenience can be improved.

[0073] In addition, the detection unit 31 may detect multiple parking areas. When multiple parking areas are detected in this way, the derivation unit 33 only needs to derive a second driving path Rt2 for driving vehicle 1 to one parking area specified by the user (i.e., the parking area designated as the target parking position) from among the detected multiple parking areas. This allows the user to park vehicle 1 in the desired parking area even when multiple parking areas exist around vehicle 1, thereby improving user convenience.

[0074] Furthermore, the derivation unit 33 may derive a plurality of second travel paths Rt2. For example, as shown in Figure 7, the derivation unit 33 may derive a plurality of second travel paths Rt2, including a second travel path Rt2a for driving vehicle 1 from point P1a on the first travel path Rt1 to the parking area PA (i.e., the target parking position), and a second travel path Rt2b for driving vehicle 1 from point P1b on the first travel path Rt1 to the parking area PA.

[0075] In the example shown in Figure 7, two second travel routes Rt2, Rt2a and Rt2b, are derived as multiple second travel routes Rt2, but it is also possible to derive three or more second travel routes Rt2. For example, the derivation unit 33 may select candidate points on the first travel route Rt1 at predetermined intervals (for example, 0.5 [m] intervals) from the current position of the vehicle 1, and derive a second travel route Rt2 for driving the vehicle 1 from each of these candidate points to the parking area PA. Furthermore, in order to reduce the time required and processing burden when deriving the second travel route Rt2, only points on the first travel route Rt1 that are included within a predetermined range based on the parking area PA (for example, a range with a radius of 30 [m] centered on the parking area PA) may be selected as candidate points.

[0076] In this way, by deriving multiple second travel paths Rt2, it becomes possible to make the travel of vehicle 1 based on the first travel path Rt1 and the second travel path Rt2 more favorable.

[0077] As an example, it is possible to drive vehicle 1 based on one of several second driving paths Rt2 that has the shortest driving distance to the parking area PA (hereinafter also referred to as "second shortest path Rt2X"). In this case, the driving control unit 34 should first drive vehicle 1 along the first driving path Rt1 from its current position to the connection point Pc between the first driving path Rt1 and the second shortest path Rt2X (in other words, a point on the first driving path Rt1 corresponding to the second shortest path Rt2X). Then, the driving control unit 34 should drive vehicle 1 along the second shortest path Rt2X from the connection point Pc between the first driving path Rt1 and the second shortest path Rt2X to the parking area PA.

[0078] More specifically, in the example shown in Figure 7, the second travel path Rt2a is the second shortest travel path Rt2X. Therefore, in this case, the travel control unit 34 should first drive the vehicle 1 along the first travel path Rt1 from point P0, which is the current position of the vehicle 1, to point P1a, which is the connection point Pc between the first travel path Rt1 and the second travel path Rt2a (i.e., the second shortest travel path Rt2X). Then, the travel control unit 34 should drive the vehicle 1 along the second travel path Rt2a from point P1a to the parking area PA.

[0079] In this way, by driving vehicle 1 along the second shortest path Rt2X, the driving distance to the parking area PA can be shortened compared to when vehicle 1 is driven along the other second driving path Rt2. Therefore, it is possible to reduce the time required to park vehicle 1 in the parking area PA and the energy consumption of vehicle 1.

[0080] Furthermore, by deriving multiple second driving paths Rt2, it becomes possible to drive vehicle 1 based on a single second driving path Rt2 (hereinafter also referred to as the "second minimum reversal path Rt2Y") that minimizes the number of reversals required for vehicle 1 to travel to the parking area PA. In this case, the driving control unit 34 should first drive vehicle 1 along the first driving path Rt1 from its current position to the connection point Pc between the first driving path Rt1 and the second minimum reversal path Rt2Y (in other words, a point on the first driving path Rt1 corresponding to the second minimum reversal path Rt2Y). Then, the driving control unit 34 should drive vehicle 1 along the second minimum reversal path Rt2Y from the connection point Pc between the first driving path Rt1 and the second minimum reversal path Rt2Y to the parking area PA.

[0081] In this way, by driving vehicle 1 based on the second minimum turning path Rt2Y, the number of turns required to park vehicle 1 in the parking area PA can be reduced compared to when vehicle 1 is driven based on another second driving path Rt2. Therefore, it is possible to reduce the time required to park vehicle 1 in the parking area PA and the tire wear caused by turning. Here, tire wear caused by turning refers to, for example, tire wear caused by so-called "stationary turning" during turning.

[0082] Furthermore, if vehicle 1 is being driven manually and requires two or more predetermined maneuvers (e.g., three) while vehicle 1 travels a predetermined distance (e.g., 20 m), the user may be having difficulty parking vehicle 1.

[0083] Therefore, the display control unit 32 of the control device 30 may issue a parking assist function usage recommendation notification when the vehicle 1 is being driven manually and two or more predetermined maneuvers are performed while the vehicle 1 travels a predetermined distance. Here, the predetermined distance and predetermined number of maneuvers can be determined as appropriate by the manufacturer of the vehicle 1 or the like.

[0084] As an example, the display control unit 32 can provide a notification recommending the use of the parking assist function by displaying a message encouraging the use of the parking assist function (for example, a message such as "You can park using the parking assist function") on the touch panel 22 or MID 91. In other words, the display control unit 32 is an example of a notification control unit in the present invention.

[0085] Furthermore, the driving control unit 34 may, in response to a parking assistance request operation by a user who has received a notification recommending the use of the parking assistance function, drive the vehicle 1 based on the first driving path Rt1 and the second driving path Rt2 described above (i.e., activate the parking assistance function). In this way, a notification recommending the use of the parking assistance function can be issued at the time the user desires the parking assistance function, thereby encouraging the use of the parking assistance function while suppressing excessive notifications and improving user convenience.

[0086] In addition, the control device 30 may, instead of or in addition to the above, provide a notification recommending the use of the parking assist function by outputting a voice or sound effect from the speaker 23 or buzzer 92 to encourage the use of the parking assist function.

[0087] Furthermore, while vehicle 1 is traveling along the first travel path Rt1 or the second travel path Rt2, it is possible that another parked vehicle may move, making a different parking area than the target parking location available for vehicle 1. In such a case, the user may want to change the target parking location to the other parking area.

[0088] Therefore, the driving control unit 34 may interrupt the driving of vehicle 1 when it detects a parking area other than the parking area designated as the target parking position while the vehicle 1 is being driven based on the first driving path Rt1 or the second driving path Rt2. In this case, the display control unit 32 may display the aforementioned target parking position setting screen on the touch panel 22.

[0089] Furthermore, the driving control unit 34 may resume the interrupted driving of vehicle 1 if there is no operation to change the parking position of vehicle 1 (hereinafter also referred to as "parking position change operation"; for example, an operation to tap a parking space image corresponding to another available parking area on the target parking position setting screen). On the other hand, if there is a parking position change operation, the driving control unit 34 may drive vehicle 1 from the position where the driving of vehicle 1 was interrupted to another available parking area (in other words, a new target parking position). In this way, even when vehicle 1 is being driven based on the first driving path Rt1 or the second driving path Rt2, the position in which vehicle 1 is parked can be changed as other available parking areas are detected, thereby improving user convenience.

[0090] (2-3. Processing performed by the control device) Next, an example of the processing performed by the control device 30 will be described with reference to Figures 8 and 9.

[0091] As shown in Figure 8, the control device 30 first determines whether two or more predetermined number of U-turns have been performed while the vehicle 1 travels a predetermined distance (step S1). If it is determined that the predetermined number of U-turns have not been performed (step S1: NO), the control device 30 proceeds directly to step S3. If it is determined that the predetermined number of U-turns have been performed (step S1: YES), the control device 30 proceeds to step S2.

[0092] For example, in step S1, the control device 30 refers to the driving history information 200 stored in the memory unit 35 and determines whether there have been two or more predetermined shift changes from "R" to "D" or from "D" to "R" (i.e., shift changes that reverse the direction of travel of vehicle 1) while vehicle 1 has traveled a predetermined distance. If it is determined that there have not been a predetermined number of such shift changes, the control device 30 considers that the predetermined number of reversals have not occurred and proceeds to step S3. On the other hand, if it is determined that there have been a predetermined number of such shift changes, the control device 30 considers that the predetermined number of reversals have occurred and proceeds to step S2.

[0093] Next, the control device 30 issues a notification recommending the use of parking assist (step S2). For example, in step S2, the control device 30 may issue a notification recommending the use of the parking assist function by displaying a message on the touch panel 22 or MID 91 that encourages the use of the parking assist function. As another example, the control device 30 may also issue a notification recommending the use of the parking assist function by outputting an audio or sound effect from the speaker 23 or buzzer 92 that encourages the use of the parking assist function.

[0094] Next, the control device 30 determines whether or not a parking assistance request operation has been made (step S3). If it is determined that no parking assistance request operation has been made (step S3: NO), the control device 30 terminates the series of processes. If it is determined that a parking assistance request operation has been made (step S3: YES), the control device 30 detects a parking area (for example, the parking area PA shown in Figure 3, etc.) based on external information acquired via the external sensor 11 (step S4).

[0095] Next, the control device 30 displays a target parking position setting screen on the touch panel 22, which allows the user to specify which of the detected parking areas to use as the target parking position (step S5).

[0096] Next, the control device 30 determines whether or not the user has specified a target parking position (step S6). If it determines that no target parking position has been specified (step S6: NO), the control device 30 repeats the process in step S6 until a target parking position is specified. If it determines that a target parking position has been specified (step S6: YES), the control device 30 proceeds to the process in step S7.

[0097] For example, in step S6, if the user taps any of the parking frame images on the target parking position setting screen displayed in step S5, the control device 30 considers the parking area corresponding to that parking frame image to be designated as the target parking position by the user, and proceeds to step S7. If no parking frame images on the target parking position setting screen are tapped, the control device 30 considers that no target parking position has been designated, and repeats step S6.

[0098] Next, the control device 30 sets the parking area specified by the user as the target parking position (step S7). Then, the control device 30 derives a second driving route Rt2 based on the parking area set as the target parking position and the first driving route Rt1 indicated by the driving history information 200 (step S8). In step S8, the control device 30 may derive multiple second driving routes Rt2. In this way, it becomes possible to drive the vehicle 1 based on the second shortest route Rt2X or the second shortest turning route Rt2Y.

[0099] Next, the control device 30 causes vehicle 1 to start traveling along the first travel path Rt1 from the vehicle's current position to connection point Pc (step S9). Here, connection point Pc is a point on the first travel path Rt1 and is the starting point of the second travel path Rt2 derived by the process in step S8.

[0100] Next, the control device 30 determines whether it has detected a parking area other than the target parking area based on external information acquired via the external sensor 11 (step S10). If it determines that no other parking areas have been detected (step S10: NO), the control device 30 proceeds to the process of step S15, which will be described later.

[0101] If the control device 30 determines that it has detected another available parking area (step S10: YES), it interrupts the movement of the vehicle 1 (step S11) and displays the target parking position setting screen on the touch panel 22 (step S12). This allows the user to be guided to the detected other available parking areas and enables the device to accept a parking position change operation to change the target parking position to another available parking area.

[0102] Then, as shown in Figure 9, the control device 30 determines whether or not to change the target parking position (step S13). For example, in the process of step S13, the control device 30 determines to change the target parking position if it receives a parking position change operation via the target parking position setting screen displayed in the process of step S12.

[0103] If it is determined that the target parking position should be changed (step S13: YES), the control device 30 sets another parking area specified by the user as the new target parking position, starts driving to the new target parking position (step S14), and proceeds to the process in step S23 described later.

[0104] If it is determined that the target parking position will not be changed (step S13: NO), the control device 30 restarts the vehicle 1 from traveling along the first travel path Rt1 to the connection point Pc, which was started by the process in step S9 (step S15).

[0105] The control device 30 then determines whether or not the vehicle 1 has reached the connection point Pc (step S16). If it determines that the vehicle has not reached the connection point Pc (step S16: NO), the control device 30 returns to the process of step S10 described above.

[0106] If it is determined that the vehicle has reached the connection point Pc (step S16: YES), the control device 30 then starts the vehicle 1 traveling along the second travel path Rt2 from the connection point Pc to the parking area which is the target parking position (step S17).

[0107] Next, the control device 30 determines whether it has detected a parking area other than the target parking area based on external information acquired via the external sensor 11 (step S18). If it determines that no other parking areas have been detected (step S18: NO), the control device 30 proceeds to the process in step S23, which will be described later.

[0108] If the control device 30 determines that it has detected another available parking area (step S18: YES), it interrupts the movement of the vehicle 1 (step S19) and displays the target parking position setting screen on the touch panel 22 (step S20). This allows the user to be guided to the detected other available parking areas and enables the device to accept a parking position change operation to change the target parking position to another available parking area.

[0109] Then, the control device 30 determines whether or not to change the target parking position (step S21). For example, in the process of step S21, the control device 30 determines to change the target parking position if it receives a parking position change operation via the target parking position setting screen displayed in the process of step S20.

[0110] If it is determined that the target parking position should be changed (step S21: YES), the control device 30 proceeds to the process described in step S14. If it is determined that the target parking position should not be changed (step S21: NO), the control device 30 resumes the movement of vehicle 1 along the second travel path Rt2 to the target parking position, which was started by the process in step S17 (step S22).

[0111] The control device 30 then determines whether or not vehicle 1 has reached the parking area designated as the target parking position (step S23). If it determines that vehicle 1 has not reached the parking area designated as the target parking position (step S23: NO), the control device 30 returns to the process of step S18 described above. If it determines that vehicle 1 has reached the parking area designated as the target parking position (step S23: YES), the control device 30 stops vehicle 1 (step S24) and terminates the series of processes.

[0112] As explained above, with the control device 30, even if the user fails to park in the desired parking area through manual driving, the vehicle 1 can be easily parked in that parking area by using the parking assist function of the control device 30. This improves user convenience. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0113] [3. Variant] Next, a modified example of the embodiment described above will be explained with reference to Figures 10 and 11. In the following explanation, the focus will be on the differences from the embodiment described above, and parts common to both embodiments will be denoted by the same reference numerals, and their descriptions will be omitted or simplified.

[0114] For example, depending on the positional relationship between vehicle 1 and the parking area, or the surrounding environment of vehicle 1 and the parking area, the derivation unit 33 may not be able to derive an appropriate second travel path Rt2. More specifically, it may not be possible to derive the second travel path Rt2 at all, or if vehicle 1 is driven based on the derived second travel path Rt2, the travel distance may become too long, or if vehicle 1 is driven based on the derived second travel path Rt2, numerous turns may be required. In such cases, it may not be possible or desirable to drive vehicle 1 based on the second travel path Rt2.

[0115] Therefore, as shown in Figure 10, if, for example, a suitable second travel path Rt2 could not be derived, and a reversible area RA where the direction of the vehicle 1 can be reversed exists adjacent to the first travel path Rt1, the derivation unit 33 may derive a third travel path Rt3 for reversing the direction of the vehicle 1 in the reversible area RA, and a fourth travel path Rt4 for driving the vehicle 1, whose direction has been reversed in the reversible area RA, from the reversible area RA to the parking area PA. Here, the reversible area RA can be, for example, an area where the direction of the vehicle 1 can be reversed with a single turn. That is, the reversible area RA can be, for example, an area with sufficient width to perform a turn to reverse the direction of the vehicle 1.

[0116] In this case, as shown in Figure 11, the driving control unit 34 may, for example, drive the vehicle 1 along the first driving path Rt1 to the reversible area RA (see (a) in Figure 11), then reverse the direction of the vehicle 1 in the reversible area RA using the third driving path Rt3 (see (b) in Figure 11), and then drive the vehicle 1 along the fourth driving path Rt4 from the reversible area RA to the parking area PA (see (c) in Figure 11).

[0117] In this way, even in cases where vehicle 1 cannot be properly parked in the parking area PA without reversing its orientation, if the reversible area RA is adjacent to the first travel path Rt1, the user can park vehicle 1 in the parking area PA without any extra effort. Therefore, user convenience can be improved.

[0118] Furthermore, similar to the embodiments described above, the driving control unit 34 may interrupt the driving of the vehicle 1 when it detects a parking area other than the parking area designated as the target parking position while the vehicle 1 is being driven based on the first driving path Rt1, the third driving path Rt3, or the fourth driving path Rt4.

[0119] Furthermore, if there is no operation to change the parking position, the driving control unit 34 may resume the driving of the interrupted vehicle 1. On the other hand, if there is an operation to change the parking position, the driving control unit 34 may drive vehicle 1 from the position where the driving of vehicle 1 was interrupted to another available parking area (in other words, a new target parking position). In this way, even when vehicle 1 is being driven based on the first driving path Rt1, the third driving path Rt3, or the fourth driving path Rt4, the parking position of vehicle 1 can be changed as other available parking areas are detected, thereby improving user convenience.

[0120] As described above, this embodiment and its modifications can improve user convenience. Furthermore, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0121] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present invention is not limited to these examples. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components in the above embodiments may be combined in any way without departing from the spirit of the invention.

[0122] Furthermore, the control method described in the above-mentioned embodiments can be realized by executing a pre-prepared program (control program) on a computer. This program is, for example, stored on a computer-readable storage medium and executed when read from the storage medium. This program may also be provided in the form of a non-volatile (non-transient) storage medium such as flash memory, or it may be provided via a network such as the Internet.

[0123] Furthermore, in the embodiment described above, the computer that executes the above program is the control device 30 included in the vehicle 1, but it is not limited to this. For example, the computer that executes this program may be included in another device (e.g., external device 2) that can communicate with the control device 30.

[0124] This specification includes at least the following: The components shown in parentheses are examples of those corresponding to the embodiments described above, but are not limited thereto.

[0125] (1) A control device (control device 30) that controls a vehicle (vehicle 1), A detection unit (detection unit 31) detects a parking area where the vehicle can be parked based on external information around the vehicle, A derivation unit derives a second travel route (second travel route Rt2) for driving the vehicle from a predetermined point (point P1, connection point Pc) on the first travel route to the parking area (parking area PA), by referring to a storage unit (storage unit 35) that stores travel route information indicating the first travel route (first travel route Rt1) that the vehicle traveled to reach its current position (point P0). A driving control unit (driving control unit 34) that drives the vehicle based on the first driving path and the second driving path, Equipped with, The driving control unit drives the vehicle along the first driving path from the current position to the predetermined point, and then drives the vehicle along the second driving path from the predetermined point to the parking area. Control device.

[0126] According to (1), even if a user fails to park in the desired parking space through manual driving, it becomes possible to easily park the vehicle in that parking space. This improves user convenience. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0127] (2) The control device described in (1), The driving control unit, in response to a predetermined operation by the user of the vehicle, continuously performs driving along the first driving path to the predetermined point and driving along the second driving path to the parking area. Control device.

[0128] According to (2), compared to a case where a predetermined starting operation is required for driving along the first driving path and driving along the second driving path, it becomes possible for the user to park the vehicle in the desired parking area without any extra effort. Therefore, user convenience can be improved.

[0129] (3) A control device as described in (1) or (2), When a plurality of parking spaces are detected, the derivation unit derives a second driving path for driving the vehicle to one of the plurality of parking spaces designated by the vehicle's user. Control device.

[0130] According to (3), even when there are multiple parking spaces around the vehicle, the user can park the vehicle in the desired parking space, thereby improving user convenience.

[0131] (4) A control device as described in (1) or (2), The derivation unit derives the second travel paths (second travel path Rt2a, second travel path Rt2b) for driving the vehicle from each of the multiple points (point P1a, point P1b) on the first travel path to the parking area, The driving control unit drives the vehicle along the first driving path to a point (point P1a) on the first driving path that corresponds to the second driving path (second driving path Rt2a, second shortest path Rt2X) that has the shortest driving distance to the parking area among a plurality of second driving paths, and then drives the vehicle along the first second driving path from the point to the parking area. Control device.

[0132] According to (4), the distance to the parking area can be shortened compared to when the vehicle is driven based on a second driving route other than the first second driving route. Therefore, it is possible to reduce the time required to park the vehicle in the parking area and the energy consumption of the vehicle.

[0133] (5) A control device as described in (1) or (2), The derivation unit derives a second travel path for driving the vehicle from each of the multiple points on the first travel path to the parking area, The driving control unit drives the vehicle along the first driving path to a point corresponding to one of the multiple second driving paths that minimizes the number of times the vehicle has to reverse when traveling to the parking area (second minimum reversal path Rt2Y), and then drives the vehicle along the first second driving path from that point to the parking area. Control device.

[0134] According to (5), compared to the case where the vehicle is driven based on a second driving path other than the first second driving path, the number of turns required to park the vehicle in the parking area can be reduced. Therefore, it is possible to reduce the time required to park the vehicle in the parking area and the wear on the tires due to turning around.

[0135] (6) A control device as described in (1) or (2), The control device further comprises a notification control unit (display control unit 32) that controls a notification unit capable of providing notifications to the user of the vehicle, The notification control unit, when the vehicle is being driven manually and two or more predetermined maneuvers are performed while the vehicle travels a predetermined distance, notifies the user of the vehicle via the notification unit to encourage the use of the parking assist function. The driving control unit, in response to an operation requesting the use of the parking assist function, drives the vehicle along the first driving path to the predetermined point, and then drives the vehicle along the second driving path from the predetermined point to the parking area. Control device.

[0136] According to (6), notifications can be sent to encourage the use of the parking assistance function at the time the user desires it, thereby encouraging the use of the parking assistance function while suppressing excessive notifications and improving user convenience.

[0137] (7) A control device as described in (1) or (2), The derivation unit, when it is not possible to derive the second travel path and a reversible region (reversible region RA) where the direction of the vehicle can be reversed exists adjacent to the first travel path, derives a third travel path (third travel path Rt3) for reversing the direction of the vehicle in the reversible region, and a fourth travel path (fourth travel path Rt4) for driving the vehicle, whose direction has been reversed in the reversible region, from the reversible region to the parking area. The driving control unit drives the vehicle along the first driving path to the reversible area, then drives the vehicle along the third driving path to reverse the direction of the vehicle in the reversible area, and then drives the vehicle along the fourth driving path from the reversible area to the parking area. Control device.

[0138] According to (7), even in cases where the vehicle cannot be properly parked in the parking area without reversing its direction, if the area where the vehicle can be reversed is adjacent to the first driving path, the user can park the vehicle in the parking area without any extra effort. Therefore, user convenience can be improved.

[0139] (8) A control device as described in (1) or (2), The aforementioned driving control unit, If, while the vehicle is traveling along the first or second travel path, another parking area different from the parking area is detected, the vehicle will be interrupted. If no operation is performed to change the parking position of the vehicle, the interrupted driving will be resumed. If the aforementioned operation occurs, the vehicle shall be driven from the position where the driving was interrupted to the other parking area. Control device.

[0140] According to (8), even when the vehicle is being driven based on the first or second driving route, the vehicle's parking position can be changed as other available parking areas are detected, thereby improving user convenience.

[0141] (9) The computer (control device 30) that controls the vehicle (vehicle 1) Based on external information around the vehicle, a parking area (parking area PA) where the vehicle can be parked is detected. By referring to a storage unit (storage unit 35) that stores travel path information indicating the first travel path (first travel path Rt1) that the vehicle traveled to reach its current position, a second travel path (second travel path Rt2) for driving the vehicle from a predetermined point (point P0, connection point Pc) on the first travel path to the parking area is derived (step S8). The vehicle is driven based on the first and second travel paths (steps S9 and S17). Perform the process, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point (step S9), and then the vehicle is driven along the second driving path from the predetermined point to the parking area (step S17). Control method.

[0142] According to (9), even if a user fails to park in the desired parking space through manual driving, the vehicle can be easily parked in that parking space. This improves user convenience. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system.

[0143] (10) The computer (control device 30) that controls the vehicle (vehicle 1) Based on external information around the vehicle, a parking area (parking area PA) where the vehicle can be parked is detected. By referring to a storage unit (storage unit 35) that stores travel path information indicating the first travel path (first travel path Rt1) that the vehicle traveled to reach its current position (point P0), a second travel path (second travel path Rt2) for driving the vehicle from a predetermined point (point P1, connection point Pc) on the first travel path to the parking area is derived (step S8). The vehicle is driven based on the first and second travel paths (steps S9 and S17). Perform the processing, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point (step S9), and then the vehicle is driven along the second driving path from the predetermined point to the parking area (step S17). Control program.

[0144] According to (10), even if a user fails to park in the desired parking space through manual driving, the vehicle can be easily parked in that parking space. This improves user convenience. In turn, it can improve traffic safety and contribute to the development of a sustainable transportation system. [Explanation of Symbols]

[0145] 1 vehicle 22 Touch panel (notification section) 23. Speaker (Notification Unit) 30 Control device 31 Detection unit 32 Display Control Unit (Notification Control Unit) 33 Derivation part 34. Driving control unit 35 Storage section 91 MID (Notification Unit) 92 Buzzer (Notification Unit) P0 point (current position) P1 point (predetermined point) PA Parking area RA Reversible Region Rt1 First Route Rt2, Rt2a, Rt2b Second Route Rt3 Third Route Rt4 Route 4

Claims

1. A control device for controlling a vehicle, A detection unit that detects a parking area where the vehicle can be parked based on external information around the vehicle, A derivation unit derives a second driving route for driving the vehicle from a predetermined point on the first driving route to the parking area, by referring to a storage unit that stores driving route information indicating the first driving route the vehicle has traveled to reach its current position. A driving control unit that drives the vehicle based on the first driving path and the second driving path, Equipped with, The driving control unit drives the vehicle along the first driving path from the current position to the predetermined point, and then drives the vehicle along the second driving path from the predetermined point to the parking area. Control device.

2. A control device according to claim 1, The driving control unit, in response to a predetermined operation by the user of the vehicle, continuously performs driving along the first driving path to the predetermined point and driving along the second driving path to the parking area. Control device.

3. A control device according to claim 1 or 2, When a plurality of parking spaces are detected, the derivation unit derives a second driving path for driving the vehicle to one of the plurality of parking spaces designated by the vehicle's user. Control device.

4. A control device according to claim 1 or 2, The derivation unit derives a second travel path for driving the vehicle from each of the multiple points on the first travel path to the parking area, The driving control unit drives the vehicle along the first driving path to a point on the first driving path that corresponds to the second driving path with the shortest driving distance to the parking area among a plurality of second driving paths, and then drives the vehicle along the first second driving path from the point to the parking area. Control device.

5. A control device according to claim 1 or 2, The derivation unit derives a second travel path for driving the vehicle from each of the multiple points on the first travel path to the parking area, The driving control unit drives the vehicle along the first driving path to a point corresponding to one of the multiple second driving paths that minimizes the number of times the vehicle has to reverse direction when driving to the parking area, and then drives the vehicle along the first second driving path from that point to the parking area. Control device.

6. A control device according to claim 1 or 2, The control device further comprises a notification control unit that controls a notification unit capable of providing notifications to the user of the vehicle, The notification control unit, when the vehicle is being driven manually and two or more predetermined maneuvers are performed while the vehicle travels a predetermined distance, notifies the user of the vehicle via the notification unit to encourage the use of the parking assist function. The driving control unit, in response to an operation requesting the use of the parking assist function, drives the vehicle along the first driving path to the predetermined point, and then drives the vehicle along the second driving path from the predetermined point to the parking area. Control device.

7. A control device according to claim 1 or 2, The derivation unit, when it is not possible to derive the second travel path and a reversible region where the direction of the vehicle can be reversed exists adjacent to the first travel path, derives a third travel path for reversing the direction of the vehicle in the reversible region, and a fourth travel path for driving the vehicle, whose direction has been reversed in the reversible region, from the reversible region to the parking area. The driving control unit drives the vehicle along the first driving path to the reversible area, then reverses the direction of the vehicle in the reversible area using the third driving path, and drives the vehicle from the reversible area to the parking area using the fourth driving path. Control device.

8. A control device according to claim 1 or 2, The aforementioned driving control unit, When the vehicle is being driven along the first or second driving path, if another parking area different from the parking area is detected, the driving is interrupted. If no operation is performed to change the parking position of the vehicle, the interrupted driving will be resumed. If the aforementioned operation occurs, the vehicle shall be driven from the position where the driving was interrupted to the other parking area. Control device.

9. The computer that controls the vehicle, Based on external information surrounding the vehicle, a parking area where the vehicle can be parked is detected. Referencing a storage unit that stores travel path information indicating a first travel path taken by the vehicle to its current position, a second travel path is derived for driving the vehicle from a predetermined point on the first travel path to the parking area. The vehicle is driven based on the first and second travel paths. Perform the process, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point, and then driven along the second driving path from the predetermined point to the parking area. Control method.

10. The computer that controls the vehicle, Based on external information surrounding the vehicle, a parking area where the vehicle can be parked is detected. Referencing a storage unit that stores travel path information indicating a first travel path taken by the vehicle to its current position, a second travel path is derived for driving the vehicle from a predetermined point on the first travel path to the parking area. The vehicle is driven based on the first and second travel paths. Perform the processing, In the process of driving the vehicle, the vehicle is driven along the first driving path to the predetermined point, and then driven along the second driving path from the predetermined point to the parking area. Control program.

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