Control device, control method, and control program

Abstract

The present invention provides a control device, a control method, and a control program that can notify the user of the danger associated with releasing the brakes while suppressing unnecessary notifications. [Solution] The system includes a target parking position selection unit 55 that autonomously selects a target parking position based on external environment recognition information around the vehicle 10, a touch panel 42 that displays the target parking position to the occupants of the vehicle 10, a movement control unit 57 that performs control to autonomously park the vehicle 10 at the target parking position when the brake operation of the vehicle 10 is released after receiving a parking start operation from the occupants, and a notification unit 58 that notifies the occupants. The system can accept change operations from the occupants to change the target parking position, and the notification unit 58 does not notify if the brake operation is released without accepting a change operation when a parking start operation has not been accepted, but it does not notify if the brake operation is released after accepting a change operation.

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 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 driving support technology has been carried out.

[0003] Conventionally, an automatic parking system that automatically parks a vehicle in a designated predetermined parking space is known. In such an automatic parking system, the system side presents parking candidate positions of the vehicle, and the user selects a target parking position for parking the vehicle from among the candidates. Also, in order to eliminate the trouble of the operation of selecting a target parking position from among the parking candidate positions, there are cases where the system side selects and presents a predetermined target parking position.

[0004] For example, in Patent Document 1, based on sensing information from a peripheral monitoring sensor, recognition of landmark information indicating features of a place where parking is desired is performed, and not only the parking route at the time of automatic parking but also route information is held in the form of a peripheral map such as a home map including landmark information at the time of automatic parking, and when estimating the position of the host vehicle, a parking support device that uses route information including landmarks is described.

Prior Art Documents

Patent Documents

[0007] The present invention aims to provide a control device, control method, and control program that can notify the user of the danger associated with releasing the brakes while suppressing unnecessary notifications. Ultimately, this contributes to the development of sustainable transportation systems. [Means for solving the problem]

[0008] The present invention A vehicle control device, A target position selection unit autonomously selects a target parking position based on external environment recognition information around the vehicle, A display unit that shows the target parking position to the occupants of the vehicle, A movement control unit that, after receiving a parking start operation from the occupant, controls the vehicle to autonomously park at the target parking position, It includes a notification unit that notifies the crew, It is possible to accept a change operation from the occupant to change the target parking position. The aforementioned notification department, If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to issue the notification based on whether or not the change operation has been accepted, and the notification is issued based on the determination. It is a control device.

[0009] The present invention A method for controlling a vehicle, The control device of the aforementioned vehicle Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start command from the occupant, the system controls the vehicle to autonomously park at the target parking position. The system accepts a change operation from the occupant to change the target parking position. If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to notify the occupant based on whether or not the change operation has been accepted, and the notification is made based on the determination. This is a control method.

[0010] The present invention A vehicle control program, The processor of the vehicle's control device, Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start command from the occupant, the system controls the vehicle to autonomously park at the target parking position. The system accepts a change operation from the occupant to change the target parking position. If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to notify the occupant based on whether or not the change operation has been accepted, and the notification is made based on the determination. This is a control program that executes a process. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that can notify the user of the danger associated with releasing the brakes while suppressing unnecessary notifications.

Brief Description of the Drawings

[0012] [Figure 1] It is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. [Figure 2] It is a top view of the vehicle 10 shown in FIG. 1. [Figure 3] It is a block diagram showing an example of the internal configuration of the vehicle 10 shown in FIG. 1. [Figure 4] It is a flowchart showing an example of the processing of the control ECU 20 during parking support of the vehicle 10. [Figure 5] It is a diagram showing an example of a notification screen 70 for notifying the target parking position 71 of the vehicle 10. [Figure 6] It is a diagram showing an example of a guidance display 81 of a parking start operation for starting parking by parking support. [Figure 7] It is a diagram showing an example of a notification screen 91 for calling attention to the running of the vehicle 10. [Figure 8] It is a sequence diagram showing a first operation example of the vehicle 10 during parking support according to the operation of the user U1. [Figure 9] It is a sequence diagram showing a second operation example of the vehicle 10 during parking support according to the operation of the user U1. [Figure 10] It is a sequence diagram showing a third operation example of the vehicle 10 during parking support according to the operation of the user U1. [Figure 11] It is a sequence diagram showing a fourth operation example of the vehicle 10 during parking support according to the operation of the user U1. [Figure 12] It is a flowchart showing a modified example of the processing of the control ECU 20 during parking support of the vehicle 10.

Modes for Carrying Out the Invention

[0013] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described based on the attached drawings. The drawings should be viewed in the direction of the reference numerals. Furthermore, in order to simplify and clarify the explanation in this specification, the front, rear, left, right, and up directions will be described according to the direction as seen from the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 will be indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0014] <Vehicle 10 equipped with the control device of the present invention> Figure 1 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 is a top view of the vehicle 10 shown in Figure 1.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] <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 IF (Interface) 24. The vehicle 10 further includes a drive force control system 26 and a braking force control system 28.

[0019] 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.

[0020] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire external recognition information (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 a 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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).

[0025] The navigation device 18 detects the current location of the vehicle 10, for example, using GPS (Global Positioning System), and guides the user 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 and display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in 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 a remote 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 remote 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.

[0027] Note that "parking" is synonymous with, for example, "parking." For example, "parking" refers to a stop that involves the user getting in and out of the vehicle, excluding temporary stops at traffic lights, etc. Also, "parking location" refers to the location where a moving object (vehicle 10) is stopped, that is, the location where it is parked.

[0028] The control ECU 20 includes an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured, for example, by a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50. The storage unit 54 also stores information related to the remote movement (remote entry and exit) of the vehicle 10. The control ECU 20 is an example of the "control device" of the present invention.

[0029] The calculation unit 52 includes a target position selection unit 55 that selects a target parking position for the vehicle 10, a display control unit 56 that displays the target parking position for the vehicle 10 on a display unit, a movement control unit 57 that parks the vehicle 10 at the target parking position, and a notification unit 58 that notifies the user of the vehicle 10 (for example, "occupants").

[0030] The target position selection unit 55 autonomously selects a target parking position for the vehicle 10 based on external environment recognition information around the vehicle 10. "Autonomously selecting a target parking position for the vehicle 10" means that the vehicle 10 selects a target parking position from among multiple parking candidate positions (parkable positions) without receiving any explicit instruction from the user.

[0031] The target position selection unit 55 detects a parking location where the vehicle 10 can be parked based on external recognition information, and selects a target parking location from among the detected parking locations. Conditions for selecting a target parking location from among the parking locations include, for example, the distance from the current position of the vehicle 10 to the target parking location, the current orientation of the vehicle 10 relative to the target parking location, the load on the EPS system 22 when calculating the parking trajectory of the vehicle 10 to the target parking location, the time until parking is completed, and user settings. User settings include, for example, setting a location as the user's favorite parking location, or setting priority to a wide parking space, a parking space close to the destination, or a space where no other vehicles are parked on either side. The target parking location may also be determined by weighting or scoring the items of the selection conditions.

[0032] The target position selection unit 55 can accept a change operation if the user changes the target parking position of the vehicle 10 selected by the target position selection unit 55 to another target parking position, and when a change operation is accepted, it autonomously re-selects the target parking position. A "change operation" is an operation to change the target parking position among the available parking positions. A "change operation" can be performed, for example, by pressing a button or using a touch panel. However, a target parking position change operation cannot be accepted when the brakes of the vehicle 10 are released.

[0033] When the vehicle 10 user has not yet initiated a parking operation, for example by pressing the parking assist button on the vehicle 10, the target position selection unit 55 waits for the brake operation to be performed again and then autonomously re-selects the target parking position of the vehicle 10 based on external environment recognition information if the brake operation of the vehicle 10 is released after the change operation has been accepted. "Waiting for the brake operation" means when the brake operation that was released after the change operation was accepted is performed again. The target position selection unit 55 may also release (invalidate) the previously set target parking position once the brake operation is released.

[0034] The display control unit 56 displays to the user of the vehicle 10 the parking locations detected by the target location selection unit 55, and the target parking location selected from the parking locations by the target location selection unit 55. The display unit is, for example, the touch panel 42 of the navigation device 18. The display control unit 56 accepts a change operation from the user to the display unit to change the target parking location of the vehicle 10. The display control unit 56 also accepts a parking start operation from the user to the display unit to start parking assistance for the vehicle 10. The parking assistance button pressed to start parking assistance for the vehicle 10 is, for example, a soft button displayed on the touch panel 42. Convenience is improved by making it possible to change the parking location on the same touch panel 42 that displays the parking locations. Furthermore, operability is improved by using a touch panel 42 that can also adjust other items.

[0035] The movement control unit 57 provides remote parking and remote exit assistance for the vehicle 10 by automatically steering the steering wheel 110 under the control of the movement control unit 57. During remote parking and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. In addition, the movement control unit 57 provides auxiliary parking 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. During remote parking and remote exit assistance, the driver may be inside the vehicle 10 or may be outside the vehicle (unoccupied).

[0036] For example, the movement control unit 57 performs movement control to move the vehicle 10 based on external environment recognition information of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R, and a designated predetermined parking space. The movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (target parking position) and exit control to remotely exit the vehicle 10 from the parking space to a predetermined exit space (target exit position).

[0037] After receiving a parking start operation from the user and the brake operation of the vehicle 10 is released, the movement control unit 57 performs movement control to autonomously park the vehicle 10 at the target parking position. "Parking start operation" refers to, for example, pressing the parking assist button while pressing the brake. "Brake operation" refers to the operation of pressing the brake.

[0038] The notification unit 58 does not notify the user if the brakes of the vehicle 10 are released without accepting a change operation to change the target parking position of the vehicle 10, while the vehicle 10 has not accepted a parking start operation. The notification unit 58 does not notify the user if the brakes of the vehicle 10 are released after accepting a change operation to change the target parking position of the vehicle 10, while the vehicle 10 has not accepted a parking start operation. The notification unit 58 cancels the notification to the user based on at least one of the following: the elapsed time since the start of the notification, the brake operation performed after the notification started, the vehicle 10's speed, and the steering of the steering 110. The notification is, for example, by displaying on the touch panel 42 of the navigation device 18, outputting sound from the speaker 44, and lighting an indicator. The notification is, for example, a warning to alert the user of danger.

[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 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).

[0041] The communication IF24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals 60 such as smartphones or tablets owned by the user of vehicle 10. For example, the communication IF24 is equipped with a UWB interface that enables UWB (Ultra Wide Band: registered trademark) communication with the information terminal 60. The communication IF24 transmits and receives information regarding remote parking / exit and auxiliary parking / exit of vehicle 10 with the information terminal 60, etc.

[0042] 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).

[0043] 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).

[0044] <Processing by Control ECU20> Figure 4 is a flowchart showing an example of the processing of the control ECU 20 during parking assistance for vehicle 10. This process is executed when the parking assistance button for requesting parking assistance for vehicle 10 is pressed and vehicle 10 has stopped. In other words, this process starts when the brakes of vehicle 10 are applied.

[0045] When the parking assist button is pressed and the parking assist system is activated, the control ECU 20 detects a parking position in which the vehicle 10 can be parked, based on external environment recognition information of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R (step S11).

[0046] Next, the control ECU 20 selects a target parking position for the vehicle 10 from the available parking positions detected in step S11, and notifies the user (occupant) of the vehicle 10 of the selected target parking position (step S12). The target parking position is notified, for example, by displaying an image of the area around the vehicle 10, the available parking positions, and the target parking position on the screen of the navigation device 18. The screen for notifying the target parking position will be described later in Figure 5.

[0047] Next, the control ECU 20 determines whether or not it has received a parking start operation to initiate parking of the vehicle 10 using parking assistance (step S13). The acceptance of the parking start operation is determined by whether or not a parking start switch, for example, that instructs the start of parking has been pressed. The acceptance of the parking start operation will be described later in Figure 6.

[0048] In step S13, if the parking start operation has not been accepted (step S13: No), the control ECU 20 determines whether or not the operation to change the target parking position has been accepted (step S14). Changing the target parking position includes changing the target parking position selected and notified in step S12, and changing the target parking position changed and notified in step S15. The operation to change the target parking position can be performed, for example, on the target parking position notification screen described later in Figure 5. Note that if the brake operation of the vehicle 10 is released at this time, the operation to change the target parking position may not be accepted.

[0049] In step S14, if the control ECU 20 receives a request to change the target parking position (step S14: Yes), it changes the target parking position to the position after the change operation and notifies the user of the vehicle 10 of the changed target parking position (step S15). After notifying the user of the changed target parking position, the control ECU 20 returns to step S13 and executes each process.

[0050] In step S14, if the operation to change the target parking position has not been accepted (step S14: No), the control ECU 20 determines whether or not the brakes of the vehicle 10 have been released (step S16). In step S16, if the brakes have not been released (step S16: No), the control ECU 20 returns to step S13 and executes each process.

[0051] In step S16, if the brake is released (step S16: Yes), the control ECU 20 determines whether the target parking position has been changed by the modification operation (step S17). In step S17, if the target parking position has not been changed (step S17: No), the control ECU 20 returns to step S13 and executes the respective processes.

[0052] In step S17, if the target parking position has been changed (step S17: Yes), the control ECU 20 notifies the user of vehicle 10 of a warning regarding the driving of vehicle 10 (step S18), and terminates this process. The content of the notification will be described later in Figure 7.

[0053] Furthermore, if the user performs an action such as braking in response to a notification from the vehicle 10 and the vehicle comes to a stop, the control ECU 20 cancels the notification and starts processing from step S11.

[0054] In step S13, if the parking start operation is accepted (step S13: Yes), the control ECU 20 confirms the selected target parking position as the target parking position for the vehicle 10 (step S19).

[0055] The control ECU 20 notifies the user that the vehicle 10 will start moving by releasing the brake that is being pressed (step S20).

[0056] The control ECU 20 determines whether the brakes of the vehicle 10 have been released (step S21). If the brakes have not been released, the process in step S21 is repeated. If the brakes have been released, the vehicle begins moving towards the target parking position (step S22). If the brakes of the vehicle 10 are pressed again while moving towards the target parking position, the control ECU 20 stops the vehicle 10.

[0057] <Notification screen for target parking location> Figure 5 shows an example of a notification screen 70 that notifies the target parking position 71 of vehicle 10. The notification screen 70 for the target parking position 71 is displayed, for example, on the touch panel 42 of the navigation device 18. In Figure 5, the vehicle that is to be parked at the target parking position 71 is displayed as the own vehicle 10a, and vehicles already parked in the designated parking space are displayed as other vehicles 10b, 10c, 10d, and 10e. The target parking position 71 is displayed on the surrounding image showing the area around the own vehicle 10a, along with the available parking positions 72a, 72b, 72c, and 72d where vehicle 10a can be parked.

[0058] The target parking position 71 is the target parking position for vehicle 10a selected from among the available parking positions 72a, 72b, 72c, and 72d. In this example, the available parking position 72b is selected as the target parking position 71 for vehicle 10a. The target parking position 71 is the target parking position selected by the control ECU 20, and it is also possible to change the target parking position 71 to one of the other available parking positions 72a, 72c, or 72d by touching the touch panel 42, for example. The notification screen 70 for the target parking position 71 shown in Figure 5 is an example of a notification screen that is displayed in step S12 of Figure 4.

[0059] <Instructions for starting parking operation> Figure 6 shows an example of a guidance display 81 for the parking start operation to initiate parking using parking assistance. The guidance display 81 for the parking start operation is displayed, for example, on the touch panel 42 of the navigation device 18. The guidance display 81 shows a message 82 indicating the operation procedure for initiating parking, for example, "To start parking, press the switch while keeping your foot on the brake," a brake image 83 indicating that the brake should be pressed, and a switch image 84 indicating the parking start switch to be pressed. The guidance display 81 shown in Figure 6 is displayed, for example, after the notification screen 70 of the target parking position 71 shown in Figure 5 is displayed, or together with the notification screen 70.

[0060] <Notification screen> Figure 7 shows an example of a notification screen 91 that alerts the driver to the dangers of driving the vehicle 10. The notification screen 91 is displayed, for example, on the touch panel 42 of the navigation device 18. The notification screen 91 displays a message 92 that warns the user of danger, such as "Automatic parking is not in progress! The vehicle will creep forward if the brake is released, so please be careful!" The notification screen 91 shown in Figure 7 is an example of a screen that is displayed when the brake is released after the target parking position has been changed, but the parking start operation (Figure 6) has not been performed, as in step S18 of Figure 4.

[0061] <Vehicle operation in response to user input> Figure 8 is a sequence diagram showing a first example of the operation of vehicle 10 during parking assistance in response to user U1's operation.

[0062] Assume that vehicle 10 is in motion (step S31). Vehicle 10 has arrived at a shopping mall, for example, and is about to park in the shopping mall's parking lot.

[0063] User U1 activates the APS (Automated Parking System) to control the parking of vehicle 10 with parking assistance (step S32). For example, User U1 presses the parking assistance button to request parking assistance.

[0064] Vehicle 10 activates the APS based on an APS activation operation from user U1 (step S33). Vehicle 10 begins acquiring external environment recognition information using the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R.

[0065] User U1 steps on the brake to stop the vehicle 10 from moving (step S34).

[0066] Vehicle 10 decelerates and stops based on the brake operation of user U1 (step S35). In this example, the APS is activated by performing the APS activation operation, and then the brakes are applied to decelerate and stop the vehicle. However, this order may be reversed. That is, the APS may be activated after the brakes are applied to decelerate and stop the vehicle.

[0067] Based on the external environment recognition information acquired in step S33, vehicle 10 detects a parking location for vehicle 10 in the parking lot, selects a target parking location from the detected parking locations, and sets the selected location as the target parking location for vehicle 10 (step S36). Vehicle 10 notifies user U1 of the set target parking location (step S37). The set target parking location is notified as, for example, target parking location 71 as shown in Figure 5. At this time, along with notifying the target parking location, guidance for starting to park vehicle 10 is displayed, for example as shown in Figure 6.

[0068] This first example describes the case where user U1 understands the target parking position set by vehicle 10. User U1 performs a parking start operation, for example, by pressing the parking start switch, in order to start parking vehicle 10 with parking assistance (step S38).

[0069] Based on the parking start operation from user U1, vehicle 10 confirms its target parking position to the target parking position set in step S36 (step S39). Vehicle 10 notifies user U1 that vehicle 10 will start moving by releasing the brake that user U1 is pressing on (step S40).

[0070] Based on the notification in step S40, user U1 releases the brake operation of vehicle 10 (step S41).

[0071] Upon releasing the brakes, vehicle 10 begins to move toward the determined target parking position (step S42). When vehicle 10 arrives at the target parking position, it stops at that position (step S43).

[0072] Figure 9 is a sequence diagram showing a second example of the vehicle 10's operation during parking assistance in response to user U1's actions.

[0073] As shown in Figure 9, the processes from step S31 to step S37 are the same as the processes from step S31 to step S37 in the first operation example in Figure 8.

[0074] Next, in the first example of operation described above, user U1 performed a parking start operation to begin parking the vehicle 10 with parking assistance in response to notification of the target parking position (step S38 in Figure 8). In contrast, in this second example of operation, user U1 releases the brakes of the vehicle 10 without performing a parking start operation (step S51). For example, user U1 releases the brakes of the vehicle 10 in order to confirm a target parking position other than the notified target parking position.

[0075] In this case, since the parking start operation to initiate parking of vehicle 10 using parking assistance has not been performed, vehicle 10 starts moving when the brake is released (step S52).

[0076] Next, user U1 steps on the brake to stop the vehicle 10 from moving (step S53).

[0077] Vehicle 10 slows down and comes to a stop based on the brake operation of user U1 (step S54).

[0078] With vehicle 10 stationary, user U1 performs a parking start operation to begin parking vehicle 10 using parking assistance (step S38). This parking start operation is the same as the parking start operation in step S38 in the first operation example (Figure 8) described above, and is performed by user U1 after acknowledging the target parking position (step S37) notified by vehicle 10. This parking start operation is, for example, performed by user U1 after driving vehicle 10 to check for other target parking positions besides the notified target parking position, but being unable to find a suitable parking space, and then attempting to park vehicle 10 at the target parking position notified by vehicle 10.

[0079] The processes from step S39 to step S43 are the same as the processes from step S39 to step S43 in the first operation example in Figure 8.

[0080] Figure 10 is a sequence diagram showing a third example of vehicle 10 operation during parking assistance in response to user U1's actions.

[0081] As shown in Figure 10, the processes from step S31 to step S37 are the same as the processes from step S31 to step S37 in the first operation example in Figure 8.

[0082] Next, in the first example of operation described above, user U1 acknowledges the target parking position in response to the notification of the target parking position and performs a parking start operation to begin parking the vehicle 10 with parking assistance (step S38 in Figure 8). In contrast, this third example of operation is when user U1 cannot acknowledge the target parking position notified by the vehicle 10. User U1 performs a change operation to change the target parking position of the vehicle 10 (step S61). The change operation can be performed by selecting from the available parking positions (see Figure 5) in which the vehicle 10 can be parked, as described above.

[0083] Vehicle 10 changes its target parking position to the position after the change operation (step S62). Vehicle 10 notifies user U1 of the changed target parking position (step S63).

[0084] User U1 performs a parking start operation to begin parking the vehicle 10 with parking assistance (step S38). This parking start operation is performed after User U1 has acknowledged the modified target parking position notified by the vehicle 10.

[0085] The processes from step S39 to step S43 are the same as the processes from step S39 to step S43 in the first operation example in Figure 8.

[0086] Figure 11 is a sequence diagram showing a fourth example of the vehicle 10's operation during parking assistance in response to user U1's actions.

[0087] As shown in Figure 11, the processes from step S31 to step S37 are the same as the processes from step S31 to step S37 in the first operation example in Figure 8.

[0088] Next, user U1 performs a modification operation to change the target parking position notified by vehicle 10 (step S71). This modification operation occurs, for example, when user U1 cannot understand the target parking position notified by vehicle 10.

[0089] Vehicle 10 changes its target parking position to the position after the modification operation (step S72). Then, vehicle 10 notifies user U1 of the changed target parking position (step S73). The processes from steps S71 to S73 in this fourth operation example are the same as the processes from steps S61 to S63 in the third operation example described in Figure 10.

[0090] Next, in the third example of operation described above, user U1 performed a parking start operation to begin parking vehicle 10 with parking assistance in response to notification of the changed target parking position (step S38 in Figure 10). In contrast, in this fourth example of operation, user U1 releases the brakes of vehicle 10 without performing a parking start operation (step S74).

[0091] When user U1 changes the target parking position and releases the brake without initiating the parking operation of vehicle 10, vehicle 10 issues a warning to alert the driver (step S75). The warning is displayed as a notification screen 91, for example, as shown in Figure 7.

[0092] As described above, the control device of this embodiment controls the vehicle 10 to autonomously park at the target parking position when the brake operation of the vehicle 10 is released after receiving a parking start operation from the user based on the parking assistance of the vehicle 10. If the brake operation is released without receiving a change operation from the user to change the target parking position of the vehicle 10 when no parking start operation has been received from the user, the control device does not issue a notification to alert the user to driving caution. If the brake operation is released after receiving a change operation for the target parking position, the control device issues a notification to alert the user to driving caution. With this configuration, since the notification to the user is made on the condition that the brake operation is released after receiving a change operation for the target parking position but no parking start operation has been received, it is possible to notify the user of the danger associated with releasing the brake operation while suppressing unnecessary notifications to the user. As a result, for example, if the user performs a change operation for the target parking position, even if the user mistakenly thinks that they have performed a parking start operation for the vehicle 10 by performing that change operation, a notification will be issued when the brake operation is released, so it is possible to prevent a situation in which the vehicle 10 continues to creep due to the user's misunderstanding. Furthermore, even if the user is notified of the target parking position selected by the vehicle 10, and the user releases the brakes and drives, for example, within the parking lot without performing any operation to change the target parking position, the annoyance of being notified every time the brakes are released can be avoided.

[0093] Furthermore, the control device detects a parking location for the vehicle 10 based on external recognition information, selects a target parking location from among the available parking locations, displays both the available parking locations and the target parking location on the navigation device 18, and allows the user to easily change the target parking location from among the displayed locations if they wish to do so, resulting in good operability.

[0094] Furthermore, according to the control device, when the brake operation of the vehicle 10 is released, it does not accept an operation to change the target parking position of the vehicle 10. Thus, in the control of parking assistance for the vehicle 10, it is preferable that the user must have stopped the vehicle by operating the brakes when accepting an operation to change the target parking position.

[0095] Furthermore, according to the control device, even if the brake operation is released after the target parking position change operation has been accepted while the vehicle 10 has not yet received a parking start operation, the vehicle 10 will autonomously re-select the target parking position if the brake operation is performed afterward. This allows the control device to notify the user that the target parking position change operation was performed but the brake operation was released without performing a parking start operation, and to notify the user of the re-selected target parking position, thereby prompting the user to perform a parking start operation of the vehicle 10 to the re-selected target parking position.

[0096] <Modified example of processing by the control ECU20> Figure 12 is a flowchart showing a modified example of the processing of the control ECU 20 during parking assistance for vehicle 10. The processing from step S11 to step S22 in this modified example is the same as the processing from step S11 to step S22 in the example described in Figure 4. However, in this modified example, if the target parking position has not been changed in step S17 (step S17: No), the process returns to step S11 and each process is executed. In this respect, it differs from the processing in Figure 4, where the process returns to step S13 and each process is executed if the target parking position has not been changed. That is, in this modified example, even though the control ECU 20 has selected a target parking position and notified the user of the selected target parking position, if the user does not initiate parking of vehicle 10 or change the target parking position, and releases the brake operation of vehicle 10, the process returns to step S11 to detect a parking position based on new external recognition information, and the target parking position is re-selected in step S12. With this configuration, when the brake operation is released, the vehicle 10 moves and its position changes, so the system returns to step S11, and based on external environment recognition information corresponding to the movement, it detects a parking space and selects a target parking space, thereby notifying the user of a preferred target parking space.

[0097] 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.

[0098] 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.

[0099] In the above embodiment, an example was described in which the moving body is a vehicle (a four-wheeled automobile), but it is not limited to this. For example, it may be a motorcycle, a Segway, or other type of 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 able to move using the power of the drive source.

[0100] 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.

[0101] (1) A control device (control ECU 20) of a vehicle (vehicle 10), A target position selection unit (target position selection unit 55) autonomously selects a target parking position based on external environment recognition information around the vehicle, A display unit (touch panel 42) that displays the target parking position to the occupants of the vehicle, After receiving a parking start operation from the occupant, the vehicle's brake operation is released, and the vehicle's movement control unit (movement control unit 57) performs control to autonomously park the vehicle at the target parking position. It includes a notification unit (notification unit 58) for notifying the crew, It is possible to accept a change operation from the occupant to change the target parking position. The aforementioned notification department, In a state where the aforementioned parking start operation has not been accepted, If the brake operation is released without accepting the aforementioned modification operation, the notification will not be given. If the brake operation is released after the aforementioned modification operation has been accepted, the notification will be given. Control device.

[0102] According to (1), since notification to the occupants is provided only when a target parking position change operation is received while the parking start operation is not yet received, and the brake operation is released afterward, it is possible to notify the occupants of the danger associated with releasing the brake operation while suppressing unnecessary notifications to the occupants.

[0103] (2) The control device described in (1), The target position selection unit detects a parking location based on the external environment recognition information and selects a target parking location from among the parking locations. The display unit displays the parking space and the target parking space. The aforementioned modification operation is an operation to change the target parking position within the available parking positions. Control device.

[0104] (2) According to this, the target parking position can be selected from the available parking positions for the vehicle displayed on the display unit, so the target parking position can be easily changed.

[0105] (3) A control device as described in (1) or (2), The change operation will not be accepted when the brake operation is released. Control device.

[0106] (3) In the case of autonomous parking of a vehicle, it is preferable that the system does not accept any operation to change the target parking position when the brakes are released.

[0107] (4) A control device according to any one of (1) to (3), The aforementioned target position selection unit, If, while the aforementioned parking start operation has not been accepted, the brake operation is released after the aforementioned change operation has been accepted, After waiting for the aforementioned brake operation, the system autonomously re-selects the target parking position based on the external environment recognition information. Control device.

[0108] According to (4), even if the brake operation is released after the target parking position change operation is accepted while the parking start operation has not been accepted, if the brake operation is performed afterward, the vehicle will autonomously re-select the target parking position, so the occupant can be prompted to start the vehicle parking operation at the re-selected target parking position.

[0109] (5) A control device according to any one of (1) to (4), The display unit accepts the change operation. Control device.

[0110] According to (5), the target parking position can be changed on the display unit, resulting in good operability.

[0111] (6) A control device according to any one of (1) to (5), The display unit receives the parking start operation, Control device.

[0112] According to (6), the vehicle parking start operation can be performed on the display unit, resulting in good operability.

[0113] (7) A control device according to any one of (1) to (6), The notification unit cancels the notification based on at least one of the following: the elapsed time since the start of the notification, the brake operation, the vehicle's speed, and the vehicle's steering. Control device.

[0114] According to (7), even if a notification is initiated, it will be canceled based on predetermined conditions, so there is no need to cancel the notification each time it is issued, which is convenient.

[0115] (8) A control device according to any one of (1) to (7), The notification is provided by at least one of the following: screen display, audio output, and illumination of an indicator. Control device.

[0116] According to (8), the crew is more likely to recognize that they have been informed.

[0117] (9) A control device according to any one of (1) to (8), The aforementioned notification is a warning to alert the crew to danger. Control device.

[0118] According to (9), by notifying the occupants when a dangerous driving condition occurs, it is possible to inform the occupants of the danger associated with releasing the brakes while suppressing unnecessary notifications to the occupants.

[0119] (10) A method for controlling a vehicle, The control device of the aforementioned vehicle Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start operation from the occupant, if the brake operation of the vehicle is released, control is performed to autonomously park the vehicle at the target parking position. The system accepts a change operation from the occupant to change the target parking position. In a state where the aforementioned parking start operation has not been accepted, If the brake operation is released without accepting the aforementioned modification operation, the occupant will not be notified. If the brake operation is released after the aforementioned modification operation has been accepted, the notification will be given. Control method.

[0120] According to (10), notification to the occupants is made on the condition that the brake operation is released after the operation to change the target parking position has been accepted while the operation to initiate parking has not been accepted. This makes it possible to notify the occupants of the danger associated with releasing the brake operation while suppressing unnecessary notifications to the occupants.

[0121] (11) A vehicle control program, The processor of the vehicle's control device, Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start operation from the occupant, if the brake operation of the vehicle is released, control is performed to autonomously park the vehicle at the target parking position. The system accepts a change operation from the occupant to change the target parking position. In a state where the aforementioned parking start operation has not been accepted, If the brake operation is released without accepting the aforementioned modification operation, the occupant will not be notified. If the brake operation is released after the aforementioned modification operation has been accepted, the notification will be given. A control program that executes a process.

[0122] According to (11), notification to the occupants is made on the condition that the brake operation is released after the operation to change the target parking position has been accepted while the operation to initiate parking has not been accepted. This makes it possible to notify the occupants of the danger associated with releasing the brake operation while suppressing unnecessary notifications to the occupants. [Explanation of symbols]

[0123] 10 vehicles 20 Control ECU (Control Unit) 42 Touch panel (display unit) 55 Target position selection unit 57 Movement Control Unit 58 Hochi Department

Claims

1. A vehicle control device, A target position selection unit autonomously selects a target parking position based on external environment recognition information around the vehicle, A display unit that shows the target parking position to the occupants of the vehicle, A movement control unit that, after receiving a parking start operation from the occupant, controls the vehicle to autonomously park at the target parking position, It includes a notification unit that notifies the crew, It is possible to accept a change operation from the occupant to change the target parking position. The aforementioned notification department, If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to issue the notification based on whether or not the change operation has been accepted, and the notification is issued based on the determination. Control device.

2. A control device according to claim 1, The aforementioned notification department, If the brake operation is released without accepting the parking start operation or the change operation, the notification will not be given. If the brake operation is released after the change operation has been accepted but the parking start operation has not been accepted, the notification will be given. Control device.

3. A control device according to claim 2, The notification unit, after accepting the change operation without accepting the parking start operation, will issue the notification if the brake operation is released while the vehicle is stopped. Control device.

4. A control device according to claim 1, The target position selection unit detects a parking location based on the external environment recognition information and selects a target parking location from among the parking locations. The display unit displays the parking space and the target parking space. The aforementioned modification operation is an operation to change the target parking position within the available parking positions. Control device.

5. A control device according to claim 1, The change operation will not be accepted when the brake operation is released. Control device.

6. A control device according to claim 1, The aforementioned target position selection unit, If, while the aforementioned parking start operation has not been accepted, the brake operation is released after the aforementioned change operation has been accepted, After waiting for the aforementioned brake operation, the system autonomously re-selects the target parking position based on the external environment recognition information. Control device.

7. A method for controlling a vehicle, The control device of the aforementioned vehicle Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start command from the occupant, the system controls the vehicle to autonomously park at the target parking position. The system accepts a change operation from the occupant to change the target parking position. If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to notify the occupant based on whether or not the change operation has been accepted, and the notification is made based on the determination. Control method.

8. A vehicle control program, The processor of the vehicle's control device, Based on external environment perception information around the vehicle, the system autonomously selects a target parking position. The target parking position is displayed to the occupants of the vehicle. After receiving a parking start command from the occupant, the system controls the vehicle to autonomously park at the target parking position. The system accepts a change operation from the occupant to change the target parking position. If the brake operation is released by the occupant while the parking start operation has not been accepted, a determination is made as to whether or not to notify the occupant based on whether or not the change operation has been accepted, and the notification is made based on the determination. A control program that executes a process.

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