Vehicle control system

Abstract

To provide a vehicle control device that monitors the surrounding conditions of a parked vehicle and can prevent situations where the user is unable to exit the parking space. [Solution] After the vehicle 2 is parked and the user has left the vehicle 2 (S1:YES), the vehicle control device 1 of the vehicle 2 detects the surrounding conditions of the vehicle 2 using an external camera (S2). Based on the detected surrounding conditions of the vehicle 2, the vehicle control device 1 determines whether or not it is difficult for the vehicle 2 to exit the parking space (S3). If the vehicle control device 1 determines that it is difficult for the vehicle to exit (S3:YES), it emits sound from the speaker 17 and notifies the user (S4).

Description

Technical Field

[0005]

[0001] The present invention relates to a vehicle control device that controls a vehicle during parking.

Background Art

[0002] The following Patent Document 1 describes a start assist device that automatically controls a parked vehicle. The start assist device of Patent Document 1 monitors snowfall around the parked vehicle. When the start assist device detects the occurrence of snowfall around the vehicle, it reciprocates the parked vehicle forward and backward by automatic driving to form a space with less snow accumulation in front of and behind the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the start assist device of the above Patent Document 1, by automatically moving the vehicle, the fallen snow is compacted to secure a space with less snow accumulation in front of and behind the vehicle. However, as long as it is an object that can be compacted such as snow, there is no problem. However, there are cases where obstacles such as other vehicles and motorcycles move around the parked vehicle. If the parked vehicle is automatically moved in such a case, the vehicle may collide with the obstacle. Also, if other vehicles or motorcycles are left around the vehicle while the user is away from the vehicle, it becomes difficult to move the own vehicle when the user returns to the vehicle, which is a problem.

[0005] The present invention has been made to solve the above - mentioned conventional problems, and an object thereof is to provide a vehicle control device that monitors the surrounding state of a parked vehicle and suppresses the occurrence of a state where the user cannot drive the vehicle out of the garage. <00​​

[0006] To achieve the above objective, the vehicle control device according to the present invention includes: an ambient state detection unit that detects the ambient state of a parked vehicle after the user has left the parked vehicle; a determination unit that determines whether or not the vehicle is in a state where it is difficult to exit the parking space based on the ambient state of the vehicle detected by the ambient state detection unit; and a notification unit that notifies the vehicle of the difficulty in exiting the parking space if the determination unit determines that the vehicle is in a state where it is difficult to exit the parking space. [Effects of the Invention]

[0007] According to the vehicle control device of the present invention having the above configuration, after the user leaves the vehicle, the device monitors the surrounding conditions of the parked vehicle and determines whether it is difficult for the vehicle to exit the parking space. If it becomes difficult for the vehicle to exit, the vehicle control device notifies the user of this fact. If an obstacle (such as another vehicle) parked near the parked vehicle is notified, it can prompt that obstacle to move. If the user of the vehicle is notified, the user can return to the vehicle's location and take action such as checking the condition of obstacles around the vehicle. As a result, the occurrence of a situation in which the vehicle cannot exit can be suppressed. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the vehicle according to this embodiment. [Figure 2] This diagram shows the configuration of the vehicle control device according to this embodiment. [Figure 3] This is a flowchart of the notification control processing program according to this embodiment. [Figure 4] This diagram illustrates the threshold distance range and the user's position. [Figure 5] This is a plan view illustrating the state of parking vehicles in a parallel parking position. [Figure 6] This is a plan view showing the monitoring process to determine if it is difficult to exit the parking space after parallel parking. [Figure 7] This is a plan view illustrating the arrangement of vehicles parked in a parallel parking configuration. [Figure 8] This is a plan view showing the monitoring process to determine if it is difficult to exit the parking space after parallel parking. [Figure 9] This is a plan view showing a different parking situation, specifically a state where it is difficult to exit or a state requiring monitoring. [Modes for carrying out the invention]

[0009] Hereinafter, an embodiment of the vehicle control device according to the present invention will be described in detail with reference to the drawings. First, a vehicle 2 equipped with the vehicle control device 1 according to this embodiment will be described below. Figure 1 is a schematic diagram of the vehicle 2 according to this embodiment. Figure 2 is a block diagram of the vehicle control device 1 according to this embodiment. In the following description, the front-rear direction, the left-right direction, and the up-down direction of the vehicle 2 will be simply referred to as the front-rear direction, the left-right direction, and the up-down direction, respectively. In addition, the reference numeral R may be used for devices etc. on the right side of the vehicle 2, and the reference numeral L may be used for devices etc. on the left side of the vehicle 2. Furthermore, in addition to the components shown in Figures 1 and 2, the vehicle 2 is equipped with other basic components as a vehicle 2, but in the following description, the configuration related to the control that determines whether or not it is difficult for the vehicle to exit the parking position, the control that executes a notification when such determination is made, and the control related to said configuration will be described mainly.

[0010] As shown in Figure 1, vehicle 2 is, for example, a vehicle with a steering wheel 3 on the right side, and comprises a body 11, a driver's side front door 12R, a passenger side front door 12L, a driver's side rear door 13R, a passenger side rear door 13L, and a back door 14. Hereafter, when the front doors 12R, 12L, rear doors 13R, 13L, and back door 14 are described collectively, they may be referred to as "each door." Each door is, for example, a swing-type door.

[0011] Furthermore, as shown in Figures 1 and 2, the vehicle control device 1 includes a front camera 5, side cameras 6R and 6L, a rear camera 7, various sensors 8, a vehicle control ECU (Electronic Control Unit) 10, a speaker control device 15, and a wireless communication device 16. Hereinafter, the front camera 5, side cameras 6R and 6L, and rear camera 7 may be collectively referred to as external cameras.

[0012] The external camera is an imaging device having a solid-state image sensor such as a CCD, and it captures images of the area around the vehicle. The front camera 5 is mounted, for example, above the front bumper of the vehicle 2 or behind the rearview mirror, and is installed with its optical axis facing forward of the vehicle 2. The side cameras 6R and 6L are mounted, for example, on the left and right side mirrors of the vehicle 2, and are installed with their optical axes facing sideways of the vehicle 2. The rear camera 7 is mounted, for example, above the license plate on the rear of the vehicle 2, and is installed with its optical axis facing backward of the vehicle 2.

[0013] The various sensors 8 are sensors that realize various functions of the vehicle 2. For example, sensors 8 can include ultrasonic sensors, millimeter-wave radar, and laser sensors, which can be used to detect people and objects around the vehicle. Alternatively, sensors 8 can include vehicle speed sensors, acceleration sensors, gyro sensors, steering sensors, and shift position sensors, which can be used to assist the vehicle 2 when it is driving or when it is stopped.

[0014] Further, for example, a speaker 17 is attached to the roof or the like of the vehicle 2. The speaker 17 is configured to be able to emit sound based on the control of the speaker control device 15. Thus, as will be described later, it is possible to perform sound notification to obstacles (such as other vehicles) around the vehicle. The wireless communication device 16 is a device that performs wireless communication with the vehicle key 18. The vehicle key 18 is, for example, a so-called electronic key. Alternatively, the vehicle key 18 may be a smartphone used in a digital key system or another communication terminal capable of wireless communication with the vehicle 2. The vehicle key 18 has a button for locking and unlocking the door of the vehicle 2.

[0015] Also, the wireless communication device 16 is capable of performing wireless communication with the portable device 19. The portable device 19 is, for example, a communication terminal such as a smartphone. Therefore, when the vehicle key 18 is a smartphone used in a digital key system, the vehicle key 18 and the portable device 19 may be the same device. The wireless communication device 16 is capable of communicating with the portable device 19 via the communication network 21. The communication network 21 is, for example, a communication network of a mobile communication system such as 3G or 4G or a communication network such as the Internet. Thus, as will be described later, it is possible to notify the portable device 19 held by the user of a situation where it is difficult for the vehicle 2 to leave the warehouse or transmit imaging data around the vehicle using mail or an application.

[0016] Note that the configuration of the vehicle 2 shown in FIGS. 1 and 2 is an example. For example, the vehicle 2 is not limited to a vehicle having a steering wheel 3 on the right side, and may be a vehicle having a steering wheel 3 on the left side. Also, the vehicle 2 may be an internal combustion engine vehicle having an internal combustion engine (such as an engine) as a drive source, an electric vehicle having an electric motor as a drive source, a fuel cell vehicle, etc., or a hybrid vehicle having a plurality of those drive sources. Also, the vehicle type, the number of wheels, etc. of the vehicle 2 are not particularly limited. Also, the vehicle 2 may be a vehicle capable of manual driving, a vehicle capable of automatic driving, or a vehicle capable of switching between both types of driving.

[0017] Further, the vehicle 2 may be configured not to include an external camera. In this case, the vehicle 2 may be configured to detect obstacles around the vehicle using a millimeter-wave radar or the like. Further, the vehicle 2 may be configured not to include the external speaker 17 and the speaker control device 15 outside the vehicle. Further, the vehicle 2 may be configured not to be able to communicate with the portable device 19.

[0018] (Regarding the vehicle control ECU 10) The vehicle control ECU (hereinafter simply referred to as ECU) 10 is an electronic control unit that comprehensively controls the entire vehicle 2 including the vehicle control device 1, and includes a CPU 31 as an arithmetic device and a control device, and a RAM 32 used as a working memory when the CPU 31 executes various arithmetic processes, and in addition to the control program, an internal storage device such as a ROM 33 in which a notification control processing program (see FIG. 3) to be described later is recorded, and a flash memory 34 that stores programs and flag values read from the ROM 33.

[0019] The ECU 10 realizes various functional units by executing a program with the CPU 31. For example, the peripheral state detection unit 31A is a functional unit that detects the peripheral state of the vehicle 2 after the user leaves the parked vehicle 2. The determination unit 31B is a functional unit that determines whether or not the vehicle 2 is in a state where it is difficult to leave the parking position based on the peripheral state of the vehicle 2 detected by the peripheral state detection unit 31A. The notification unit 31C is a functional unit that notifies that it is difficult to leave the vehicle when the determination unit 31B determines that the vehicle 2 is in a state where it is difficult to leave the parking position. That is, the vehicle control ECU 10 is an example of the peripheral state detection unit, the determination unit, and the notification unit in this specification.

[0020] Furthermore, the ECU 10 is connected to the aforementioned external cameras (forward camera 5, etc.), various sensors 8, speaker control device 15, and wireless communication device 16 via an in-vehicle network such as CAN. The ECU 10 performs various calculations based on the information input from the external cameras and each sensor 8 to control the vehicle 2. For example, based on the image data captured by the external cameras, the ECU 10 displays bird's-eye view images and overhead view images on the vehicle 2's monitor (not shown) to provide driving assistance.

[0021] Furthermore, the ECU 10 drives the speaker control device 15 to emit sound from the speaker 17. The ECU 10 also drives the wireless communication device 16 to perform wireless communication with the vehicle key 18 and the portable device 19. However, the emission of sound from the speaker 17 and the wireless communication with the portable device 19 may also be performed by a device other than the ECU 10, such as a car navigation system.

[0022] (Regarding the notification control processing program) Next, the notification control processing program executed by the ECU 10 in the vehicle control device 1 having the above configuration will be described. Figure 3 is a flowchart of the notification control processing program according to this embodiment. Here, for example, when the ECU 10 detects that all doors of vehicle 2 are locked while the vehicle key 18 is outside the vehicle, it starts the notification control processing program. The notification control processing program is a program that issues a notification when it determines that the vehicle 2 is in a state where it is difficult to exit the parking position while the user (occupant) of vehicle 2 has left vehicle 2.

[0023] Furthermore, the conditions for initiating the execution of the notification control program are not limited to those described above. For example, the ECU 10 may start the process shown in Figure 3 when it detects that the shift lever has been moved to the parking position after the vehicle 2 has stopped. Alternatively, the ECU 10 may start the process shown in Figure 3 when it detects that the engine of the vehicle 2 has stopped. In addition, the program shown in the flowchart in Figure 3 is stored in the RAM 32 and ROM 33 of the vehicle control device 1 and executed by the CPU 31.

[0024] First, in step 1 of Figure 3 (hereinafter abbreviated as S), the CPU 31 determines whether the user who has disembarked from vehicle 2 has left vehicle 2. In S1, the CPU 31 determines whether the user has left vehicle 2 by, for example, determining whether the vehicle key 18 has moved from vehicle 2 by a predetermined threshold distance Lth or more.

[0025] Figure 4 shows the state of vehicle 2, the threshold distance Lth range 41, and user 43. After the doors of vehicle 2 are locked, the CPU 31 repeatedly executes the decision process in S1 until the vehicle key 18 moves away from vehicle 2 by the threshold distance Lth (S1:NO). For example, as shown by user 43A in Figure 4, if user 43A who has disembarked is near vehicle 2, the CPU 31 repeatedly executes the decision process in S1. As will be described later, after the user has moved away from vehicle 2 by a distance greater than or equal to the threshold distance Lth, the CPU 31 monitors the surrounding state of vehicle 2 based on the image data from the external camera from S2 onward and issues a notification if it becomes difficult to exit the vehicle. In the case of user 43A, who is located near vehicle 2, there is a high possibility that the user himself can visually confirm whether it is difficult to exit the vehicle, and there is little need to monitor whether it is difficult to exit. For this reason, the CPU 31 does not execute from S2 onward. However, the CPU 31 may also monitor whether it is difficult to exit the vehicle even if user 43 is located close to vehicle 2, as in the case of user 43A.

[0026] On the other hand, if the CPU 31 determines that the vehicle key 18 has moved more than a threshold distance Lth from the vehicle 2 (S1: YES), it executes S2. For example, as shown by user 43B in Figure 4, when user 43B moves outside the range 41 of the threshold distance Lth from the vehicle 2, and the distance between the vehicle 2 and the vehicle key 18 becomes greater than or equal to the threshold distance Lth, the CPU 31 executes S2. The threshold distance Lth is, for example, a few meters. Preferably, the threshold distance Lth is a distance that is expected to be such that the user will move away from the vehicle 2, rather than just a temporary disembarkation, such as 5m to 3m. As a method for obtaining the distance between the vehicle key 18 and the vehicle 2, for example, a method of estimation from the strength of the radio waves received from the vehicle key 18 may be used. Alternatively, the CPU 31 may obtain the position of the vehicle key 18 using triangulation based on the distance between the multiple radio antennas of the wireless communication device 16 and the vehicle key 18, and then obtain the distance between the vehicle key 18 and the vehicle 2 based on the obtained position of the vehicle key 18. Alternatively, the location of the vehicle key 18 may be detected from the location information of the smartphone in the digital key system, and the distance between the vehicle key 18 and the vehicle 2 may be obtained.

[0027] Furthermore, the method for determining whether user 43 has moved away from vehicle 2 is not limited to the method described above. For example, the CPU 31 may determine whether user 43 has moved away from vehicle 2 by considering not only the distance between the vehicle key 18 and vehicle 2, but also the direction and speed of movement of the vehicle key 18, that is, the speed and direction of movement of user 43 who possesses the vehicle key 18. Alternatively, the CPU 31 may determine whether user 43 has moved away from vehicle 2 by comparing the radio wave strength of the vehicle key 18 with a threshold. In other words, distance does not have to be used for the determination. The CPU 31 may also detect the position of user 43 based on image data from an external camera or point cloud data from a millimeter-wave radar and determine whether user 43 has moved away from vehicle 2.

[0028] In S2, the CPU 31 begins monitoring the surrounding conditions of the parked vehicle. For example, if the CPU 31 detects that the engine of vehicle 2 has stopped, it stops supplying power from the battery to the external cameras. After that, the CPU 31 maintains the state of not supplying power to the external cameras from the start of the process shown in Figure 3 until S2 is executed. When S2 is executed, the CPU 31 starts supplying power from the battery to the external cameras and activates each camera. The CPU 31 acquires image data from the external cameras and monitors the surrounding conditions of vehicle 2 based on the acquired image data. This reduces the consumption of battery charge while parked.

[0029] Furthermore, in S3, described later, the CPU 31 sets a judgment condition (hereinafter sometimes simply referred to as the judgment condition) for determining whether or not it is difficult for vehicle 2 to exit its parking position. The CPU 31 in this embodiment determines whether the parking state of vehicle 2 is parallel parking or perpendicular parking, and sets the judgment condition based on the determination result. As described later in Figures 5 and 7, the CPU 31 determines whether the parking state is parallel parking or perpendicular parking depending on the state before parking and during parking, and sets the judgment condition in S2 according to the parking state determined. Details of the method for determining the parking state and the judgment conditions to be set will be described later. Note that the timing for setting the judgment condition is not limited to when S2 is executed, but may also be before starting the process in Figure 3 or when S3 is executed, described later. When setting the judgment condition in S3, the CPU 31 may change the set judgment condition each time S3 is executed. Also, if the CPU 31 cannot determine whether the parking state is parallel parking or perpendicular parking, it may set a different judgment condition in S2 than the judgment conditions for parallel parking and perpendicular parking.

[0030] After executing S2, CPU 31 executes S3. In S3, CPU 31 determines whether the judgment conditions set in S2 are met and whether the obstacle remains stationary for a predetermined reference time. In S3, for example, if CPU 31 detects the movement of an obstacle around the vehicle, it determines whether the judgment conditions are met based on the state of the area around vehicle 2 including the moved obstacle, that is, whether vehicle 2 is in a state where it is difficult to exit the parking position.

[0031] In this specification, an obstacle is, for example, an object that may move around Vehicle 2 and may make it difficult for Vehicle 2 to move from its parking position. Specifically, an obstacle is not limited to other vehicles, motorcycles, or vehicles, but also includes objects that are difficult to move easily, such as carts or trolleys used for transporting goods, equipment used in road construction, and building materials.

[0032] The CPU 31 detects the movement, approach, stopping, etc. (hereinafter referred to as "movement, etc.") of obstacles around the parked vehicle based on the image data captured by the external cameras activated in S2. For example, the CPU 31 performs image processing on the image data captured by each external camera to extract image features, detect the shape and movement of obstacles outside the vehicle from the image, and determine the movement, etc. of obstacles around the vehicle. Alternatively, the CPU 31 may use AI (artificial intelligence) technology to analyze the image and detect and determine the movement, etc. of obstacles around the vehicle.

[0033] Furthermore, the method for detecting obstacles around the vehicle is not limited to the method described above. For example, the CPU 31 may detect the movement of obstacles using methods other than a camera. The CPU 31 may also detect the movement of obstacles using point cloud data from a millimeter-wave radar mounted on the vehicle 2. Therefore, the surrounding state detection unit in this specification is not limited to a configuration using a camera, but may also use a configuration using a millimeter-wave radar or the like. In addition, the CPU 31 may use multiple devices such as a camera and a millimeter-wave radar to detect the movement of obstacles. Furthermore, the CPU 31 may use a device other than a camera until an obstacle approaches the vehicle 2, and then activate an external camera to detect the movement of the obstacle based on the image data after detecting the approach. In addition, the CPU 31 may limit the external cameras to be activated and the external cameras whose image data is used, depending on the parking state used in S2.

[0034] Furthermore, in S3, the CPU 31 determines, in addition to whether the judgment condition is met, whether the obstacle remains stationary for a specified time. For example, even if another vehicle approaches vehicle 2, making it difficult for vehicle 2 to exit the parking lot, if the approach of the other vehicle is temporary, there is no need to issue a notification. For this reason, the CPU 31 determines, for example, whether the position of all obstacles that caused the judgment condition to be met has not changed for a predetermined reference time after the judgment condition was met. That is, it determines whether the state in which the judgment condition is met has continued for a reference time. The reference time is, for example, the time required to determine whether the obstacle is temporarily stopped or not, and can be set to several minutes. This makes it possible to determine, for example, whether another vehicle is temporarily stopped around the vehicle due to congestion in the parking lot, or whether another vehicle has parked around the vehicle ignoring the parking space.

[0035] In S3, CPU31 makes a negative judgment (S3: NO) as long as at least one of the conditions for the judgment condition to be met and the condition for the obstacle to remain stationary for the reference time is not met, and repeatedly executes the judgment process in S3. As a result, for example, if the judgment condition is not met and there is no obstacle that remains stationary for the reference time, if the judgment condition is met but the obstacle's stoppage is temporary, or if the obstacle remains stationary for the reference time but the judgment condition is not met, CPU31 continues monitoring the obstacle without executing the notification in S4 described later. In addition, if the obstacle moves before the reference time has elapsed, for example, CPU31 resets the measured time and resumes measuring time from the point when the obstacle stops again and the judgment condition is met.

[0036] Then, if the judgment conditions are met and the obstacle remains stationary for the specified time, the CPU 31 makes a positive judgment in S3 (S3: YES) and notifies that it is difficult to exit the parking lot (S4). The CPU 31 may, for example, emit a warning sound from the speaker 17 to warn other vehicles. Alternatively, the CPU 31 may emit an audio message such as, "A situation where it is difficult to exit the parking lot has been detected." This will encourage the movement of obstacles around the vehicle, i.e., other vehicles that caused the situation where it is difficult to exit the parking lot.

[0037] Furthermore, in S4, the CPU 31 executes a notification to the user 43. The CPU 31 controls the wireless communication device 16 to execute a notification to the portable device 19. For example, the CPU 31 sends a message to the portable device 19 such as "A condition that makes it difficult to ship the goods has been detected." This allows the remote user 43 to be notified that a condition that makes it difficult to ship the goods has occurred.

[0038] When CPU 31 executes the notification in S4, it terminates the process in Figure 3. After terminating the process in Figure 3, CPU 31 may restart the process from S1. Alternatively, CPU 31 may skip S1 and restart the processes from S2 or S3. Furthermore, CPU 31 may terminate the process in Figure 3 if the lock on vehicle 2 is released or if user 43 boards vehicle 2 during the process in Figure 3. That is, it may terminate the process in Figure 3 when user 43 returns to vehicle 2. Therefore, if the lock on vehicle 2 is released while CPU 31 is repeatedly executing the decision processes in S1 or S3, it may terminate the process in Figure 3. Alternatively, CPU 31 may have a monitoring mode to monitor the area around the vehicle, and if user 43 deactivates the monitoring mode, it may terminate the process in Figure 3.

[0039] Furthermore, the notification execution details of S4 described above are merely examples and can be modified as appropriate. For example, if the speaker 17 is configured to allow control of the direction from which it emits sound, the CPU 31 may emit a warning sound from the speaker 17 in a specific direction, such as another vehicle obstructing the exit. The CPU 31 may also use equipment normally installed on the vehicle 2, such as a horn, to perform the notification. The CPU 31 may also perform the notification using methods other than sound. The CPU 31 may perform the notification by flashing lights such as headlights. The CPU 31 may also perform the notification by projecting images or other means.

[0040] Furthermore, the CPU 31 may use voice notifications when notifying the portable device 19. The CPU 31 may also transmit image data from the external camera to the portable device 19. For example, the CPU 31 may transmit image data captured after making a positive judgment in S3, i.e., image data of the area around the vehicle where the vehicle is unable to exit the parking lot, to the portable device 19. This allows the user to check the surrounding conditions of vehicle 2 remotely and make an appropriate decision on whether or not to return to vehicle 2 immediately.

[0041] (Regarding the assessment of parking conditions) Next, we will explain the process for acquiring parking status information used in S2 of Figure 3 above. As described above, the CPU 31 determines the parking status according to the state before parking and during parking. As a method for determining the parking status, for example, a method using GPS location information and map information from the car navigation system can be adopted.

[0042] Figure 5 shows an example of vehicle 2 being parked in a parallel parking position. The CPU 31 determines the current location based on, for example, GPS location information when the shift lever is changed to the parking position and map information from the car navigation system. Based on the current location and map information, the CPU 31 determines the parking state to be parallel parking if the current location is a shoulder 46 provided along the sidewalk 45 as shown in Figure 5. On the other hand, Figure 7 shows an example of vehicle 2 being parked in a parallel parking position. Based on, for example, GPS location information when the shift lever is changed to the parking position and map information, the CPU 31 determines the parking state to be parallel parking if the current location is a parking lot 71 as shown in Figure 7. This allows the CPU 31 to set judgment conditions according to whether the parking is parallel or parallel in S2.

[0043] Furthermore, the method and timing for determining the parking status are not limited to those described above. For example, the CPU 31 may determine the parking status based on image data from an external camera. As shown in Figure 5, the CPU 31 may determine the parking status to be parallel parking if it detects white lines 49 that demarcate the sidewalk 45 or the shoulder 46 from the image data. Also, as shown in Figure 7, the CPU 31 may determine the parking status to be parallel parking if it detects white lines 73 that demarcate the parking spaces 72 of the parking lot 71 on both the left and right sides of the vehicle 2 based on the image data.

[0044] Furthermore, the CPU 31 may determine the parking state based on the direction of travel of the vehicle 2, the steering angle, etc. For example, in parallel parking as shown in Figure 5, the steering angle at which the steering wheel 3 is turned when the vehicle 2 is backing up is likely to be smaller than the steering angle in the case of parallel parking as shown in Figure 7. For this reason, the CPU 31 may determine the parking state based on the steering angle and amount of steering of the steering wheel 3 when backing up. In addition, the CPU 31 may determine the parking state by combining the above-mentioned GPS location information, map information from the car navigation system, image data from the external camera, and user operation information of the steering wheel 3.

[0045] (Regarding the criteria for judgment) Next, the judgment conditions used in S3 of Figure 3 above will be explained. As described above, the CPU 31 determines the parking state according to the state before parking and during parking, sets judgment conditions according to the parking state determined in S2, and determines in S3 whether the set judgment conditions are met. In S3, for example, if the CPU 31 detects the movement of an obstacle around the vehicle, it determines whether the judgment conditions are met based on the state of the area around vehicle 2, including the moved obstacle. In the following explanation, we will describe the case in which a vehicle other than vehicle 2 (another vehicle) is used as the obstacle in this specification. However, even if a motorcycle or dolly other than a vehicle is used as the obstacle, it is possible to determine whether it is difficult to exit the parking space using the same judgment conditions as for other vehicles.

[0046] (Regarding the criteria for determining whether parallel parking is permitted) First, let's explain the criteria for determining whether parallel parking is possible. Figure 6 shows the state of monitoring whether it is difficult to exit the parking space after parallel parking. The CPU 31 sets conditions for determining parallel parking, such as the front-rear conditions of vehicle 2 and the left-right conditions of vehicle 2. The front-rear conditions of vehicle 2 are those in which the distance between vehicle 2 and other vehicles (obstacles) in front of and behind vehicle 2 is less than or equal to a threshold. More specifically, when the CPU 31 sets the conditions for determining parallel parking in S2 and determines the conditions in S3, as shown in Figure 6, it calculates the sum of the distance L1 in the front-rear direction of the empty space in front of vehicle 2 and the distance L2 in the front-rear direction of the empty space behind vehicle 2. Based on the fact that the total distance calculated after other vehicles have moved is less than or equal to a predetermined first threshold distance TH1A, the CPU 31 determines that it is difficult for vehicle 2 to exit the parking space. In this specification, the distance of the empty space in a predetermined direction is, for example, the distance between vehicle 2 and the nearest obstacle to vehicle 2 in that direction when viewed from vehicle 2 in that direction.

[0047] In the example shown in Figure 6, another vehicle 47 is parked in front of vehicle 2, and another vehicle 48 is parked behind vehicle 2. The CPU 31 detects the distance between its own vehicle and the other vehicle 47 in the longitudinal direction based on the image data from the front camera 5, and sets the detected distance as distance L1. Similarly, the CPU 31 detects the distance between its own vehicle and the other vehicle 48 in the longitudinal direction based on the image data from the rear camera 7, and sets the detected distance as distance L2. Note that the method for detecting distances L1 and L2 is not limited to using external cameras; other devices such as millimeter-wave radar may also be used. The same applies to the detection methods for other distances L3, L4, etc., which will be described later.

[0048] The first threshold distance TH1A is, for example, 1.5m. In this case, after starting the decision process of S3, the CPU 31 determines whether the sum of distances L1 and L2 is less than or equal to the first threshold distance TH1A (TH1≧L1+L2). After starting the execution of S3, if the CPU 31 detects the movement of other vehicles 47 and 48, it performs the detection of distances L1 and L2 and the calculation of the sum of distances. Note that the CPU 31 may perform the detection of distances L1 and L2 and the calculation of the sum of distances at predetermined intervals, for example, each time S3 is executed, rather than performing calculations and comparisons each time it detects the movement of obstacles such as other vehicles 47 and 48. The same applies to other decision processes.

[0049] When vehicle 2 is parallel parked, if the space in front of and behind the vehicle falls below a predetermined size, it becomes difficult for vehicle 2 to exit the parking position. Therefore, the first threshold distance TH1A is the distance at which vehicle 2, while parallel parked, can exit without coming into contact with other vehicles 47 and 48 in front of and behind it. As described above, in S3, the CPU 31 determines whether the obstacle remains stationary for a reference time, in addition to whether the judgment conditions are met. For example, when another vehicle 47 enters the empty space in front of vehicle 2 and parks, or when the other vehicle 47 in front stops once and then backs up, the CPU 31 detects the movement of the other vehicle 47, calculates the total distance, and compares it with the first threshold distance TH1A. The CPU 31 then repeatedly executes the judgment process in S3, and when the total distance remains below the first threshold distance TH1A for the reference time, it makes an affirmative judgment in S3 (S3: YES) and sends a notification in S4. In this case, since it is difficult to exit the parking lot due to the movement of another vehicle 47 in front, the CPU 31 may emit sound forward in S4. The CPU 31 may also transmit a bird's-eye view or overhead view image, as shown in Figure 6, to the user 43's smartphone. Similarly, when another vehicle 48 behind approaches vehicle 2 and the total distance becomes less than or equal to the first threshold distance TH1A, the CPU 31 makes a positive judgment in S3 (S3: YES) and sends a notification in S4.

[0050] On the other hand, even if the total distance is less than or equal to the first threshold distance TH1A and it becomes difficult to exit the parking lot, the CPU 31 will not issue a notification if the other vehicle 47, etc., that has moved starts moving again before the standard time has elapsed. The CPU 31 resets the elapsed time measured up to that point and performs calculations of the total distance and comparison with the first threshold distance TH1A for the position of the other vehicle 47 after it has moved. Similarly, the CPU 31 also resets the elapsed time, etc., if the other vehicle 48 behind moves again. The CPU 31 may also issue a notification (S4) when the judgment condition is met (S3:YES) without performing a judgment on the elapsed time (standard time).

[0051] Furthermore, the left-right condition for vehicle 2 in parallel parking is, for example, that the distance between vehicle 2 and an obstacle in the direction of movement is less than or equal to the first threshold distance TH1B. Generally, when parallel parking is performed in left-hand traffic, as shown in Figure 6, vehicle 2 is likely to be unable to move to the left due to sidewalks 45 or guardrails, and will only be able to move to the right. The CPU 31 determines, for example, whether it is possible to move to the left or right from the parking position based on map information from the car navigation system or image data from an external camera. Alternatively, the CPU 31 may determine whether it is possible to move to the left or right from the parking position based on the movement trajectory of vehicle 2 during parallel parking.

[0052] As shown in Figure 6, when the CPU 31 detects that the parallel-parked vehicle 2 can only move to the right, it determines whether the distance L3 in the left-right direction to the empty space on the right is less than or equal to the first threshold distance TH1B. Based on the determination that it is less than or equal to the first threshold distance TH1B, the CPU 31 determines that the vehicle is in a state where it is difficult to exit the parking space. For example, the CPU 31 detects the distance L3 in the left-right direction to the empty space to the right of the vehicle based on the image data from the right side camera 6R, and compares the detected distance L3 with the first threshold distance TH1B. The first threshold distance TH1B is, for example, 3.5m. Even if the sum of the front and rear distances L1 and L2 is longer than the first threshold distance TH1A, if other vehicles 47 and 48 are parked in front of and behind vehicle 2, and the empty space in the left-right direction where movement is possible is small, vehicle 2 will be in a state where it is difficult to exit the parking space. Therefore, the first threshold distance TH1B is the distance at which a parallel-parked vehicle 2 can exit the parking space without coming into contact with other vehicles 47, 48 in front of or behind it, or with obstacles to the left or right (such as the truck 51 in Figure 6).

[0053] For example, as shown in Figure 6, suppose a truck 51 stops to the right of vehicle 2 after it has been parallel parked. After the CPU 31 starts executing S3, if it detects the movement of an obstacle around the vehicle, such as truck 51, it will detect the distance L3 and compare it with the first threshold distance TH1B. The CPU 31 detects the distance L3 when truck 51 enters the empty space on the right side of vehicle 2 and parks, and compares the detected distance L3 with the first threshold distance TH1B. Then, when the distance L3 remains below the first threshold distance TH1B for a specified time (S3:YES), the CPU 31 will issue a notification in S4. In this case, since it is difficult to exit the parking space due to the movement of truck 51 on the right, the CPU 31 may emit a sound to the right in S4. Furthermore, CPU 31 may make a negative judgment in S3 if, for example, the distance L3 is less than or equal to the first threshold distance TH1B, but the other vehicle 47 in front or the other vehicle 48 behind is not stopped, that is, if it is possible to exit forward or backward.

[0054] (Regarding the criteria for determining parallel parking) Next, the criteria for determining parallel parking will be explained. Figure 8 shows the state in which the system monitors whether it is difficult to exit the parking space after parallel parking. The CPU 31 sets conditions for determining parallel parking, for example, the front-to-rear conditions of vehicle 2 and the left-to-right conditions of vehicle 2. The front-to-rear condition of vehicle 2 is that the distance between vehicle 2 and the obstacle in the direction of possible movement is less than or equal to the second threshold distance TH2. As shown in Figure 8, when parallel parking is performed, for example, either the front or the rear of vehicle 2 is in a restricted direction of movement, and the other is in a possible direction of movement. In the example shown in Figure 8, since vehicle 2 is parked in reverse in the parking space 72, it can move forward from the parking position, but cannot move backward due to the wheel stop 74. That is, the front is the possible direction of movement, and the rear is the restricted direction of movement. In S2, the CPU 31 sets the conditions for parallel parking, and in S3, when it determines the conditions, it determines that it has become difficult to exit the parking space based on the fact that the distance of the available space in the forward direction, which is the direction in which movement is possible, i.e., the distance L4 between vehicle 2 and the obstacle in front (such as another vehicle 75) in the longitudinal direction, has become less than or equal to the second threshold distance TH2.

[0055] The directions in which movement is permitted and the directions in which movement is restricted can be determined, for example, when determining the parking state. The CPU 31 determines that vehicle 2 is restricted from moving forward or backward based on the fulfillment of at least one of the following conditions: a first condition in which a wheel stop 74 that restricts the movement of vehicle 2's tires is detected at the parking position of vehicle 2 before vehicle 2 is parked; a second condition in which lines marking the parking space 72 are drawn on both the left and right sides of the parked vehicle 2; and a third condition in which a wheel stop 74 that restricts the movement of another vehicle's tires is detected behind the parking position of vehicle 2.

[0056] For example, as shown in the center diagram of Figure 7, when the CPU 31 is backing into a parking space 72, if it detects a wheel stop 74A in the parking space 72 based on the image data from the rear camera 7, it determines that the vehicle is restricted from moving backward, that is, that the direction of restricted movement is backward. Alternatively, as shown in the right diagram of Figure 7, if the CPU 31 detects that white lines 73 demarcating the parking space 72 are drawn on both the left and right sides of the parked vehicle 2 based on the image data from the side cameras 6R and 6L, it determines that either the front or the rear is the direction of restricted movement. In this case, the direction of restricted movement can be determined based on the direction of travel of the vehicle 2 before parking and the detection of the white lines 73. For example, if the vehicle is backing into a parking space and the white lines 73 are detected, it may be determined that the rear is the direction of restricted movement. Also, if the vehicle is parking forward and the white lines 73 are detected, it may be determined that the front is the direction of restricted movement.

[0057] Furthermore, as shown in the right-hand diagram of Figure 7, if the CPU 31 detects, for example, a wheel stop 74B for another vehicle parked in the parking space 72 behind the parking position of vehicle 2, based on the image data from the rear camera 7, it may determine that the rear is a restricted direction of movement. The CPU 31 may also determine the direction of movement or the restricted direction by combining the detection conditions for the vehicle's own wheel stop 74A, white line 73, and the other vehicle's wheel stop 74B as described above. For example, by combining the first and third conditions described above, even if the wheel stop 74A for the vehicle's parking space 72 cannot be detected from the image data before parking vehicle 2 under the first condition, the presence of the other vehicle's wheel stop 74B can be detected under the third condition, allowing the CPU to estimate that a wheel stop 74A also exists in the vehicle's parking space 72, and thus detect that movement is restricted. Even if a detection error occurs in detecting the wheel stop 74A for the vehicle itself when entering the parking space 72, the system can detect that movement is restricted by subsequently detecting the wheel stop 74B for another vehicle. Alternatively, the CPU 31 may determine that the parking situation is parallel parking based on the detection of wheel stop 74A, the white line 73, and wheel stop 74B.

[0058] In the example shown in Figure 8, another vehicle 75 moves into the empty space in front of vehicle 2 and stops. The CPU 31 detects the distance between its own vehicle and the other vehicle 75 in the longitudinal direction based on the image data from the front camera 5, and sets the detected distance as distance L4. The CPU 31 compares the detected distance L4 with a second threshold distance TH2. The second threshold distance TH2 is, for example, 3.5m.

[0059] Furthermore, the left-right condition in parallel parking means that other vehicles are parked on both the left and right sides of the vehicle. As shown in Figure 8, vehicle 2 is restricted from moving backward by a wheel stop 74. In addition, another vehicle 76 is parked in the parking space 72 to the right of vehicle 2, and another vehicle 77 is parked in the parking space 72 to the left. Other vehicles 76 and 77 are parked adjacent to vehicle 2 in the left-right direction. Therefore, vehicle 2 can only move forward. The second threshold distance TH2 is the distance of the empty space in front of vehicle 2 that is necessary for vehicle 2 to turn and exit the parking space 72 in this parallel parking situation where it can only move forward. The second threshold distance TH2 is also the distance at which vehicle 2 can exit without making contact with other vehicle 75, even if another vehicle 75 is parked in front of vehicle 2.

[0060] For example, after starting the execution of S3, the CPU 31 detects the movement of an obstacle such as another vehicle 75 in front of the vehicle 2, which is a position in which movement is possible relative to the vehicle 2. In this case, the CPU 31 detects the distance L4 and compares it with the second threshold distance TH2. The CPU 31 then repeatedly executes the decision process of S3, and when the distance L4 remains below the second threshold distance TH2 for a specified time (S3: YES), it performs notification in S4. In this case, since it is difficult to exit the parking space due to the movement of the other vehicle 75 in front, the CPU 31 may emit a sound forward in S4. In this way, the vehicle control device 1 of this embodiment can perform notification according to the surrounding conditions of the parked vehicle 2.

[0061] Furthermore, while the above explanation mainly described the case of backing into parking space 72, the same determination of difficulty in exiting can be made when parking into parking space 72 from the front. In this case, the values ​​of the second threshold distance TH2, etc., may be changed depending on the difference in the minimum turning radius between the forward and reverse movements of vehicle 2. Also, in the example of Figure 9 above, the condition used for left and right is that other vehicles 76 and 77 are parked on both the left and right sides of the vehicle, but this is not the only condition. The CPU 31 may change the second threshold distance TH2 and the determination conditions if there are no other vehicles parked in at least one of the parking spaces 72 in the left and right directions of the vehicle. For example, if only the other vehicle 76 on the right is parked, the second threshold distance TH2 in the front right may be made smaller than the second threshold distance TH2 in the front left. That is, if it is possible to partially enter the empty parking space 72 on the left and exit, the second threshold distance TH2 may be adjusted.

[0062] Furthermore, in the explanations above, the "surrounding conditions of the vehicle" in this specification refers to the installation status of the wheel stop 74 that restricts the movement of vehicle 2 and the movement status of other vehicles, but the types of surrounding conditions of the vehicle are not limited to these. The surrounding conditions of the vehicle will differ depending on the place and facility where vehicle 2 is parked. For this reason, the surrounding conditions of vehicle 2 shown in Figures 5 to 8 are just examples. In addition, in the explanations above, examples of parallel parking and perpendicular parking were described, but for various other parking conditions as well, it is possible to determine whether it is difficult to exit the parking space by setting judgment conditions according to the parking condition.

[0063] For example, in a parking lot surrounded by walls, pillars, fences, etc., it may be possible to determine whether or not it is difficult to exit the parking space. In this case, the CPU 31 may set the direction in which there is an immovable obstacle such as a wall as the direction of movement restriction. Specifically, for example, as shown in Figure 9, suppose vehicle 2 is parked in a parking space 72 surrounded by walls 81 and pillars 80 on all sides except the front. In such a parking situation, if the CPU 31 detects a wall 81 surrounding the rear and right sides of vehicle 2, and a pillar 80 located on the left side, based on the image data from the external camera, the CPU 31 may set the rear and left / right directions of vehicle 2 as the directions of movement restriction. Furthermore, although the above explanation described the case in which other vehicles are used as moving obstacles, it is not limited to this. As shown in Figure 9, the CPU 31 may also detect a cage trolley 83 carried by a worker 82 of a transport company as an obstacle based on the image data. Furthermore, the CPU 31 may issue a notification if the distance L4 between the vehicle 2 and the cage trolley 83 in the longitudinal direction is less than or equal to the second threshold distance TH2, and the cage trolley 83 remains stationary for a specified time. This allows, for example, a worker 82 to issue a notification to prompt the worker to move the cage trolley 83 if the worker 82 attempts to leave the cargo in front of the entrance 84. The CPU 31 may also change the length of the specified time depending on the type of obstacle, such as other vehicles or the cage trolley 83.

[0064] Furthermore, the CPU 31 may determine whether it is difficult to exit a parking space in a parking lot without white lines 73 or wheel stops 74. In this case, both the front and rear of vehicle 2 may be in a direction where movement is possible. For this reason, the CPU 31 may determine whether it is difficult to exit by judging the distance of available space in the front-rear and left-right directions of vehicle 2, the distance to other vehicles, etc. Also, not limited to when the vehicle is out, the CPU 31 may monitor the surrounding conditions of vehicle 2 and issue a notification when vehicle 2 is parked in the parking lot of the home. This allows for notification to be issued if a delivery or transportation company's package is left in front of the home parking lot, making it difficult to exit.

[0065] Furthermore, the CPU 31 may determine whether it is difficult to exit the parking space by considering not only the distance between the vehicle and the obstacle, but also the position and direction in which the obstacle is located relative to the vehicle. For example, in a corner of a parking lot, if adjacent parking spaces 72 are not parallel but adjacent at an angle, the range for determining the obstacle in front may be narrowed.

[0066] Incidentally, the relationship between the content of this specification and the terminology of the above embodiments is as follows. In the above embodiments, other vehicles 47, 48, 75 and truck 51 are examples of obstacles as defined herein.

[0067] (Effects of this embodiment) As described in detail above, this embodiment provides the following effects. (1) According to the vehicle control device 1 and the computer program executed by the vehicle control device 1 according to this embodiment, the CPU 31 of the ECU 10 detects the surrounding conditions of the parked vehicle 2 after the user has left the vehicle 2 (S1:YES) (S2). Based on the detected surrounding conditions of the vehicle 2, the CPU 31 determines whether or not the vehicle 2 is in a state where it is difficult to exit the parking space (S3), and if it is in a state where it is difficult to exit (S3:YES), it notifies that it is in a state where it is difficult to exit (S4).

[0068] According to this system, after user 43 leaves vehicle 2, the system monitors the surrounding conditions of parked vehicle 2 and determines whether vehicle 2 is in a state where it is difficult to exit the parking space, and then issues a notification. If an obstacle parked near parked vehicle 2 (other vehicles 47, 48, 75, truck 51, etc.) is notified, the obstacle can be prompted to move. Also, if user 43 of vehicle 2 is notified, user 43 can return to the vehicle's location and take action such as checking the condition of obstacles around the vehicle. As a result, the occurrence of a situation where vehicle 2 cannot exit the parking space can be suppressed.

[0069] (2) The CPU 31 also determines whether the vehicle 2 is parked in a parallel or perpendicular parking position (Figures 5 and 7), and changes the criteria for determining whether it is difficult to exit the parking space depending on whether it is parked in a parallel or perpendicular parking position (S2).

[0070] In parallel parking and perpendicular parking, the direction in which vehicle 2 can move differs, and therefore the conditions under which exiting the parking space becomes difficult also differ. The CPU 31 determines whether the parking situation is parallel or perpendicular, and by changing the criteria for determining whether exiting the parking space is difficult according to the type of parking, it can accurately determine whether or not exiting the parking space is difficult.

[0071] (3) Furthermore, if the CPU 31 detects the movement of an obstacle around the vehicle 2 after the vehicle 2 has been parked and the user 43 has moved away from the vehicle 2 (S1:YES), it determines whether or not it is difficult to exit the parking space based on the state of the area around the vehicle 2, including the moved obstacle (S3).

[0072] According to this, the CPU 31 determines whether or not it is difficult to exit the parking lot when an obstacle (such as another vehicle 47) moves around the vehicle and the state of the vehicle's surroundings changes. This determination is made each time the state of the vehicle's surroundings changes, enabling rapid notification of the difficulty in exiting the parking lot.

[0073] (4) Furthermore, if the CPU 31 determines that the parking condition is parallel parking, it calculates the sum of the distance L1 of the empty space in front of the vehicle 2 and the distance L2 of the empty space behind the vehicle 2, and determines that it has become difficult to exit the parking space based on the fact that the sum of the distances calculated after the obstacle has moved is less than or equal to the first threshold distance TH1A (Figure 6). Also, if the CPU 31 determines that the parking condition is parallel parking, and either the front or rear of the vehicle 2 is in a restricted direction where movement is restricted, and the other is in a movable direction where movement is permitted, it determines that it has become difficult to exit the parking space based on the fact that the obstacle has moved to a position in the movable direction relative to the vehicle 2, and the distance L4 between the vehicle 2 and the obstacle in the movable direction is less than or equal to the second threshold distance TH2 (Figure 8).

[0074] According to this, in the case of parallel parking, the CPU 31 can determine whether or not it is difficult to exit the parking space by comparing the total distance of the empty spaces in front of and behind the vehicle 2 with the first threshold distance TH1A. If other vehicles 47 and 48 approach and stop in front of and behind the vehicle, causing the situation to change to one where it is difficult to exit the parking space, a notification can be issued. Furthermore, in the case of parallel parking, there is a high probability that movement will be restricted to either the front or the rear of vehicle 2. Therefore, if an obstacle moves in the direction in which movement is not restricted, there is a risk that it will become difficult to exit the parking space. The CPU 31 can appropriately detect the situation of difficulty in exiting the parking space and issue a notification based on the fact that the distance L4 between vehicle 2 and the obstacle in the direction in which movement is possible has become less than or equal to the second threshold distance TH2.

[0075] It should be noted that the present invention is not limited to the embodiments described above, and various improvements and modifications are possible without departing from the spirit of the invention. For example, the processing content and order of the flowchart in Figure 3 in the above embodiment are just examples. For example, the CPU 31 started processing from S2 onwards when the distance between the vehicle key 18 and the vehicle 2 became longer than or equal to a threshold distance Lth, but it is not limited to this. For example, the CPU 31 may start processing from S2 onwards when the elapsed time since the vehicle 2 was locked reaches a predetermined threshold time. Also, after the CPU 31 has executed S4 and finished processing in Figure 3, it may resume processing in Figure 3 after a certain period of time has elapsed. This can suppress frequent notification when other vehicles move even slightly around the vehicle. Alternatively, the CPU 31 does not need to notify another vehicle that has already received a notification until that other vehicle leaves the vicinity of the vehicle or until a new other vehicle approaches. Furthermore, the CPU 31 may be configured to perform the processing shown in Figure 3 for at least one of the parking states, either parallel parking or perpendicular parking. Furthermore, in the above embodiment, the ECU 10 of the vehicle control device 1 executes the processing of the notification control processing program (Figure 3), but the execution entity can be changed as appropriate. For example, the processing of Figure 3 may be executed by the control unit of the navigation device or other in-vehicle devices. Furthermore, the configuration of the vehicle control device 1 is not limited to the configuration of the embodiment described above. For example, the vehicle control device 1 may be configured to include only the ECU 10, or to include only the ECU 10 and an external camera.

[0076] Next, we will describe the technical ideas derived from the above embodiment. (i) The determination unit is The vehicle control device according to claim 3, wherein, with either the front or rear of the vehicle in a restricted direction of movement and the other in a movable direction, and with other vehicles parked adjacent to both the left and right sides of the vehicle, the device determines that it has become difficult for the vehicle to exit its parking position when the obstacle moves to a position in the movable direction relative to the vehicle, and the distance between the vehicle and the obstacle in the movable direction becomes less than or equal to a threshold distance.

[0077] When other vehicles are parked adjacent to both the left and right sides of a vehicle, and movement is restricted to either the front or rear of the vehicle, if an obstacle moves in the direction of movement that is not restricted, it becomes difficult to exit the parking space. The determination unit can appropriately detect this difficult exit situation and issue a notification based on the fact that the distance between the vehicle and the obstacle in the direction of movement falls below a threshold distance.

[0078] (b) The determination unit is A vehicle control device according to claim 4 or (Appendix A), which determines that the vehicle is restricted from moving forward or backward based on the fulfillment of at least one of the following conditions: the detection of a wheel stop that restricts the movement of the vehicle's tires at the location where the vehicle is parked before the vehicle is parked; the detection of lines that demarcate the parking space on both the left and right sides of the parked vehicle; and the detection of a wheel stop that restricts the movement of another vehicle's tires behind the location where the vehicle is parked.

[0079] According to this, if a wheel stop is detected before the vehicle is parked, it is highly likely that movement toward the back of the parking space will be restricted. Also, if there are lines marking the parking space on both the left and right sides of the parked vehicle, it is highly likely that the vehicle is parked in a designated parking space, and that movement toward the front or back of the vehicle will be restricted by a wheel stop, wall, fence, etc. Furthermore, if there is a wheel stop for another vehicle behind the vehicle's parking position, it is highly likely that there is also a wheel stop in the parking space where the vehicle is parked, and that movement toward the back of the parking space will be restricted. Therefore, by determining whether these conditions are met, it is possible to determine that the vehicle is restricted from moving forward or backward. Moreover, even if the wheel stop in the vehicle's parking space cannot be detected before parking under the first condition, under the third condition, it can be inferred that a wheel stop exists in the vehicle's parking space from the presence of a wheel stop for another vehicle, and thus it can be detected that movement is restricted.

[0080] (h) The determination unit is, Based on the surrounding conditions of the vehicle, including the obstacle after it has moved, if it is difficult for the vehicle to exit the parking space, and the obstacle remains stationary in its new position for a predetermined standard time or longer, it is determined that the vehicle is in a state where it is difficult to exit the parking space (S3:YES), The vehicle control device according to claim 3, which, based on the surrounding conditions of the vehicle including the obstacle after it has moved, determines that it is difficult for the vehicle to exit the parking space, but if the obstacle after it has moved starts moving again before the standard time has elapsed, it does not determine that it is difficult for the vehicle to exit the parking space (S3:NO).

[0081] Even if an obstacle moves and stops, making it difficult for a vehicle to exit the parking lot, if the obstacle's stoppage is temporary, the difficulty in exiting may be resolved quickly. For example, in a commercial facility parking lot, if there is congestion and the parking lot is crowded, a vehicle exiting the parking lot may be temporarily stopped in front of it due to the congestion. In such a case, the judgment unit determines that it is difficult to exit the parking lot if the obstacle has stopped for a standard time or longer, but does not determine that it is difficult to exit if the obstacle starts moving again before the standard time has elapsed. This prevents the notification from being triggered due to the temporary stoppage of an obstacle.

[0082] (ii) The notification unit is, The vehicle control device according to claim 1 or 2, wherein if the determination unit determines that the vehicle is in a state where it is difficult to exit the parking space, it transmits image data of the area around the vehicle to the user.

[0083] According to this system, even if a user is away from the vehicle and in a remote location, they can check the surrounding conditions of the parked vehicle by reviewing the image data received from the vehicle. The user can then decide whether or not they need to return to the parking lot or other designated location, even from a distance. [Explanation of Symbols]

[0084] 1 Vehicle control device, 2 Vehicle, 31A Surrounding state detection unit, 31B Judgment unit, 31C Notification unit, 43, 43A, 43B User, 47, 48, 75 Other vehicles (obstacles), 51 Truck (obstacle), L1, L2, L4 Distance, TH1A First threshold distance, TH2 Second threshold distance.

Claims

1. A surrounding state detection unit detects the surrounding state of a parked vehicle after the user has left the vehicle, A determination unit determines whether or not the vehicle is in a state where it is difficult to exit the parking space, based on the surrounding conditions of the vehicle detected by the surrounding conditions detection unit. If the determination unit determines that the vehicle is in a state where it is difficult to exit the parking space, the notification unit notifies that the vehicle is in a state where it is difficult to exit. A vehicle control device equipped with the following features.

2. The unit that makes the determination said, Determine whether the vehicle is parked in a parallel parking or perpendicular parking configuration. The vehicle control device according to claim 1, wherein the determination conditions for determining whether or not the vehicle is in a state where it is difficult to exit the parking position are changed depending on whether the vehicle is parked in a parallel or perpendicular position.

3. The unit that makes the determination said, The vehicle control device according to claim 1 or 2, wherein, after the vehicle is parked and the user has moved away from the vehicle, the surrounding state detection unit detects the movement of an obstacle around the vehicle, and determines whether or not it is difficult for the vehicle to exit the parking position based on the surrounding state of the vehicle including the moved obstacle.

4. The unit that makes the determination said, If it is determined that the vehicle is parked in a parallel parking position, the total distance of the empty space in front of the vehicle and the empty space behind the vehicle is calculated, and based on the fact that the calculated total distance after the obstacle has moved is less than or equal to the first threshold distance, it is determined that the vehicle is in a state where it is difficult to exit the parking position. The vehicle control device according to claim 3, which determines that the vehicle is parked in a parallel parking position, and that if either the front or rear of the vehicle is in a restricted direction where movement is restricted, and the other is in a movable direction where movement is permitted, then determines that the vehicle has become difficult to exit the parking position because the obstacle has moved to a position in the movable direction relative to the vehicle, and the distance between the vehicle and the obstacle in the movable direction has become less than or equal to a second threshold distance.

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