Control device, control method, and control program

Abstract

The present invention provides a control device, a control method, and a control program that can improve usability near parking spaces. [Solution] Based on parking information indicating a starting point 61, a parking space 62, and a route from the starting point 61 to the parking space 62, movement control is performed to move the vehicle 10 from the starting point 61 to the parking space 62. When the vehicle 10 is located near the starting point 61 indicated by the parking information, a notification is sent to the user suggesting the execution of movement control, a response operation from the user to the notification is accepted, and the notification is suppressed if the movement control in accordance with the notification is not executed.

Description

Technical Field

[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 transport system that takes into account people in vulnerable positions among traffic participants. Towards this realization, research and development focused on further improving traffic safety and convenience through research and development related to driving support technologies have been carried out.

[0003] Conventionally, in an automatic driving system that automatically drives a vehicle without requiring a user's driving operation, when the vehicle reaches a target position by a user's driving operation, the route at that time is memorized, and when traveling to the same target position or the same route, the vehicle is driven based on the memorized route history. Also, it is known to generate route information from the current position to the target position based on information acquired by an in-vehicle sensor and drive the vehicle.

[0004] For example, in Patent Document 1, when the current position of a vehicle acquired by a position acquisition device is a point near a registered parking position stored in a memory, parking support control is configured to be executable with the registered parking position as a target parking position, and it is determined whether or not a position near a registered candidate point is a position where the vehicle cannot be parked by parking support control. When it is determined that it is not a position where parking is impossible, proposal processing is performed, and when it is determined that it is a position where parking is impossible, proposal processing is not performed. A parking support device configured as such is described.

[0005] Patent Document 2 describes an automatic parking system for automatically parking a vehicle in a designated parking space, comprising: a positioning device used to acquire the vehicle's current position; a storage device that stores the vehicle's starting position and a predetermined parking route; a receiving device that receives parking requests from a user; and a control device that, upon receiving a parking request, acquires the starting position and predetermined parking route from the storage device, determines whether the current position acquired by the positioning device is within the error range of the starting position, and, if the current position is within the error range of the starting position, drives the vehicle according to the predetermined parking route and parks it in the parking space.

[0006] Patent Document 3 describes a parking assistance method for automatically driving a vehicle based on a parking operation performed in the past, which includes a storage step of storing information relating to at least one of the driving route and the parking target position in a storage unit, and a display step of displaying guidance information relating to a target position that enables automatic driving of the vehicle based on at least one of the driving route and the parking target position in a display unit.

[0007] Patent Document 4 describes a parking assistance device configured to, when registered feature points and / or three-dimensional objects are detected in the vicinity of a registered route based on an overhead image and three-dimensional object information, calculate a registered route based on the position coordinates of the feature points and / or the position coordinates of the three-dimensional objects, and when it is determined that parking assistance control of the vehicle can be started based on the relative position and relative orientation of the vehicle with respect to the registered route, notify the driver by display or sound of the first section in which parking assistance control can be started if the start conditions are met. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2024-024924 [Patent Document 2] Chinese Patent Application Publication No. 111376894 Specification [Patent Document 3] Japanese Patent Publication No. 2022-133230 [Patent Document 4] Japanese Patent Publication No. 2023-176548 [Overview of the project] [Problems that the invention aims to solve]

[0009] As described in Patent Documents 1 to 4, when a vehicle is automatically parked in a predetermined parking position, vehicle parking control is described in which guidance information regarding automatic parking is notified to the driver when it is determined that automatic parking is possible. However, the guidance information regarding automatic parking is notified more often than necessary depending on the vehicle's travel route, and countermeasures against such excessive notification are not described.

[0010] The present invention aims to provide a control device, a control method, and a control program that can improve usability near parking spaces, and ultimately contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0011] The present invention A control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. It is a control device equipped with a control unit.

[0012] The present invention A control method by a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. This is a control method.

[0013] The present invention A control program for a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The processor of the control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. This is a control program that executes a process. [Effects of the Invention]

[0014] According to the present invention, it is possible to provide a control device, a control method, and a control program that can improve usability near parking spaces. [Brief explanation of the drawing]

[0015] [Figure 1] This is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. [Figure 2] Figure 1 is a top view of the vehicle 10 shown in Figure 1. [Figure 3] Figure 1 is a block diagram showing an example of the internal configuration of vehicle 10. [Figure 4] It is a diagram showing an example of parking information of the vehicle 10 in a parking facility. [Figure 5] It is a diagram showing an example of a plurality of parking information in the parking facility 60. [Figure 6] It is a flowchart showing a first example of control processing related to memory parking. [Figure 7] It is a flowchart showing a second example of control processing related to memory parking. [Figure 8] It is a diagram showing an example of a suggestion screen for proposing to the user the execution of movement control (memory parking). [Figure 9] It is a flowchart showing a release process for releasing the suggestion invalid mode. [Figure 10] It is a flowchart showing a release process for releasing the invalidation of a suggestion. [Figure 11] It is a diagram showing an example of a parking facility including a plurality of parking areas.

Mode for Carrying Out the Invention

[0016] 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 numerals. Also, in this specification and the like, for the sake of simplicity and clarity of explanation, the front-rear, left-right, and up-down directions are described according to the directions seen from the driver of the vehicle 10 shown in FIGS. 1 and 2, and 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.

[0017] <Vehicle 10 equipped with the control device of the present invention> FIG. 1 is a side view showing an example of the vehicle 10 equipped with the control device of the present invention. FIG. 2 is a top view of the vehicle 10 shown in FIG. 1.

[0018] 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.

[0019] 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.

[0020] 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 an imaging device (for example, a digital camera) located in front of vehicle 10 that images the area in front of vehicle 10. The rear camera 12Rr is a digital camera located behind vehicle 10 that images 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 images the area to the left of vehicle 10. The right-side camera 12R is a digital camera located on the right side mirror 11R of vehicle 10 that images the area to the right of vehicle 10.

[0021] <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.

[0022] 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. Although not shown in the figures, the sensor group 16 also includes an acceleration sensor capable of measuring the acceleration of the vehicle 10.

[0023] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire surrounding recognition data (e.g., surrounding images) for recognizing the area around the vehicle 10 by imaging the area around the vehicle 10. The surrounding images of the vehicle 10 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. The image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R is referred to as an overhead view image of the vehicle 10.

[0024] 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 side and the rear right side of the vehicle 10, respectively.

[0025] 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.

[0026] 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.

[0027] 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).

[0028] The navigation device 18 detects the current position (location coordinates) 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. The navigation device 18 also has a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in voice.

[0029] 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 a screen 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 a memory 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 user. The exit assistance buttons include a memory 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 user. Note that components other than the touch panel 42, such as information terminals like smartphones and tablets, may be used as input or display devices.

[0030] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to a stop involving the user getting in and out of the vehicle, excluding temporary stops at traffic lights, etc. Also, "parking space" refers to a space where vehicle 10 is stopped, that is, a space for parking.

[0031] 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 control ECU 20 is an example of the "control device" of the present invention.

[0032] The memory unit 54 stores information related to the memory movement (memory parking / exit) of the vehicle 10. The memory movement information is information that allows the vehicle 10 to move automatically or with assistance based on previously stored movement information. For example, the memory unit 54 stores parking information that indicates the starting point for starting the memory movement, the parking space where the vehicle 10 will be stopped by the memory movement, and the route from the starting point to the parking space.

[0033] The calculation unit 52 has a control unit 53 that controls the movement of the vehicle 10. The control unit 53 performs memory parking assistance and memory exit assistance for the vehicle 10 by automatic steering, which automatically operates the steering 110 under the control of the control unit 53. In memory parking assistance and memory exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. In addition, the control unit 53 provides auxiliary parking assistance and auxiliary exit assistance when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and exit the vehicle 10. Note that during memory parking assistance and memory exit assistance, the driver may be in the vehicle 10 or may be outside the vehicle (unoccupied).

[0034] For example, the control unit 53 controls the movement of the vehicle 10 based on surrounding recognition data of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R, the starting point of movement, a designated parking space, and the route from the starting point of movement to the parking space. The movement control includes parking control, which causes the vehicle 10 to be memorized parked in a predetermined parking space (target parking position) from the starting point of movement, and exit control, which causes the vehicle 10 to be memorized exited from the parking space to a predetermined exit space (target exit position). The control unit 53 can execute the parking control and exit control based on instruction signals input via the input / output unit 50. The input instruction signals include instruction signals transmitted wirelessly from a user's information terminal or the like. The control unit 53 also outputs information related to the parking control and exit control to the information terminal or the like via the input / output unit 50.

[0035] When the vehicle 10 is located near the starting point of movement indicated by the parking information, the control unit 53 notifies the user to propose the execution of movement control, accepts a response operation from the user to the notification, and suppresses the notification to the user if the movement control in response to the notification is not executed. "Movement control" refers to memory parking. However, it is also applicable to memory exit. "Failure to execute movement control in response to notification" means that the user has responded to the notification that proposed the execution of movement control for the vehicle 10. Furthermore, failure to execute movement control in response to notification also includes ending the reception of response operations without accepting a response operation. Ending the reception means that a predetermined time has elapsed since the notification or the vehicle 10 has moved away from the starting point of movement due to driving, etc.

[0036] The control unit 53 determines the driving state of the vehicle 10, and if the driving state of the vehicle 10 satisfies predetermined conditions, it suppresses (or does not notify) a notification to the user suggesting the execution of movement control, even if the vehicle 10 is located near the starting point of movement indicated by the parking information. "Driving state" includes, for example, at least one of the accelerator opening, driving speed, direction of travel, and shift information. "Predetermined conditions" are states in which it can be inferred that the user does not intend to park. If the driving state is accelerator opening, the predetermined conditions are that the accelerator pedal is pressed down a large amount or is pressed down for a long time. If the driving state is driving speed, the predetermined conditions are that the driving speed has exceeded a threshold or has remained above the threshold for a continuous period. If the driving state is direction of travel, the predetermined conditions are that the vehicle 10 is moving towards the exit of the parking facility. If the driving state is shift information, the predetermined conditions are that the shift lever is in reverse (back gear).

[0037] While the navigation function is running, the control unit 53 suppresses notifications to the user suggesting that the vehicle 10 be moved to a parking space, even if the vehicle 10 is located near the starting point indicated by the parking information. When the navigation function is running, the control unit 53 determines that the vehicle 10 is not yet ready to be moved to a parking space and suppresses notifications to the user. However, the control unit 53 does not suppress notifications to the user suggesting that the vehicle 10 be moved to a parking space during the period from when the vehicle 10 arrives at the destination and the navigation function ends until a predetermined amount of time has elapsed. For a predetermined amount of time after the completion of navigation guidance, it is assumed that the vehicle 10 is inside the parking facility and the user is trying to park the vehicle 10, so notifications to the user suggesting that the vehicle 10 be moved are not suppressed. However, after a predetermined amount of time has elapsed since arriving at the destination, it can be determined that if the user was trying to park the vehicle 10, the parking has been completed, or the user has no intention of parking the vehicle 10, or the vehicle 10 has already left the parking facility, so notifications to the user are suppressed again.

[0038] Furthermore, even while the navigation function is running, the control unit 53 may not suppress the proposal to execute movement control during the period from when the vehicle 10 arrives at its destination until a predetermined time has elapsed, as there is a high probability of executing movement control during this period. For example, if the navigation function involves navigation through multiple waypoints, even after arriving at one of the waypoints, the navigation function may not terminate, and parking may be performed. To address such cases, even while the navigation function is running, the control unit 53 may not suppress the proposal to execute movement control during the period from when the vehicle 10 arrives at its destination until a predetermined time has elapsed.

[0039] When the control unit 53 determines that the vehicle 10 is located near the starting point of movement indicated by the parking information, it notifies the user to perform movement control, and then suppresses further notifications to the user in response to the execution of movement control in accordance with that notification. For example, once movement control is performed in response to a notification, it can be inferred that the vehicle 10 has finished parking in its parking space at this parking facility and there is no intention to park the vehicle 10 again until it moves to another parking facility. Therefore, notifications to the user are suppressed until it is determined that the vehicle 10 has left this parking facility based on the vehicle 10's driving status, changes in the vehicle 10's location information, etc.

[0040] Furthermore, the control unit 53 is not limited to cases of movement control in response to notifications; for example, it may similarly suppress notifications even in cases of movement control that are not based on notifications. For example, if the vehicle 10 is positioned near the starting point of movement and the control unit 53 issues a notification suggesting that the user perform movement control, and the user responds to that notification by indicating that they do not want to perform movement control, then even if the user later changes their mind and decides they want to perform movement control of the vehicle 10 and presses the "parking assist button", the control unit 53 will suppress the notification to the user.

[0041] The control unit 53, in response to the execution of movement control in accordance with the notification, suppresses the notification that would otherwise be proposed to the user, and then releases the notification suppression based on at least one of the acceleration of the vehicle 10 and the amount the accelerator pedal of the vehicle 10 is pressed. If the acceleration of the vehicle 10 or the amount the accelerator pedal is pressed exceeds a threshold, the control unit 53 determines that the vehicle 10 has started moving to another destination and releases the notification suppression.

[0042] The control unit 53 suppresses notifications to the user in response to the execution of movement control in response to a notification, and then releases the notification suppression when it detects that the vehicle 10 has left the parking facility. Whether or not the vehicle 10 has left the parking facility may be detected based on GPS information or based on the recognition of feature points in the surrounding recognition data.

[0043] The control unit 53 can store multiple pieces of parking information, each indicating a starting point for movement, a parking space, and a route from the starting point to the parking space. In response to a notification suggesting that the user perform movement control based on the first piece of parking information included in the multiple pieces of parking information, the control unit 53 suppresses notifications to the user based on the first piece of parking information if the user fails to perform movement control in response to the notification.

[0044] After suppressing notifications to the user based on the first parking information, the control unit 53 releases the notification suppression when the vehicle 10 has traveled a predetermined distance or more from the point where the notification based on the first parking information was issued. For example, if the vehicle 10 has traveled twice the distance traveled in memory parking, the control unit 53 determines that the vehicle 10 has left the parking facility and releases the notification suppression.

[0045] Furthermore, the control unit 53 suppresses notifications to the user based on the first parking information in response to failure to execute movement control in response to a notification based on the first parking information when the vehicle 10 passes near the starting point of movement indicated by the first parking information in the first direction. Then, when the vehicle 10 travels near the starting point of movement indicated by the first parking information in a direction different from the first direction, the control unit 53 releases the notification suppression. For example, when the control unit 53 detects that the vehicle 10 has traveled near the same starting point of movement, for example, in the opposite direction, while the notification suppression is in effect, it determines that the vehicle 10 has left (or intends to leave) the parking facility and releases the notification suppression.

[0046] Furthermore, in a parking facility that includes multiple parking areas, the control unit 53 suppresses notifications to the user based on the first parking information, and then, when it detects that the vehicle 10 has moved across parking areas, it releases the notification suppression.

[0047] The control unit 53 may, while suppressing notifications that propose the execution of movement control to the user, enable the suppression of notifications to be released in response to the user's own actions (for example, pressing the "release notification suppression button").

[0048] 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.

[0049] The EPS motor 104 provides driving force or reaction force to the steering column 112 connected to the steering 110, thereby enabling user assistance in operating 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 includes an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0050] The communication unit 24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals such as smartphones or tablets owned by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface that enables UWB (Ultra Wide Band: registered trademark) communication with information terminals. The communication unit 24 can send and receive information regarding the memory parking / exit and auxiliary parking / exit of vehicle 10 with information terminals, etc.

[0051] The drive force control system 26 includes a drive ECU 130. The drive force control system 26 controls the drive force 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).

[0052] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a braking mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0053] <Parking information at parking facilities> Figure 4 shows an example of parking information for a vehicle 10 in a parking facility. The parking facility 60 shown in Figure 4 is a parking facility in a shopping mall, for example, that is frequently used by the user of the vehicle 10. The user of the vehicle 10 frequently uses parking space 62 as the place to park the vehicle 10 from among the multiple parking spaces in the parking facility 60, and registers parking space 62 in the storage unit 54 as a parking space where memory parking is possible. As shown in Figure 4, the registration of parking space 62 is done by registering both the starting point 61 of the vehicle 10's movement when performing memory parking and the route 63 (dashed arrow) that the vehicle 10 travels from the starting point 61 to the parking space 62 as parking information in the storage unit 54.

[0054] To register parking information, first, the user manually drives the vehicle 10 and stops it at an arbitrary starting point (e.g., starting point 61). Next, the user presses a button, such as a "parking information registration button," to register the parking information for memory parking. This starts the registration of parking information. The user manually drives the vehicle 10 along an arbitrary route (e.g., route 63) and parks the vehicle 10 in an arbitrary parking space (e.g., parking space 62). Next, the user presses a button, such as a "parking information registration completion button," to finish registering the parking information. This completes the registration of the parking information. Note that the route 63 shown in this example is a simplified representation, but a route including a U-turn may be included, for example, when backing the vehicle 10 into parking space 62. In addition, the parking information may include feature points recognized based on the surrounding recognition data of route 63.

[0055] Figure 5 shows an example of multiple parking information in a parking facility 60. As shown in Figure 5, multiple different parking information entries may be registered for a single parking facility 60. For example, in addition to the parking information indicating the starting point 61, parking space 62, and route 63 described in Figure 4, parking information indicating the starting point 64, parking space 65, and route 66 may be registered in the storage unit 54.

[0056] In this example, we have described the case where two parking information entries are registered for parking facility 60, but this is not limited to this case; for example, three or more parking information entries may be registered. Also, parking spaces may overlap between the parking information entries, and starting points for movement may overlap. For example, multiple parking spaces may be associated with starting points 61 and 64, and multiple starting points may be associated with parking spaces 62 and 65, respectively.

[0057] <First example of control processing related to memory parking> Figure 6 is a flowchart showing a first example of the control process related to memory parking. This control process is repeatedly executed while the vehicle 10 is in motion.

[0058] First, vehicle 10 determines whether its movement control mode is in "suggestion disabled mode" (step S11). "Suggestion" refers to the notification sent to the user suggesting the execution of movement control when vehicle 10 is located near a movement start point (for example, movement start points 61, 64). "Suggestion disabled mode" is a mode that suppresses notifications suggesting the execution of movement control to the user. The suggestion mode is enabled by default (a mode in which notifications are not suppressed).

[0059] If it is determined in step S11 that the suggestion is not disabled (step S11: No), then vehicle 10 determines whether the driving state of vehicle 10 meets predetermined conditions (step S12). "The driving state meets predetermined conditions" means, as described above, a state in which the accelerator opening, driving speed, direction of travel, shift information, etc., can be inferred to indicate that the user does not intend to park.

[0060] In step S12, if the driving condition meets a predetermined condition (step S12: Yes), the vehicle 10 returns to step S11 and executes each process. In other words, even if the suggestion is not in disabled mode (notification to the user is not suppressed), if the driving condition meets a predetermined condition, the user will not be notified of the suggestion (notification is suppressed).

[0061] In step S12, if the driving condition does not meet the predetermined conditions (step S12: No), the vehicle 10 extracts parking information for which suggestions have not been disabled from the storage unit 54 (step S13). "Parking information for which suggestions have not been disabled" means, for example, if parking information for multiple parking facilities is stored, the parking information for the parking facility that has not been disabled. Also, as explained in Figure 5, if there are two (multiple) pieces of parking information for the parking facility 60, it means the parking information for which suggestions have not been disabled.

[0062] Next, it is determined whether the vehicle 10 is located near the starting point of movement indicated by the parking information extracted in step S13 (step S14). Whether or not the vehicle is located near the starting point of movement is detected based on, for example, GPS information or feature points in the surrounding recognition data.

[0063] In step S14, if the position of vehicle 10 is not near the starting point of movement (step S14: No), vehicle 10 returns to step S11 and executes each process. That is, vehicle 10 determines that it is not yet in a state to start memory parking and returns to step S11.

[0064] In step S14, if the vehicle 10 is located near the starting point of movement (step S14: Yes), the vehicle 10 makes a suggestion notification to the user of the vehicle 10, proposing that it perform memory parking (step S15). A specific example of the suggestion notification will be shown later in Figure 8.

[0065] Next, the vehicle 10 determines whether it has received a response operation from the user to the suggestion notification in step S15, that is, whether it has received an instruction to perform memory parking (step S16).

[0066] In step S16, if the vehicle 10 receives a memory parking instruction (step S16: Yes), the vehicle 10 drives along the route indicated by the parking information and performs memory parking in the parking space, and once the memory parking is complete, it sets the suggestion mode to disabled mode (step S17).

[0067] In step S16, if the instruction for memory parking is not accepted (step S16: No), the vehicle 10 disables the suggestion to the user regarding memory parking, which is performed based on the target parking information (step S18). Cases where the instruction for memory parking is not accepted include, for example, when an instruction is received to not perform memory parking, when a predetermined time has elapsed since the suggestion notification was made and a timeout occurs, or when the vehicle 10 has moved beyond a predetermined distance and memory parking can no longer be performed. The target parking information is, for example, in the case of Figure 5, either parking information indicating the starting point 61, parking space 62 and route 63, or parking information indicating the starting point 64, parking space 65 and route 66.

[0068] On the other hand, if it is determined in step S11 that the suggestion is disabled (step S11: Yes), the vehicle 10 determines whether or not it has received an instruction from the user to perform memory parking (step S19). In this case, the instruction to perform memory parking is given by pressing the "parking assist button".

[0069] If the instruction for memory parking is not accepted in step S19 (step S19: No), the vehicle 10 returns to step S11 and executes each process. If the instruction for memory parking is accepted in step S19 (step S19: Yes), the vehicle 10 determines whether or not it is positioned near the starting point of movement indicated by the parking information (step S20).

[0070] In step S20, if the vehicle 10 is not near the starting point of movement (step S20: No), the vehicle 10 returns to step S11 and executes each process. In step S20, if the vehicle 10 is near the starting point of movement (step S20: Yes), the vehicle 10 travels along the route indicated by the parking information and performs memory parking in the parking space (step S21).

[0071] In step S18 above, only the suggestion of the target parking information is disabled if the instruction for memory parking is not accepted, but this is not limited to that. For example, if the instruction for memory parking is not accepted, all suggestions of parking information may be disabled.

[0072] <Second example of control processing related to memory parking> Figure 7 is a flowchart of a second example of the control process related to memory parking. As shown in Figure 7, the processes from step S11 and from step S13 to step S21 are the same as the processes from step S11 and from step S13 to step S21 in the first example of the control process in Figure 6.

[0073] In the second example, if it is determined in step S11 that the suggestion is not disabled (step S11: No), the vehicle 10 determines whether or not the navigation device 18 is performing any function (step S12A).

[0074] In step S12A, if the navigation function is running (step S12A: Yes), the vehicle 10 returns to step S11 and executes each process. In other words, even if the suggestion disabled mode is not in effect (notifications to the user are not suppressed), suggestions are not notified to the user (notifications are suppressed) while the navigation function is running.

[0075] In step S12A, if the navigation function is not currently running (step S12A: No), the vehicle 10 extracts parking information for which suggestions have not been disabled from the storage unit 54 (step S13).

[0076] Furthermore, even if the navigation function is running in step S12A, the system may proceed to step S12A:No (notifying suggestions) until the navigation destination is reached and a predetermined amount of time has elapsed since arrival at the destination. In addition, the process for determining whether or not the navigation function is running (step S12A) may be executed in combination with the control process of the first example in Figure 6.

[0077] <Suggestion screen> Figure 8 shows an example of a suggestion screen that proposes the execution of movement control (memory parking) to the user. In this example, the suggestion screen 70 is an example of a suggestion screen that is displayed when parking the vehicle 10 in a parking space. The suggestion screen 70 is displayed, for example, on the touch panel 42 of the navigation device 18.

[0078] As shown in Figure 8, the suggestion screen 70 displays a notification message suggesting to the user that memory parking be performed, such as "Memory parking is available. Do you want to perform memory parking?". The suggestion screen 70 also displays an "Execute" button 71 and a "Do not execute" button 72 to accept user responses to the notification message. The suggestion notification may be provided by voice output or other means. The response to the suggestion notification may also be provided by voice input or other means.

[0079] As a result, when the vehicle 10 becomes ready for memory parking, the user only needs to touch the "Execute" button 71 or the "Do not execute" button 72 in response to the suggestion notification displayed on the touch panel 42 of the navigation device 18. Therefore, when attempting to perform memory parking on the vehicle 10, it is not necessary to perform operations on the touch panel 42 to request memory parking, confirm the displayed "memory parking button," or press it, thus improving usability.

[0080] <Disable suggestion mode> Figure 9 is a flowchart showing the process for deactivating the suggestion-disabled mode. This deactivation process is executed in parallel with the first example of the control process described in Figure 6 and the second example of the control process described in Figure 7.

[0081] First, vehicle 10 determines whether the mode of vehicle 10's movement control is "suggestion disabled mode" (step S31). As described above, "suggestion disabled mode" is a mode that suppresses notifications that suggest the execution of movement control to the user.

[0082] If it is determined in step S31 that the suggestion is not disabled (step S31: No), the vehicle 10 repeats the determination process in step S31. If it is determined in step S31 that the suggestion is disabled (step S31: Yes), the vehicle 10 determines whether the current acceleration of the vehicle 10 is greater than the first threshold (step S32).

[0083] If it is determined in step S32 that the acceleration of vehicle 10 is greater than the first threshold (step S32: Yes), vehicle 10 will deactivate the suggestion disable mode (step S33) and then return to step S31 to execute each process. Once the acceleration of vehicle 10 exceeds the first threshold, it is determined that vehicle 10 has started moving to another destination, and the suppression of suggestion notifications to the user is released.

[0084] If it is determined in step S32 that the acceleration of vehicle 10 is below the first threshold (step S32: No), then vehicle 10 determines whether the current amount of depression of the accelerator pedal of vehicle 10 is greater than the second threshold (step S34).

[0085] If it is determined in step S34 that the amount the accelerator pedal of vehicle 10 is pressed is greater than the second threshold (step S34: Yes), vehicle 10 will deactivate the suggestion disabled mode (step S33) and then return to step S31 to execute each process. Once the amount the accelerator pedal of vehicle 10 is pressed exceeds the second threshold, it is determined that vehicle 10 has started moving to another destination, and the suppression of suggestion notifications to the user is released.

[0086] If it is determined in step S34 that the amount the accelerator pedal of vehicle 10 is pressed is below the second threshold (step S34: No), then it is determined whether or not vehicle 10 has left the parking facility (step S35). Whether or not vehicle 10 has left the parking facility is detected based on, for example, GPS information or feature points in surrounding recognition data.

[0087] If it is determined in step S35 that vehicle 10 has left the parking facility (step S35: Yes), vehicle 10 will deactivate the suggestion disabled mode (step S33) and then return to step S31 to execute each process. Once vehicle 10 has left the parking facility, it is determined that there is no intention to park vehicle 10 in memory, and the suppression of suggestion notifications to the user is released.

[0088] If it is determined in step S35 that vehicle 10 has not left the parking facility (step S35: No), vehicle 10 returns to step S31 and executes the respective processes.

[0089] The suggestion disable mode for vehicle 10 can also be deactivated by the user's own actions, such as pressing the "Suggestion Disable Disable Button".

[0090] <Removing suggestion disabling> Figure 10 is a flowchart showing the process for undoing the suggestion disabling. This undoing process is executed in parallel with the first example of the control process described in Figure 6 or the second example of the control process described in Figure 7, similar to the process for undoing the suggestion disabling mode in Figure 9.

[0091] Vehicle 10 performs a series of processes (steps S41 to S44) for each of the parking information for which suggestions have been disabled. First, vehicle 10 determines whether the distance traveled by vehicle 10 from the point where the notification was made has exceeded a predetermined distance (step S41).

[0092] In step S41, if the distance traveled from the point where the notification was made exceeds a predetermined distance (step S41: Yes), vehicle 10 enables the suggestion of the target parking information (step S42). Once the distance traveled by vehicle 10 exceeds the predetermined distance, it is determined that the vehicle has left the parking facility, and vehicle 10 releases the suppression of suggestion notifications to the user.

[0093] In step S41, if the distance traveled from the point of notification does not exceed a predetermined distance (step S41: No), the vehicle 10 determines whether or not it has detected movement in the reverse direction near the starting point of movement in the target parking information (step S43).

[0094] In step S43, if vehicle 10 is detected moving in the opposite direction near the starting point (step S43: Yes), vehicle 10 enables the suggestion of the target parking information (step S42). If vehicle 10 moves in the opposite direction to the parking information route near the same starting point, it is determined that the vehicle has left (or intends to leave) the parking facility, and vehicle 10 releases the suppression of suggestion notifications to the user.

[0095] In step S43, if no movement of the vehicle 10 in the reverse direction is detected near the starting point of movement (step S43: No), the vehicle 10 determines whether or not it has been detected moving across parking areas in a parking facility that includes multiple parking areas (step S44). A parking facility that includes multiple parking areas will be described later in Figure 11.

[0096] In step S44, if movement across parking areas is detected (step S44: Yes), vehicle 10 enables the suggestion of the target parking information (step S42). Once vehicle 10 moves to another parking area, it is determined that there is no intention to perform memory parking in the previous parking area, and vehicle 10 releases the suppression of suggestion notifications to the user.

[0097] In step S44, if no movement across the parking area is detected (step S44: No), the vehicle 10 terminates the series of processes (steps S41 to S44) for the target parking information. Then, the vehicle 10 repeatedly performs the series of processes (steps S41 to S44) for each of the parking information for which suggestions have been disabled.

[0098] Note that the suggestion feature for the relevant parking information can also be disabled by the user's own actions, such as pressing the "Disable Notification Suppression" button.

[0099] <Parking facilities including multiple parking areas> Figure 11 shows an example of a parking facility including multiple parking areas. As shown in Figure 11, the parking facility 80 is a parking facility having, for example, a first parking area 81, a second parking area 82, and a third parking area 83. Between the first parking area 81 and the second parking area 82, passages 84a and 84b are provided, allowing a vehicle 10 to move between the two parking areas. Similarly, between the second parking area 82 and the third parking area 83, passages 85a and 85b are provided, allowing a vehicle 10 to move between the two parking areas.

[0100] In a parking facility 80 that includes multiple parking areas, whether or not a vehicle 10 has moved across parking areas is determined by whether or not the vehicle 10 has traveled through any of the aisles 84a, 84b, 85a, or 85b. Whether or not the vehicle 10 has traveled through aisles 84a, 84b, 85a, or 85b is detected based on, for example, GPS information or feature points in surrounding recognition data.

[0101] As described above, when the vehicle 10 approaches the starting point 61 indicated by the parking information, the control device of this embodiment notifies the user to perform memory parking. If the user's response to this notification is to not perform memory parking, the control device suppresses notifications of the suggestion to perform memory parking even if the vehicle 10 subsequently approaches the starting point 61. This configuration eliminates the annoyance the user feels from receiving unnecessary suggestions to perform memory parking, and also eliminates the user's hassle of having to change the setting to not perform memory parking each time they receive a suggestion. Furthermore, the power consumption of the control device can be reduced by reducing the number of notification processes. In addition, if the notification information is managed by, for example, an external server device, the number of communication processes with the server device can be reduced, further reducing power consumption. As a result, usability near the parking space 62 indicated by the parking information can be improved.

[0102] Furthermore, even if the control device suppresses notifications of memory parking execution proposals, if vehicle 10 travels a predetermined distance or more from the point where the notification was issued, it determines that the vehicle has left the parking facility and releases the suppression of notifications of execution proposals. Also, even if the control device suppresses notifications of memory parking execution proposals, if the vehicle travels near the starting point of movement in a direction different from the direction it traveled when the execution proposal was issued, it determines that the vehicle has left the parking facility and releases the suppression of notifications of execution proposals. Furthermore, even if the control device suppresses notifications of memory parking execution proposals, if vehicle 10 moves across parking areas, it determines that there was no intention to perform memory parking in the previous parking area and releases the suppression of notifications of execution proposals. As a result, users do not need to perform an operation to release the suppression of notifications related to parking information, and usability near parking spaces can be improved.

[0103] Furthermore, if the control device meets conditions such as a large amount of pressure on the accelerator pedal of vehicle 10, a driving speed exceeding a threshold, or if the navigation function is running, it determines that the user does not intend to perform memory parking and suppresses the notification of a suggestion to perform memory parking even when vehicle 10 approaches the starting point. This improves usability near parking spaces, as described above.

[0104] Furthermore, when the vehicle 10 approaches the starting point 61 indicated by the parking information, the control device notifies the user to perform memory parking. If memory parking is performed in response to this notification, the control device determines that parking at that parking facility is complete and disables the mode that proposes memory parking until it is determined that the vehicle 10 has left the parking facility, thereby suppressing notifications of the execution proposal to the user. This improves usability near parking spaces, as described above.

[0105] Furthermore, even if the control device suppresses notifications of the proposed memory parking, if the acceleration of vehicle 10 or the amount of accelerator pedal depression exceeds a threshold, it determines that the vehicle has started moving to another destination and releases the suppression of notifications of the proposed memory parking. Also, even if the control device suppresses notifications of the proposed memory parking, it releases the suppression of notifications of the proposed memory parking if it detects that vehicle 10 has left the parking facility. This eliminates the need for the user to perform an operation to release the suppression of notifications related to the proposed mode, and further improves usability near the parking space.

[0106] 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.

[0107] 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.

[0108] In the above embodiment, an example of a four-wheeled automobile was described, but the invention is not limited to this. For example, it may be a two-wheeled vehicle, a Segway, or other vehicle. Furthermore, 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.

[0109] 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.

[0110] (1) A control device that performs movement control to move a vehicle (vehicle 10) from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. A control device (control ECU 20) equipped with a control unit (control unit 53).

[0111] According to (1), if movement control is not performed in response to a notification suggesting its execution, the notification of the execution suggestion will be suppressed even as the user approaches the starting point of movement. This eliminates the annoyance users feel from receiving unnecessary movement control execution suggestions and the hassle of changing the setting to not perform movement control each time an execution suggestion is received, thereby improving usability near parking spaces.

[0112] (2) The control device described in (1), The control unit, The driving state of the aforementioned vehicle is determined, Even if the vehicle is located near the starting point of movement indicated by the parking information, the notification is suppressed if the driving conditions meet predetermined conditions. Control device.

[0113] According to (2), if the vehicle's driving condition meets predetermined conditions, notifications of action proposals are suppressed even when approaching the starting point of movement, thereby improving usability near parking spaces.

[0114] (3) A control device as described in (1) or (2), It has a navigation function that guides the user along the vehicle's route from its current location to its destination. The control unit, Even if the vehicle is located near the starting point of the movement indicated by the parking information, the notification will be suppressed while the navigation function is running. Control device.

[0115] According to (3), while the navigation function is running, notifications of execution suggestions are suppressed even when approaching the starting point of movement, thus improving usability near parking spaces.

[0116] (4) The control device described in (3), The control unit, The notification will not be suppressed during the period from when the vehicle arrives at the destination and the navigation function ends until a predetermined time has elapsed. Control device.

[0117] As shown in (4), since there is a high probability of executing movement control during the period from when the destination is reached and the navigation function ends until a predetermined time has elapsed, it is preferable not to suppress the proposal to execute movement control.

[0118] (5) The control device described in (3), The control unit, During the execution of the navigation function, the notification will not be suppressed for a predetermined period of time after the vehicle arrives at the destination. Control device.

[0119] As shown in (5), even when the navigation function is running, there is a high probability that movement control will be executed during the period from arrival at the destination until a predetermined time has elapsed, so it is preferable not to suppress the proposal to execute movement control.

[0120] (6) A control device according to any one of (1) to (5), The control unit, In response to the execution of the movement control in accordance with the notification, the notification is suppressed. Control device.

[0121] According to (6), if movement control is executed in response to a notification suggesting the execution of movement control, the notification suggesting execution will be suppressed even when approaching the starting point of movement, thereby improving usability near parking spaces.

[0122] (7) The control device described in (6), The control unit, The suppression of the notification is released based on at least one of the acceleration of the vehicle and the amount the accelerator pedal of the vehicle is pressed. Control device.

[0123] According to (7), even if notifications of motion control execution proposals are suppressed, the suppression of execution proposals is released based on the vehicle's acceleration and the amount the accelerator pedal is pressed, which further improves usability near parking spaces.

[0124] (8) A control device as described in (6) or (7), The control unit, The suppression of the notification is released when it is detected that the vehicle has left the parking facility. Control device.

[0125] According to (8), even if notifications of motion control execution proposals are suppressed, the suppression of execution proposals is lifted when it is detected that the vehicle has left the parking facility, thereby further improving usability near parking spaces.

[0126] (9) A control device according to any one of (1) to (8), The control unit, Multiple pieces of the aforementioned parking information can be stored. In response to the failure to execute the movement control in accordance with the notification based on the first parking information included in the parking information, the notification based on the first parking information is suppressed. Control device.

[0127] According to (9), even when multiple parking information is stored, if the user does not perform movement control in response to a notification suggesting that movement control be performed, the suggestion to perform movement control will be suppressed even when approaching the starting point of movement. This eliminates the annoyance the user feels from excessive suggestions to perform movement control and the user has to change the setting to not perform movement control each time they receive a suggestion, thereby improving usability near parking spaces.

[0128] (10) The control device described in (9), The control unit, After suppressing the notification based on the first parking information, if the vehicle travels a predetermined distance or more from the point where the notification based on the first parking information was issued, the suppression of the notification is released. Control device.

[0129] According to (10), even if notifications of motion control execution proposals are suppressed, the suppression of execution proposals is released when the vehicle travels beyond a predetermined distance, thereby further improving usability near parking spaces.

[0130] (11) A control device as described in (9) or (10), When the vehicle passes near the starting point of movement indicated by the first parking information in the first direction, and the vehicle fails to perform the movement control in response to the notification based on the first parking information, the notification based on the first parking information is suppressed in response to the failure to perform the movement control in response to the notification based on the first parking information. Then, when the vehicle travels near the starting point of movement indicated by the first parking information in a direction different from the first direction, the suppression of the notification is released. Control device.

[0131] According to (11), even if notifications of motion control execution proposals are suppressed, the suppression of execution proposals is released when the vehicle travels near the starting point in a direction different from the direction it traveled when the execution proposal was made, thereby further improving usability near parking spaces.

[0132] (12) A control device according to any one of (9) to (11), The control unit, In a parking facility including multiple parking areas, after suppressing the notification based on the first parking information, if it is detected that the vehicle has moved across the parking areas, the suppression of the notification is released. Control device.

[0133] According to (12), even if notifications of motion control execution proposals are suppressed, the suppression of execution proposals is released when the vehicle moves across the parking area, thus further improving usability near parking spaces.

[0134] (13) A control device according to any one of (1) to (12), The control unit, While the aforementioned notification is suppressed, the suppression of the aforementioned notification is released in response to user action. Control device.

[0135] According to (13), the suppression of the movement control execution proposal can also be released by user operation, which further improves usability near parking spaces.

[0136] (14) A control method by a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. Control method.

[0137] According to (14), if movement control is not performed in response to a notification suggesting that movement control be performed, the notification of the suggestion to perform movement control will be suppressed even when approaching the starting point of movement. This eliminates the annoyance users feel from excessive suggestions to perform movement control and the trouble users have to go through, such as changing the setting to not perform movement control each time they receive a suggestion, thereby improving usability near parking spaces.

[0138] (15) A control program for a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The processor of the control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. A control program that executes a process.

[0139] According to (15), if movement control is not performed in response to a notification suggesting that movement control be performed, the notification of the suggestion to perform movement control will be suppressed even when approaching the starting point of movement. This eliminates the annoyance users feel from excessive suggestions to perform movement control and the trouble users have to go through, such as changing the setting to not perform movement control each time they receive a suggestion, thereby improving usability near parking spaces. [Explanation of Symbols]

[0140] 10 vehicles 20 Control ECU (Control Unit) 53 Control Unit

Claims

1. A control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. A control device equipped with a control unit.

2. A control device according to claim 1, The control unit, The driving state of the aforementioned vehicle is determined, Even if the vehicle is located near the starting point of movement indicated by the parking information, the notification is suppressed if the driving conditions meet predetermined conditions. Control device.

3. A control device according to claim 1, It has a navigation function that guides the user along the vehicle's route from its current location to its destination. The control unit, Even if the vehicle is located near the starting point of the movement indicated by the parking information, the notification will be suppressed while the navigation function is running. Control device.

4. A control device according to claim 3, The control unit, The notification will not be suppressed during the period from when the vehicle arrives at the destination and the navigation function ends until a predetermined time has elapsed. Control device.

5. A control device according to claim 3, The control unit, During the execution of the navigation function, the notification will not be suppressed for a predetermined period of time after the vehicle arrives at the destination. Control device.

6. A control device according to claim 1, The control unit, In response to the execution of the movement control in accordance with the notification, the notification is suppressed. Control device.

7. A control device according to claim 6, The control unit, The suppression of the notification is released based on at least one of the acceleration of the vehicle and the amount the accelerator pedal of the vehicle is pressed. Control device.

8. A control device according to claim 6, The control unit, The suppression of the notification is released when it is detected that the vehicle has left the parking facility. Control device.

9. A control device according to claim 1, The control unit, Multiple pieces of the aforementioned parking information can be stored. In response to the failure to execute the movement control in accordance with the notification based on the first parking information included in the parking information, the notification based on the first parking information is suppressed. Control device.

10. A control device according to claim 9, The control unit, After suppressing the notification based on the first parking information, if the vehicle travels a predetermined distance or more from the point where the notification based on the first parking information was issued, the suppression of the notification is released. Control device.

11. A control device according to claim 9, When the vehicle passes near the starting point of movement indicated by the first parking information in the first direction, and the vehicle fails to perform the movement control in response to the notification based on the first parking information, the notification based on the first parking information is suppressed in response to the failure to perform the movement control in response to the notification based on the first parking information. Then, when the vehicle travels near the starting point of movement indicated by the first parking information in a direction different from the first direction, the suppression of the notification is released. Control device.

12. A control device according to claim 9, The control unit, In a parking facility including multiple parking areas, after suppressing the notification based on the first parking information, if it is detected that the vehicle has moved across the parking areas, the suppression of the notification is released. Control device.

13. A control device according to any one of claims 1 to 12, The control unit, While the aforementioned notification is suppressed, the suppression of the aforementioned notification is released in response to user action. Control device.

14. A control method by a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. Control method.

15. A control program for a control device that performs movement control to move a vehicle from a starting point to a parking space based on parking information indicating a starting point, a parking space, and a route from the starting point to the parking space, The processor of the control device, When the vehicle is positioned near the starting point of movement indicated by the parking information, a notification is sent to the user suggesting the execution of the movement control, and a response operation from the user to the notification is received. In response to the failure to perform the movement control in accordance with the aforementioned notification, the notification is suppressed. A control program that executes a process.

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