Control device, control method, and control program

Abstract

This reduces the burden on the user when accessing opening / closing mechanisms other than the driver's seat during the automated retrieval of a moving vehicle. [Solution] A control device is provided that can reduce the burden on the user when accessing openings other than the driver's seat during the automatic exit of a moving vehicle. The calculation unit of a vehicle having multiple openings includes an automatic parking control unit that controls the movement of the vehicle based on specific operations on an information terminal that the vehicle user can carry. When the automatic parking control unit is executing movement control, if a reservation for opening or closing of a specific opening other than the opening for the driver's seat of the vehicle has been accepted, the automatic parking control unit sets a target movement position for movement control based on the positional relationship between the specific opening and closing unit and the information terminal.

Description

Technical Field

[0003]

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

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. Toward this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving technology has been underway.

[0003] Conventionally, a remote parking system that remotely operates a vehicle to park the vehicle in a designated predetermined parking space or to retrieve the vehicle from the parking space is known. In Patent Document 1, a position of an operator who designates a vehicle retrieval position is detected by an in-vehicle sensor or the like, a retrieval position is set near the detected operator, and the vehicle is automatically retrieved to the retrieval position near the operator by remote operation. A retrieval support device capable of this is described.

Prior Art Documents

Patent Documents

[0007] The present invention In a control device for a mobile body having an opening / closing mechanism, A unit for acquiring the user's position of the moving object, The system includes a control unit that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal, The control unit, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. It is.

[0008] The present invention A control method for a control device comprising: an acquisition unit that acquires the position of a user of a mobile body having an opening / closing mechanism; and a control unit that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal, The control unit, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. It is.

[0009] The present invention A control program for a control device comprising: an acquisition unit that acquires the position of a user of a mobile body having an opening / closing mechanism; and a processor that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal; The aforementioned processor, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. This is for executing a process. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that can reduce the burden on the user when accessing opening / closing parts other than the driver's seat during the automatic exit of a moving vehicle. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view showing an example of a vehicle whose movement is controlled by the control device of this embodiment. [Figure 2] Figure 1 is a top view of the vehicle shown. [Figure 3] Figure 1 is a block diagram showing the internal configuration of the vehicle. [Figure 4] This figure shows an example of the hardware configuration of an information terminal. [Figure 5] This diagram shows how a vehicle is being controlled and instructed to leave the depot using an information terminal from outside the vehicle. [Figure 6] This flowchart shows the control of the information terminal's dispatch instruction during automated dispatch. [Figure 7] This figure shows an example of an automated vehicle dispatch guidance screen displayed on an information terminal during automated vehicle dispatch. [Figure 8] This figure shows an example of the child protection screen displayed on the information terminal during automatic parking. [Figure 9] This figure shows an example of a dispatch instruction screen displayed on an information terminal during automated dispatch. [Figure 10] This figure shows an example of a disclaimer notification and agreement screen displayed on the information terminal during automatic parking. [Figure 11] This figure shows an example of the ignition ON screen displayed on the information terminal during automatic vehicle departure. [Figure 12] It is a diagram showing an example of a departure direction selection screen displayed on an information terminal during automatic parking. [Figure 13] It is a diagram showing an example of a departure direction confirmation screen displayed on an information terminal during automatic parking. [Figure 14] It is a diagram showing an example of a connection screen with a vehicle displayed on an information terminal during automatic parking. [Figure 15] It is a diagram showing an example of an operation input start screen displayed on an information terminal during automatic departure. [Figure 16] It is a diagram showing an example of an operation input screen displayed on an information terminal during automatic departure. [Figure 17] It is a diagram showing an example of an automatic departure completion screen displayed on an information terminal during automatic departure. [Figure 18] It is a flowchart showing the control for executing the departure of a vehicle during automatic departure. [Figure 19] It is a diagram showing the automatic departure stop position of a vehicle when an opening / closing reservation of the left rear door is made. [Figure 20] It is a diagram showing the automatic departure stop position of a vehicle when an opening / closing reservation of the left front door is made.

Embodiments 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 based on the accompanying drawings. Note that the drawings are to be viewed in the direction of the reference signs. Also, in this specification and the like, for the sake of simplicity and clarity of explanation, the front, rear, left, and right, and up and down directions are described according to the directions seen from the driver of the vehicle 10 shown in FIGS. 1 and 2. In the drawings, the front of the vehicle 10 is shown as Fr, the rear as Rr, the left as L, the right as R, the upper as U, and the lower as D.

[0013] <Vehicle 10 whose movement is controlled by the control device of the present invention> FIG. 1 is a side view of a vehicle 10 whose movement is controlled by the control device of the present invention. FIG. 2 is a top view of the vehicle 10 shown in FIG. 1. The vehicle 10 is an example of a moving body of the present invention.

[0014] Vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels and steerable wheels that are driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The drive source of vehicle 10 is, for example, an electric motor. The drive source of vehicle 10 may be 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. Furthermore, the drive source of vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels including a pair of left and right front wheels and rear wheels. Both the front wheels and rear wheels may be steerable wheels, or either one of them may be a steerable wheel.

[0015] Vehicle 10 is further equipped with side mirrors 11L and 11R. Side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front passenger doors of vehicle 10 for the driver to check the area behind and to the rear side. Side mirrors 11L and 11R are each fixed to the body of vehicle 10 by a vertically extending pivot axis, and can be opened and closed by rotating around this pivot axis.

[0016] Vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The front camera 12Fr is a digital camera located in front of vehicle 10 that captures images of the area in front of vehicle 10. The rear camera 12Rr is a digital camera located behind vehicle 10 that captures images of the area behind vehicle 10. The left-side camera 12L is a digital camera located on the left side mirror 11L of vehicle 10 that captures images of the left side of vehicle 10. The right-side camera 12R is a digital camera located on the right side mirror 11R of vehicle 10 that captures images of the right side of vehicle 10.

[0017] <Internal configuration of vehicle 10> Figure 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Figure 1. As shown in Figure 3, the vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further includes a drive force control system 26 and a braking force control system 28.

[0018] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left-side camera 12L, and a right-side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left-side sonar group 32c, and a right-side sonar group 32d. Furthermore, the sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38. The sensor group 16 may also include radar.

[0019] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire recognition data (e.g., surrounding images) for recognizing the outside world of the vehicle 10 by imaging the area around the vehicle 10. The surrounding images captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R are referred to as the front image, rear image, left-side image, and right-side image, respectively. The image composed of the left-side image and the right-side image may also be referred to as the side image.

[0020] The forward sonar group 32a, the rear sonar group 32b, the left-side sonar group 32c, and the right-side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The forward sonar group 32a includes, for example, four sonars. The sonars constituting the forward sonar group 32a are located on the left front, front left, front right, and right front of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are located on the left rear, rear left, rear right, and right rear of the vehicle 10, respectively. The left-side sonar group 32c includes, for example, two sonars. The sonars constituting the left-side sonar group 32c are located on the left front and left rear of the vehicle 10, respectively. The right-side sonar group 32d includes, for example, two sonars. The sonars constituting the right-side sonar group 32d are located on the front right and rear right sides of the vehicle 10, respectively. The front sonar group 32a, rear sonar group 32b, left-side sonar group 32c, and right-side sonar group 32d acquire detection data (e.g., obstacle information) for detecting obstacles around the vehicle 10.

[0021] Wheel sensors 34a and 34b detect the rotation angle of the wheels of the vehicle 10. Wheel sensors 34a and 34b may be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output a detection pulse each time the wheel rotates by a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the rotation angle and rotation speed of the wheels. Based on the rotation angle of the wheels, the distance traveled by the vehicle 10 is calculated. Wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. Wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0022] The vehicle speed sensor 36 detects the speed of the vehicle body 10, i.e., the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based, for example, on the rotation of the transmission countershaft.

[0023] The operation detection unit 38 detects the user's operation using the operation input unit 14 and outputs the detected operation to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch for switching the open / closed state of the side mirrors 11L and 11R, and a shift lever (selector lever or selector).

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

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

[0026] The touch panel 42 is configured to allow input of various commands to the control ECU 20. For example, the user can input commands related to vehicle movement assistance for the vehicle 10 via the touch panel 42. Movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays screens related to vehicle movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button to request parking assistance for the vehicle 10 and an exit assistance button to request exit assistance. The parking assistance buttons include an automatic parking button to request parking by automatic steering of the control ECU 20 and an auxiliary parking button to request assistance when parking by the driver. The exit assistance buttons include an automatic exit button to request exiting by automatic steering of the control ECU 20 and an auxiliary exit button to request assistance when exiting by the driver. Other components besides the touch panel 42, such as a smartphone or tablet terminal, may be used as input or display devices.

[0027] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is configured, for example, by a CPU (Central Processing Unit). The arithmetic unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The arithmetic unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The arithmetic unit 52 is an example of the control device of the present invention.

[0028] The calculation unit 52 includes an automatic parking control unit 55 that controls the movement of the vehicle 10, an opening / closing control unit 56 that controls the opening and closing of the opening / closing parts of the vehicle 10, and an external environment recognition unit 57 that recognizes external environment information of the vehicle 10. The automatic parking control unit 55 is an example of a control unit of the present invention.

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

[0030] For example, the automatic parking control unit 55 performs parking execution control to automatically park the vehicle 10 in a predetermined parking space and exit execution control to automatically exit the vehicle 10 from the predetermined parking space to a target position, based on recognition data of the vehicle 10's external environment acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R, and a parking space specified by the user. The automatic parking control unit 55 performs parking execution control and exit execution control according to instruction signals input from the outside via the input / output unit 50. External input includes wireless communication input from an information terminal carried by the user of the vehicle 10. Information terminals will be described later. The automatic parking control unit 55 also transmits information related to parking execution control and exit execution control to an external information terminal via the input / output unit 50.

[0031] Specifically, the automatic parking control unit 55 can accept reservations for opening and closing of the vehicle's opening and closing parts in the vehicle's exit execution control. If a reservation has been accepted, the control unit sets the target movement position of the vehicle 10 based on the positional relationship between the reserved opening and closing part and the information terminal carried by the vehicle 10 user. A reservation for opening and closing parts refers to a reservation for an opening and closing part that the user wants to prioritize opening and closing when the vehicle 10 has completed its exit. The target movement position is the target position to which the vehicle 10 will be moved, and is a position where the user can easily access the reserved opening and closing part. The opening and closing parts of the vehicle 10 include, for example, the driver's seat opening and closing part, the passenger seat opening and closing part, the rear seat opening and closing part, the tailgate (rear gate), etc. For example, the driver's seat opening and closing part is the opening and closing part that the driver normally uses to get in and out of the vehicle, and is the opening and closing part closest to the driver's seat. The information terminal carried by the user refers to the terminal held by the user who is waiting at a distance for the vehicle 10 to be exited.

[0032] When the automatic parking control unit 55 controls the vehicle 10 to exit the parking space, if a reservation for opening or closing of a specific opening or closing mechanism other than the driver's seat opening or closing mechanism has been received, for example, the control unit 55 sets a target movement position for the vehicle 10 based on the positional relationship between the specific opening or closing mechanism and the information terminal. In this case, the target movement position is a position where the user can easily access the specific opening or closing mechanism. A specific opening or closing mechanism is an opening or closing mechanism other than the driver's seat opening or closing mechanism, such as the passenger seat opening or closing mechanism, the rear seat opening or closing mechanism, or the tailgate (rear gate).

[0033] When the automatic parking control unit 55 controls the vehicle 10 to exit the parking space, if no reservation for opening or closing of a specific opening or closing device has been received, it sets a target movement position for the vehicle 10 based on the positional relationship between the driver's seat opening or closing device and the information terminal. In this case, the target movement position is a position where the user can easily access the driver's seat. Note that the opening or closing device that is the target of the positional relationship with the information terminal when no reservation for opening or closing of a specific opening or closing device has been received is not limited to the driver's seat opening or closing device, and may be set arbitrarily by the user. For example, in the case of a user who often uses a child seat, the opening or closing device of the seat where the child seat is installed can be set as the target opening or closing device when no reservation for opening or closing has been received.

[0034] The automatic parking control unit 55 determines the user status of the vehicle 10 and, based on the determination result, makes a decision and performs the action automatically without waiting for the user to make a reservation for opening or closing a specific opening / closing device. The user status includes, for example, the amount of luggage the user is carrying, whether there are passengers, and whether a child seat is installed. If there is a lot of luggage, the automatic parking control unit 55 sets a reservation for opening or closing the rear seat opening / closing device or the tailgate. If there is one passenger, the automatic parking control unit 55 sets a reservation for opening or closing the passenger seat opening / closing device. If a child seat is installed, the automatic parking control unit 55 sets a reservation for opening or closing the opening / closing device of the seat in which the child seat is installed. The automatic parking control unit 55 determines the user status based on the image captured by the camera. The user status may also include the user's cashier information and the number of smartphones registered for the vehicle 10. The automatic parking control unit 55 may determine the purchased luggage based on the cashier information and set a predetermined specific opening / closing device. The automatic parking control unit 55 may determine the number of passengers based on the communication results with registered smartphones and set a predetermined specific opening / closing device. Alternatively, the automatic parking control unit 55 may determine and set the opening / closing body to be opened or closed, and display an acceptance / approval button to allow the user to decide whether the set opening / closing body is acceptable.

[0035] When the vehicle 10 is moved out to the target location, the automatic parking control unit 55 determines whether the opening / closing parts of the vehicle 10 can be opened or closed at that target location. The automatic parking control unit 55 determines whether the opening / closing parts can be opened or closed based on the external environment recognition results from the external environment recognition unit 57. The automatic parking control unit 55 determines whether the opening / closing parts of the vehicle 10 can be opened or closed according to the distance between the opening / closing parts of the vehicle 10 and surrounding objects present around the vehicle, and the type of opening / closing parts (tailgate, sliding door, hinged door, etc.). Based on the determination result regarding whether the opening / closing parts can be opened or closed, the automatic parking control unit 55 sets the target location for the vehicle 10.

[0036] The automatic parking control unit 55 performs a predetermined opening and closing process for an opening / closing body when the vehicle 10 arrives at a set target movement position. The opening and closing process for the opening and closing body includes, for example, a process to enable manual opening and closing of the opening and closing body (a process to release the lock on the opening and closing body) and a process to automatically open and close the opening and closing body. The opening and closing process for the opening and closing body may also include, for example, a process to display guidance information regarding the opening and closing body on an information terminal.

[0037] The opening / closing control unit 56 performs opening and closing control to automatically open and close the tailgate, sliding doors, hinged doors, and other opening / closing parts of the vehicle 10. Based on the opening / closing signals from the automatic parking control unit 55, the opening / closing control unit 56 performs opening and closing control for the opening / closing parts that have been reserved for opening and closing.

[0038] The external environment recognition unit 57 recognizes the environment outside the vehicle 10 based on images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R. The external environment recognition unit 57 can also recognize the environment outside the vehicle 10 based on information acquired by the sonar groups 32a to 32d or radar. The external environment recognition unit 57 recognizes the presence of surrounding objects that may interfere when opening and closing the opening and closing parts of the vehicle 10, based on external environment information acquired by the cameras, sonar, and radar.

[0039] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of the steering 110. The torque sensor 102 detects the torque TQ applied to the steering 110.

[0040] The EPS motor 104 provides driving force or reaction force to the steering column 112 connected to the steering 110, thereby enabling assistance for the occupant's operation of the steering 110 and automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0041] The communication unit 24 enables wireless communication with other communication devices 120. These other communication devices 120 include base stations, communication devices in other vehicles, and information terminals such as smartphones or tablet devices that can be carried by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface for ultra-wideband (UWB) communication with information terminals.

[0042] The drive force control system 26 is equipped with a drive ECU 130. The drive force control system 26 performs drive force control of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling an engine (not shown) and other components (not shown) based on user operation of an accelerator pedal (not shown).

[0043] The braking force control system 28 is equipped with a braking ECU 132. The braking force control system 28 performs braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a braking mechanism (not shown) and other components (not shown) based on user operation of a brake pedal (not shown).

[0044] <Hardware configuration of information terminals> Figure 4 shows an example of the hardware configuration of an information terminal 60. The hardware of the information terminal 60 can be realized, for example, by the information processing device 80 shown in Figure 4. The information processing device 80 comprises a processor 81, a memory 82, a communication interface 83, and a user interface 84. The processor 81, memory 82, communication interface 83, and user interface 84 are connected, for example, by a bus 85.

[0045] The processor 81 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information processing device 80. The processor 81 may also be implemented using other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 81 may be implemented by combining multiple digital circuits.

[0046] Memory 82 includes, for example, main memory and auxiliary memory. Main memory is, for example, RAM (Random Access Memory). Main memory is used as the work area of ​​processor 81.

[0047] Auxiliary memory is a non-volatile memory such as a magnetic disk, optical disk, or flash memory. Various programs for operating the information processing device 80 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into main memory and executed by the processor 81.

[0048] Furthermore, the auxiliary memory may include portable memory that can be removed from the information processing device 80. Portable memory may include memory cards such as USB (Universal Serial Bus) flash drives and SD (Secure Digital) memory cards, or external hard disk drives.

[0049] The communication interface 83 is a communication interface that performs wireless communication with an external device (for example, the communication unit 24 of the vehicle 10) from the information processing device 80. For example, the communication interface 83 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 83 is controlled by the processor 81.

[0050] The user interface 84 includes, for example, an input device that accepts user input and an output device that outputs information to the user. The input device can be implemented by, for example, a touch panel. The output device can be implemented by, for example, a display or a speaker. The user interface 84 is controlled by the processor 81.

[0051] The processor 81 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 81 performs movement instruction control of the vehicle 10 based on a specific operation by the user on the terminal screen of the information terminal 60. Movement instruction control includes, for example, parking instruction control to automatically park the vehicle 10 in a predetermined parking space, and exit instruction control to automatically exit the vehicle 10 from the predetermined parking space to a target exit position. Specific operations by the user include, for example, a swipe operation to move the vehicle 10, and a tap operation to reserve parking and exit plans.

[0052] Specifically, in the vehicle departure instruction control, the processor 81 receives a vehicle departure plan for the vehicle 10 based on the user's reservation operation on the terminal screen. The vehicle departure plan is a plan for the automatic departure of the vehicle 10, and includes, for example, a plan for the direction in which the vehicle 10 will depart from the parking space (vehicle departure direction), or whether to open or close a predetermined opening / closing device when the vehicle departs. For example, the processor 81 can receive reservations to open or close the driver's seat opening / closing device when the vehicle departs, and reservations to open or close specific opening / closing devices other than the driver's seat opening / closing device. The processor 81 can receive the vehicle departure plan in advance at or before the start of the automatic vehicle departure.

[0053] The processor 81 transmits a parking instruction signal to automatically park the vehicle 10 and an exit instruction signal to automatically exit the vehicle 10, based on a specific operation on the terminal screen of the information terminal 60. The information terminal 60 has an application installed that enables the movement control of the vehicle 10 by sending and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10.

[0054] <Example of movement instruction control using information terminal 60> Figure 5 shows an example of how user M of vehicle 10 performs an exit command control to automatically exit the parking space P from vehicle 10 using an information terminal 60 carried by user M, while outside of vehicle 10.

[0055] When the terminal screen 61, which is configured as a touch panel, is touched by user M, the information terminal 60 transmits a departure instruction signal to vehicle 10 via wireless communication to instruct vehicle 10 to automatically leave the parking lot. Vehicle 10 receives the departure instruction signal from the information terminal 60 and, in accordance with the received departure instruction signal, performs departure execution control to automatically move vehicle 10 to the target location while communicating wirelessly with the information terminal 60. The example shown in the figure indicates that a reservation for opening and closing the right front door of vehicle 10 has been accepted, and vehicle 10 has moved to a position where user M can easily access that right front door. Examples of wireless communication between the information terminal 60 and vehicle 10 include UWB (Ultra Wide Band), BLE (Bluetooth Low Energy), NFC (Near Field Communication), etc.

[0056] <Processing of information terminal 60 during automatic retrieval> Next, an example of the dispatch instruction control of the information terminal 60 during automatic dispatch will be explained with reference to Figures 6 to 17.

[0057] Figure 6 is a flowchart showing the dispatch instruction control by the processor 81 of the information terminal 60 during automatic dispatch. Figures 7 to 17 show examples of images displayed on the information terminal 60 during automatic dispatch.

[0058] For example, user M is trying to take vehicle 10 out of a parking lot. User M is carrying an information terminal 60.

[0059] The processor 81 of the information terminal 60 determines whether the information terminal 60 is close to the vehicle 10, that is, whether the information terminal 60 has come close enough to communicate wirelessly with the vehicle 10 (step S11).

[0060] In step S11, if the information terminal 60 has not approached the vehicle 10 within wireless communication range (step S11: No), the processor 81 repeats the process of step S11 until wireless communication becomes possible.

[0061] In step S11, if the information terminal 60 approaches the vehicle 10 within wireless communication range (step S11: Yes), the processor 81 displays an automatic parking exit guidance screen 62, for example, as shown in Figure 7, on the terminal screen 61 to prompt the user to start the application for automatic parking exit of the vehicle 10 (step S12). The processor 81 displays a notification message 62a on the automatic parking exit guidance screen 62, for example, "Please start remote operation," prompting the user to start the application for automatic parking exit, a start button 62b to start the application, and a close button 62c to close the automatic parking exit guidance screen 62.

[0062] Next, the processor 81 determines whether or not the application for automated retrieval has been launched (step S13).

[0063] In step S13, if the application for automatic vehicle retrieval is not started (step S13: No), the processor 81 waits until it is started. However, if it is not started after a certain period of time, the processor 81 may automatically close the automatic vehicle retrieval guidance screen 62.

[0064] In step S13, if the application for automated retrieval is launched (step S13: Yes), the processor 81 displays, for example, a child protection screen 63 as shown in Figure 8 on the terminal screen 61 (step S14).

[0065] In step S14, if the OK button 63a is touched after a predetermined authentication code has been entered, the processor 81 displays a vehicle departure instruction screen 64 on the terminal screen 61 to confirm whether or not to perform automatic vehicle departure, as shown in Figure 9 (step S15). On the vehicle departure instruction screen 64, the processor 81 displays, for example, a vehicle image 64a of vehicle 10 and a confirmation message 64b such as "Do you want to perform automatic vehicle departure?". The processor 81 also displays an automatic vehicle departure button 64c on the vehicle departure instruction screen 64 to be touched if automatic vehicle departure is to be performed, and a close button 64d to close the vehicle departure instruction screen 64 if automatic vehicle departure is not to be performed.

[0066] In step S15, when the automatic retrieval button 64c is touched, the processor 81 displays a disclaimer notification / agreement screen 65 on the terminal screen 61, as shown in Figure 10, for example (step S16). If the user agrees to the contents of the disclaimer notification / agreement screen 65, the agree button 65a is swiped; if the user does not agree, the cancel button 65b is touched to cancel the automatic retrieval.

[0067] In step S16, when the agreement button 65a is swiped, the processor 81 displays an ignition ON screen 66 on the terminal screen 61, for example, as shown in Figure 11, to prompt the user to select the direction in which the vehicle 10 will exit the parking lot (step S17). On the ignition ON screen 66, the processor 81 displays, for example, a vehicle image 66a of the vehicle 10 and an ignition ON button 66b to proceed with automatic exit. The processor 81 also displays a close button 66c on the ignition ON screen 66 to close the ignition ON screen 66 if the user wishes to cancel automatic exit.

[0068] In step S17, when the ignition ON button 66b is touched, the processor 81 displays an exit direction selection screen 67 on the terminal screen 61, for example as shown in Figure 12, which accepts the selection of the exit direction and the reservation of opening and closing of the opening / closing parts for automatic exit (step S18). On the exit direction selection screen 67, the processor 81 displays, for example, forward exit 67a, which moves forward and stops after leaving the parking space, and reverse exit 67b, which moves backward and stops after leaving the parking space. The processor 81 also displays, for example, left front door 67c, which reserves opening and closing of the left front door, right front door 67d, which reserves opening and closing of the right front door, left rear door 67e, which reserves opening and closing of the left rear door, right rear door 67f, which reserves opening and closing of the right rear door, and tailgate 67g, which reserves opening and closing of the tailgate. Furthermore, the processor 81 displays selection messages 67h on the exit direction selection screen 67, such as "Please select the exit direction" and "We accept opening / closing reservations." On this exit direction selection screen 67, user M can select the exit direction (67a, 67b) for which they wish to exit the vehicle 10 and the opening / closing mechanism (67c~67g) they wish to open / close by touch operation.

[0069] When an exit direction and door opening / closing mechanism are selected on the exit direction selection screen 67, the processor 81 displays an exit direction confirmation screen 68 on the terminal screen 61, for example, as shown in Figure 13. The processor 81 displays an exit direction image 68a on the exit direction confirmation screen 68, indicating the accepted exit direction and reserved door opening / closing mechanism. In the example shown in the figure, it indicates that a forward exit and a reservation for opening / closing of the left front door have been accepted. The processor 81 also displays a confirmation message 68b on the exit direction confirmation screen 68, for example, "I will exit facing forward" and "After exiting, I will open the left front door." Furthermore, the processor 81 displays an OK button 68c on the exit direction confirmation screen 68 to confirm the exit direction and reserved door opening / closing mechanism, and a re-selection button 68d to re-select the exit direction and reserved door opening / closing mechanism. If the re-selection button 68d is touched, the processor 81 displays the exit direction selection screen 67 as shown in Figure 12 to allow the user to select the exit direction and door opening / closing mechanism again.

[0070] In step S18, when the OK button 68c is touched on the exit direction confirmation screen 68 in Figure 13, the processor 81 starts the process of establishing a communication connection with the vehicle 10 and displays a connection screen 69 on the terminal screen 61, for example, as shown in Figure 14 (step S19). On the connection screen 69, the processor 81 displays a connection message 69a, such as "Connecting to vehicle", indicating that the connection process with the vehicle 10 is in progress, and a cancel button 69b to cancel this connection process. Once the communication connection with the vehicle 10 is complete, the processor 81 sends the automatic exit information, including the exit direction and reserved opening / closing mechanism, which was received at the time of exit in step S18, to the vehicle 10.

[0071] Next, the processor 81 displays an operation input start screen 70 on the terminal screen 61 to guide the user to start automatic parking, for example, as shown in Figure 15 (step S20). The processor 81 displays an image on the operation input start screen 70, for example, of six spheres 70a rotating counterclockwise in the direction indicated by arrows 70b. In other words, it displays an image that prompts the user to perform a counterclockwise rotation swipe operation on the terminal screen 61. The processor 81 also displays a guidance message 70c on the operation input start screen 70, for example, "Please rotate while touching the screen." The processor 81 also displays a vehicle image 70d on the operation input start screen 70, indicating that the vehicle 10 is moving forward, and a warning message 70e, for example, "Please check your surroundings directly." Furthermore, the processor 81 displays a cancel button 70f on the operation input start screen 70 to cancel this automatic parking.

[0072] Next, the processor 81 determines whether or not a rotational swipe operation has been initiated on the terminal screen 61 (step S21).

[0073] In step S21, if the rotation swipe operation has not been initiated (step S21: No), the processor 81 repeats the process of step S21 and waits until the rotation swipe operation is initiated.

[0074] In step S21, if a rotational swipe operation is initiated (step S21: Yes), the processor 81 displays an operation input screen 71 on the terminal screen 61 that shows the rotational swipe operation being performed when the vehicle is being taken out of the parking space, for example, as shown in Figure 16 (step S22). The processor 81 displays a movement icon 71a on the operation input screen 71 that moves in accordance with the touch position of user M due to the rotational swipe operation. The processor 81 also displays a guidance message 71b to stop the automatic departure of the vehicle 10, such as "It will stop when you release your finger." The processor 81 also displays a vehicle image 71c on the operation input screen 71 that indicates the vehicle 10 is in the process of moving forward out of the parking space, as well as a warning message 70e and a stop button 70f, similar to Figure 15. In this way, when a rotational swipe operation is performed on the terminal screen 61, the movement icon 71a rotates and moves in accordance with the touch position, and the vehicle 10 starts moving in conjunction with this rotational movement. Furthermore, when the finger used for the rotational swipe operation is lifted from the terminal screen 61, or when the rotational swipe operation is stopped, the automatic exit movement of the vehicle 10 is temporarily paused.

[0075] Next, the processor 81 initiates the automatic departure of the vehicle 10 by transmitting a departure instruction signal to the vehicle 10 (step S23). When the automatic parking control unit 55 of the vehicle 10 receives the departure instruction signal from the information terminal 60, it initiates the automatic departure of the vehicle 10 according to the received departure instruction signal and based on the automatic departure information, including the departure direction and reserved opening / closing mechanism, which was received at the time of departure.

[0076] Next, the processor 81 determines whether the automatic exit has been completed, that is, whether the vehicle 10 has been exited in the exit direction selected by the user M (step S24). Whether the automatic exit has been completed can be determined based on the information regarding the execution control of the automatic exit transmitted from the automatic parking control unit 55 of the vehicle 10.

[0077] In step S24, if automatic retrieval is not completed (step S24: No), the processor 81 waits by repeating the process in step S24 until automatic retrieval is completed.

[0078] In step S24, if the automatic dispatch is completed (step S24: Yes), the processor 81 displays an automatic dispatch completion screen 72 on the terminal screen 61, for example, as shown in Figure 17 (step S25). The processor 81 displays a dispatch completion message 72a on the automatic dispatch completion screen 72, for example, "Dispatch is complete. Please touch the screen." When the terminal screen 61 is touched on this automatic dispatch completion screen 72, the processor 81 terminates the dispatch instruction control for the automatic dispatch.

[0079] <Processing of vehicle 10 during automatic exit> Next, an example of the automatic parking control unit 55 controlling the vehicle 10 during automatic exit will be explained with reference to the flowchart in Figure 18.

[0080] The automatic parking control unit 55 of the vehicle 10 determines whether or not it is in a state of communication connection with the information terminal 60, that is, whether or not the information terminal 60 has come close enough to the vehicle 10 to communicate wirelessly (step S31).

[0081] In step S31, if the information terminal 60 is not connected to the automatic parking control unit 55, the automatic parking control unit 55 waits until a communication connection is established.

[0082] In step S31, if a communication connection is established with the information terminal 60 (step S31: Yes), the automatic parking control unit 55 receives automatic exit information regarding the vehicle 10's exit direction and the reserved opening / closing mechanism from the information terminal 60 (step S32).

[0083] Next, the automatic parking control unit 55 determines the relative position between the vehicle 10 and the information terminal 60 by performing UWB communication with the information terminal 60 (step S33).

[0084] Next, the automatic parking control unit 55 determines whether or not the opening and closing of doors other than the driver's side door has been reserved when the vehicle 10 exits the parking space, based on the automatic exit information received from the information terminal 60 in step S32 (step S34).

[0085] In step S34, if the opening and closing of a door other than the driver's door is reserved (step S34: Yes), the automatic parking control unit 55 sets the target movement position of the vehicle 10 so that when the vehicle 10 exits the parking space, the door (opening / closing body) that is reserved for opening and closing is near the information terminal 60 (user M carrying the information terminal 60).

[0086] In step S34, if no door other than the driver's door is reserved for opening or closing (step S34: No), the automatic parking control unit 55 sets the target position of the vehicle 10 so that the driver's door is close to the information terminal 60 when the vehicle 10 is exited (step S36). This includes cases where the driver's door is reserved for opening or closing, and cases where no door is reserved for opening or closing.

[0087] Next, the automatic parking control unit 55 determines whether or not it has received an automatic exit start instruction from the information terminal 60, that is, whether or not it has received an exit instruction signal transmitted from the information terminal 60 in the processing of step S23 in the information terminal 60 in Figure 6 (step S37).

[0088] In step S37, if the automatic parking control unit 55 has not received an instruction to start automatic parking from the information terminal 60 (step S37: No), the automatic parking control unit 55 waits until it receives an instruction to start automatic parking.

[0089] In step S37, if an instruction to start automatic exit is received from the information terminal 60 (step S37: Yes), the automatic parking control unit 55 starts moving the vehicle 10 to the target movement position set in step S35 or step S36 (step S38).

[0090] Next, the automatic parking control unit 55 determines whether or not the vehicle 10 has reached the target movement position (step S39).

[0091] In step S39, if the target movement position has not been reached (step S39: No), the automatic parking control unit 55 repeats the process until the target movement position is reached. If the rotation swipe operation is stopped in steps S21 and S22 of Figure 6 on the information terminal 60 before reaching the target movement position, an exit stop signal is sent from the information terminal 60 to the vehicle 10. In that case, the automatic parking control unit 55 stops the automatic exit of the vehicle 10. Alternatively, if the rotation swipe operation is stopped in steps S21 and S22 of Figure 6 on the information terminal 60, the exit instruction signal being sent from the information terminal 60 to the vehicle 10 may be stopped in step S23. If the exit instruction signal is stopped, the automatic parking control unit 55 may stop the automatic exit of the vehicle 10.

[0092] In step S39, if the target moving position is reached (step S39: Yes), the automatic parking control unit 55 determines whether or not the opening and closing of the vehicle 10's doors has been reserved, based on the automatic exit information received from the information terminal 60 in step S32 (step S40).

[0093] In step S40, if a door opening / closing reservation has been made (step S40: Yes), the automatic parking control unit 55 performs the opening / closing process for the reserved door through the opening / closing control unit 56 (step S41), and then terminates the vehicle exit execution control. The door opening / closing process includes, as described above, the process of unlocking the door and the process of automatically opening and closing the door.

[0094] In step S40, if no door opening or closing reservation has been made (step S40: No), the automatic parking control unit 55 will not perform the door opening or closing process and will terminate the vehicle exit execution control.

[0095] <Example of movement to the target location> Next, an example of the movement of vehicle 10 to the target destination position by the vehicle departure execution control will be explained with reference to Figures 19 and 20.

[0096] Figure 19 shows how vehicle 10 automatically moves to a target location when the opening and closing of the left rear door of vehicle 10 is reserved. In this case, a location that is easily accessible to user M for the left rear door is set as the target location for the vehicle departure execution control.

[0097] As shown in Figure 19, the vehicle 10 is controlled to move from the parking space P and stop in a position that allows user M, who is carrying an information terminal 60, to easily access the left rear door 91e. After the vehicle 10 has moved to the target position, the left rear door 91e, which is reserved for opening and closing, is opened and closed. The vehicle 10 shown in the figure is in the state where the left rear door 91e is open.

[0098] Furthermore, if the external environment recognition unit 57 recognizes that there is an obstruction near the left rear door 91e of the vehicle 10 that would hinder the opening and closing of the left rear door 91e, the automatic parking control unit 55 sets a target movement position so that the obstruction does not hinder the opening and closing of the left rear door 91e. The automatic parking control unit 55 then performs exit execution control so that the vehicle 10 stops at the target movement position. The automatic parking control unit 55 sets the target movement position based on the distance between the door of the vehicle 10 and the surrounding object, and the type of door (tailgate, sliding door, hinged door, etc.).

[0099] Figure 20 shows how vehicle 10 automatically moves out to the target location when the opening and closing of the left front door of vehicle 10 is reserved. In this case, a location that is easily accessible to user M for the left front door is set as the target location for the outbound execution control. The left front door is the driver's side door of vehicle 10.

[0100] As shown in Figure 20, the vehicle 10 is controlled to move from the parking space P and stop in a position that allows user M, who is carrying an information terminal 60, to easily access the left front door 91c. After the vehicle 10 has moved to the target position, the left front door 91c, which is reserved for opening and closing, is opened and closed.

[0101] If no opening or closing reservation has been made for the opening / closing mechanism, as described above, the target movement position is set to a position that makes it easy for user M to access the driver's side door (left front door 91c) of the vehicle 10. In this case as well, the vehicle 10 is controlled to move to a position that makes it easy for user M, who is carrying the information terminal 60, to access the left front door 91c, as shown in Figure 20, and then stop. However, since no opening or closing reservation has been made for the opening / closing mechanism, the automatic opening and closing process of the driver's side door (left front door 91c) is not performed.

[0102] As explained above, when the automatic parking control unit 55 in the calculation unit 52 of the vehicle 10 controls the vehicle 10 to exit the parking space, if a reservation for opening or closing of a specific opening or closing device of the vehicle 10 other than the driver's seat opening or closing device has been accepted, the control unit sets the target movement position for the exit control based on the positional relationship between the reserved specific opening or closing device and the information terminal 60. As a result, if a reservation for opening or closing of a specific opening or closing device has been accepted, the target movement position for the exit control is set to a position that allows easy access to the specific opening or closing device by the user M of the vehicle 10, without the user M having to manually set the target movement position for the exit control. Therefore, the burden on the user M when automatically exiting the vehicle 10 is reduced, and usability is improved.

[0103] Furthermore, when the automatic parking control unit 55 controls the vehicle 10 to exit the parking space, if a reservation for opening or closing of a specific opening / closing device has not been received, it sets the target movement position for the exit control based on the positional relationship between the opening / closing device on the driver's seat and the information terminal 60. As a result, if a reservation for opening or closing of a specific opening / closing device has not been received, the target movement position for the exit control is set to a position that allows user M to easily access the driver's seat, without user M having to manually set the target movement position for the exit control. Therefore, the burden on user M when automatically exiting the parking space with the vehicle 10 can be reduced.

[0104] Furthermore, the automatic parking control unit 55 determines the status of the user M of the vehicle 10 and automatically accepts a reservation for opening and closing a specific opening / closing device based on the determination result. This further reduces the burden on the user M when the vehicle 10 is automatically taken out of the parking space.

[0105] Furthermore, the automatic parking control unit 55 determines whether the reserved opening / closing body can be opened or closed based on the external environment recognition result of the vehicle 10 by the external environment recognition unit 57, and sets the target movement position for the exit execution control based on that determination result. This prevents situations where, for example, the opening / closing body cannot be opened or closed due to surrounding objects when the vehicle 10 has arrived at the target movement position.

[0106] Furthermore, the automatic parking control unit 55 determines whether the opening / closing body can be opened or closed according to the distance between the opening / closing body and surrounding objects, and the type of opening / closing body. This prevents a situation where the opening / closing body cannot be opened or closed even though the vehicle 10 has arrived at the target movement position.

[0107] Furthermore, when the vehicle 10 arrives at the target movement position, the automatic parking control unit 55 performs the opening and closing process of the opening / closing body that has been reserved for opening and closing. As a result, the opening and closing process of the opening / closing body is performed automatically, further reducing the burden on the user M.

[0108] Furthermore, the automatic parking control unit 55 determines the position of the information terminal 60 relative to the vehicle 10 based on ultra-wideband communication with the information terminal 60. This allows for highly accurate determination of the position of the information terminal 60, making it possible to set an optimal target movement position for the vehicle 10 that allows user M to easily access the opening and closing mechanism.

[0109] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate.

[0110] For example, in the above embodiment, as an example of a control device, the calculation unit 52 sets the target movement position for movement control based on the positional relationship between a specific open / closed object reserved for opening / closing and an information terminal, as described by the automatic parking control unit 55, but the device is not limited to this. For example, an information terminal 60 may be used as an example of a control device, and the processor 81 of the information terminal 60 may set the target movement position for movement control based on the positional relationship between a specific open / closed object reserved for opening / closing and an information terminal.

[0111] Furthermore, although the above embodiment describes an example in which the moving object is a vehicle (a four-wheeled automobile), it is not limited to this. For example, it may be a motorcycle, a Segway, or other type of vehicle. Moreover, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc., that are equipped with a drive source and are movable by the power of the drive source.

[0112] The control method described in the above-mentioned embodiment can be implemented by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed when read from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer that executes this control program may be included in the control device, included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or included in a server device that can communicate with these control devices and electronic devices.

[0113] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0114] (1) In a control device (calculation unit 52) ​​for a mobile body (vehicle 10) having multiple opening and closing parts, The system includes a control unit (automatic parking control unit 55) that controls the movement of the mobile body based on a specific operation performed by the user (user M) of the mobile body on a portable information terminal (information terminal 60), The control unit, When the aforementioned movement control is executed, if a reservation for opening or closing of a specific opening or closing body other than the opening or closing body for the driver's seat of the moving body has been accepted among the plurality of opening and closing bodies, the target movement position of the movement control is set based on the positional relationship between the specific opening or closing body and the information terminal. Control device.

[0115] According to (1), when a reservation for opening or closing of a specific opening / closing device has been accepted, the target movement position for movement control is set to a position that allows the user to easily access the specific opening / closing device, without the user having to manually set the target movement position for movement control. This reduces the burden on the user and improves usability.

[0116] (2) The control device described in (1), The control unit, If, when the aforementioned movement control is executed, the opening / closing reservation for the specific opening / closing body has not been accepted, The target movement position for the movement control is set based on the positional relationship between the opening / closing mechanism of the driver's seat and the information terminal. Control device.

[0117] According to (2), if a reservation for opening or closing of a specific opening / closing device has not been accepted, the target movement position for movement control will be set to a position that allows the user to easily access the driver's seat, without the user having to manually set the target movement position for movement control. This reduces the burden on the user and improves usability.

[0118] (3) A control device as described in (1) or (2), The control unit, Based on the determination result of the user status of the mobile body, the system automatically accepts the reservation for opening and closing the specific opening / closing device. Control device.

[0119] According to (3), it becomes possible to further reduce the burden on the user and improve usability.

[0120] (4) A control device according to any one of (1) to (3), The mobile body further comprises an external environment recognition unit that recognizes the external environment, The control unit, Based on the recognition result by the external environment recognition unit, it is possible to determine whether the opening / closing body can be opened or closed. Based on the determination result of whether the opening / closing body can be opened or closed, the target movement position of the movement control is set. Control device.

[0121] According to (4), it is possible to prevent a situation in which the opening / closing mechanism cannot be opened or closed when the moving body has arrived at the target moving position.

[0122] (5) The control device described in (4), The control unit, Whether the opening / closing body can be opened or closed is determined according to the distance between the opening / closing body and the surrounding object, and the type of the opening / closing body. Control device.

[0123] According to (5), it is possible to prevent a situation in which the opening / closing mechanism cannot be opened or closed even though the moving body has arrived at the target moving position.

[0124] (6) A control device according to any one of (1) to (5), The control unit, When the moving body arrives at the target moving position, the opening and closing process of the opening / closing body is performed. Control device.

[0125] According to (6), the burden on the user is reduced and usability is improved.

[0126] (7) A control device according to any one of (1) to (6), The control unit, The location of the information terminal is determined based on ultra-wideband communication with the information terminal. Control device.

[0127] According to (7), the location of the information terminal can be determined with high precision, and the optimal target movement position can be set.

[0128] (8) A method for controlling a mobile body having multiple opening and closing parts, A control unit that controls the movement of the mobile body based on a specific operation performed by the user of the mobile body on a portable information terminal, When the aforementioned movement control is executed, if a reservation for opening or closing of a specific opening or closing body other than the opening or closing body for the driver's seat of the moving body has been accepted among the plurality of opening and closing bodies, the target movement position of the movement control is set based on the positional relationship between the specific opening or closing body and the information terminal. Control method.

[0129] According to (8), when a reservation for opening or closing of a specific opening / closing device has been accepted, the target movement position for movement control is set to a position that allows the user to easily access the specific opening / closing device, without the user having to manually set the target movement position for movement control. This reduces the burden on the user and improves usability.

[0130] (9) In a control program for a mobile body having multiple opening and closing parts, A processor that controls the movement of the mobile body based on a specific operation performed by the user of the mobile body on a portable information terminal, When the aforementioned movement control is executed, if a reservation for opening or closing of a specific opening or closing body other than the opening or closing body for the driver's seat of the moving body has been accepted among the plurality of opening and closing bodies, the target movement position of the movement control is set based on the positional relationship between the specific opening or closing body and the information terminal. A control program for executing a process.

[0131] According to (9), when a reservation for opening or closing of a specific opening / closing device has been accepted, the target movement position for the movement control is set to a position that allows the user to easily access the specific opening / closing device, without the user having to manually set the target movement position for the movement control. This reduces the burden on the user and improves usability. [Explanation of symbols]

[0132] 10. Vehicles (mobile devices) 52. Processing Unit (Control Device) 55 Automatic Parking Control Unit (Control Unit) 57 External world recognition department 60 Information terminals 91c Left front door (opening / closing mechanism) 91e Left rear door (opening / closing type)

Claims

1. In a control device for a mobile body having an opening / closing mechanism, A unit for acquiring the user's position of the moving object, The system includes a control unit that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal, The control unit, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. Control device.

2. In the control device according to claim 1, The control unit, If, when the aforementioned movement control is executed, a reservation for opening or closing of the opening / closing body has not been received, or if a reservation for opening or closing of the opening / closing body of the driver's seat of the moving body has been received, The target movement position for the movement control is set based on the positional relationship between the driver's seat opening / closing mechanism and the user. Control device.

3. A control device according to claim 1 or 2, The unit further comprises an external environment recognition unit that recognizes external information of the moving body, The control unit, Based on the external information, the user status of the mobile body is determined, and based on the result of the determination, a reservation for opening and closing the opening / closing body is automatically accepted. Control device.

4. A control device according to claim 3, The user's status includes at least one of the following: information about the user's passengers or information about the user's luggage. Control device.

5. A control device according to any one of claims 1 to 4, The mobile body further comprises an external environment recognition unit that recognizes the external environment, The control unit, Based on the recognition result by the external environment recognition unit, it is possible to determine whether the opening / closing body can be opened or closed. Based on the determination result of whether the opening / closing body can be opened or closed, the target movement position of the movement control is set. Control device.

6. In the control device according to claim 5, The control unit, Whether the opening / closing body can be opened or closed is determined according to the distance between the opening / closing body and the surrounding object, and the type of the opening / closing body. Control device.

7. A control device according to any one of claims 1 to 6, The control unit, When the moving body arrives at the target moving position, the opening and closing process of the opening / closing body is performed. Control device.

8. A control device according to any one of claims 1 to 7, The control unit, The location of the user is determined based on ultra-wideband communication with the information terminal. Control device.

9. A control method for a control device comprising: an acquisition unit that acquires the position of a user of a mobile body having an opening / closing mechanism; and a control unit that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal, The control unit, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. Control method.

10. A control program for a control device comprising: an acquisition unit that acquires the position of a user of a mobile body having an opening / closing mechanism; and a processor that controls the movement of the mobile body based on a specific operation performed by the user on a portable information terminal; The aforementioned processor, If a reservation for opening or closing the opening / closing body has been accepted, the movement control sets the target movement position based on the positional relationship between the opening / closing body for which the opening / closing reservation has been made and the user. A control program for executing a process.

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