Control device, terminal device, control method, control program, method for controlling a terminal device, and control program for a terminal device

Abstract

This allows for flexible operation when calling up a mobile object to move it to its designated location. [Solution] A control device 20 for controlling a vehicle 10 that is capable of autonomously moving from a parking position 210 to a predetermined exit position 220, comprising an acquisition unit 55 for acquiring user instructions for the vehicle 10, and a movement control unit 57 for controlling the vehicle 10 based on the acquired instructions, wherein the acquisition unit 55 is capable of acquiring a reservation instruction to move the vehicle 10 before acquiring an exit instruction to move the vehicle 10 parked at the parking position to the exit position, and the movement control unit 57, when it acquires a reservation instruction by the acquisition unit 55, transitions the vehicle 10 to a first state which is a state of preparation for movement, and when the vehicle 10 is in the first state and the acquisition unit 55 acquires a predetermined instruction after the reservation instruction, it transitions the vehicle 10 from the first state to a second state which is a state in which the vehicle 10 is moved in response to the exit instruction.

Description

Technical Field

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

Background Art

[0002] In recent years, efforts to provide access to sustainable transportation systems that also take into account vulnerable people among traffic participants have been increasingly active. To achieve this, companies and researchers are focusing on research and development that further improves traffic safety and convenience through research and development related to autonomous driving technology.

[0003] Conventionally, a remote parking system is known that remotely controls a vehicle using a smartphone to park the vehicle at a designated predetermined parking position or move the vehicle out of the parking position (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] However, conventional remote parking systems may take time to move a vehicle from its parking position to a designated location and then call it out. For example, when a user calls a vehicle using a terminal device such as a smartphone, authentication is performed between the vehicle to be called and the terminal device, and then various devices such as the vehicle's ignition and vehicle ECU are activated before the vehicle is actually moved. In such cases, the user has to perform this series of operations at the calling location each time they call a vehicle, which takes time. This may cause inconvenience to the user and, consequently, may reduce the convenience of the calling function.

[0006] The present invention aims to provide a control device, terminal device, control method, control program, terminal device control method, and terminal device control program that enable flexible operation to call a mobile object when moving it to a storage location. Ultimately, this contributes to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is, A control device for controlling a mobile body that is capable of autonomously moving from a parking position to a predetermined exit position, An acquisition unit that acquires user instructions for the aforementioned moving object, The system includes a mobile body control unit that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, if the acquisition unit acquires a predetermined instruction after the reservation instruction, the moving body is transitioned from the first state to a second state in which the moving body is moved in response to the outbound instruction.

[0008] Other aspects of the present invention include: A control device for controlling a mobile body that is capable of autonomously moving from a parking position to a predetermined exit position, An acquisition unit that acquires user instructions for the aforementioned moving object, The system includes a mobile body control unit that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, if the acquisition unit acquires a predetermined instruction after the reservation instruction, the system transitions to a second state in which the moving body is moved, and the moving body is moved to the exit position.

[0009] Other aspects of the present invention include: A terminal device capable of executing instructions for autonomously moving a mobile object from a parking position to a predetermined exit position, The terminal device is equipped with a control unit that controls the terminal device, The control unit, Depending on the state of the terminal device, a predetermined instruction is given to the mobile body to enable autonomous movement.

[0010] Other aspects of the present invention include: A computer that controls a mobile vehicle capable of autonomously moving from a parking position to a designated exit position, The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction is received after the reservation instruction, a process is executed to transition the moving body from the first state to a second state in which the moving body is moved in response to the outbound instruction.

[0011] Other aspects of the present invention include: A computer that controls a mobile vehicle capable of autonomously moving from a parking position to a designated exit position, The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction is received after the reservation instruction, the system executes a process to transition the moving body from the first state to a second state in which the moving body is moved in response to the outbound instruction.

[0012] Other aspects of the present invention include: A computer in a terminal device capable of executing instructions to autonomously move a mobile object from a parking position to a designated exit position, The system executes a process to issue a predetermined instruction to the mobile body to enable autonomous movement, depending on the state of the terminal device.

[0013] Other aspects of the present invention include: A computer in a terminal device capable of executing instructions to autonomously move a mobile object from a parking position to a designated exit position, causing a process to be executed that issues a predetermined instruction to the moving body for enabling the autonomous movement in accordance with a state of the terminal device.

Effect of the Invention

[0014] According to the present invention, it becomes possible to flexibly perform an operation of calling a moving body when moving the moving body to a leaving position.

Brief Description of Drawings

[0015] [Figure 1] It is a side view showing an example of a vehicle 10 equipped with a control device 20. [Figure 2] It is a top view of the vehicle 10. [Figure 3] It is a block diagram showing an example of the internal configuration of the vehicle 10. [Figure 4] It is a diagram showing an example of a disclamer screen displayed on a touch panel 42. [Figure 5] It is a diagram showing an example of a screen for accepting a reservation instruction displayed on a touch panel 42. [Figure 6] It is a diagram for explaining a screen that accepts setting of a leaving position and setting of a route in a reservation instruction. [Figure 7] It is a diagram showing an example of a hardware configuration of a terminal device 60 owned by a user of the vehicle 10. [Figure 8] It is a diagram for explaining an example in which a vehicle activation instruction is issued based on position information of the terminal device 60. [Figure 9] It is a diagram showing an example of a response request screen for a vehicle activation instruction displayed on the terminal device 60. [Figure 10] It is a diagram showing an example of a response request screen for a leaving instruction displayed on the terminal device 60. [Figure 11] It is a flowchart showing an example of processing executed by the vehicle 10. [Figure 12] It is a diagram showing a subroutine of step S1 in the flowchart of FIG. 11. [Figure 13] It is a flowchart showing an example of processing executed by the terminal device 60. [Figure 14] This flowchart shows another example of processing performed on terminal device 60. [Modes for carrying out the invention]

[0016] An embodiment will be described below with reference to the drawings. The following embodiment is not intended to limit the present invention, and not all of the elements described in the following embodiment are essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. In the following, identical or similar elements will be denoted by the same or similar reference numerals, and their descriptions may be omitted or simplified.

[0017] Furthermore, the drawings should be viewed in the direction indicated by the symbols. In addition, in this specification and other documents, for the sake of simplicity and clarity, the front, rear, left, right, and up directions are described according to the direction as seen from the driver's perspective of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as "Fr", the rear as "Rr", the left as "L", the right as "R", the top as "U", and the bottom as "D".

[0018] <Overall Structure> In this embodiment, it is possible to flexibly operate when retrieving a vehicle 10 that is capable of autonomously moving from a predetermined parking position to a predetermined exit position within a parking lot. As components to realize such a configuration, the embodiment includes a vehicle 10 and a terminal device 60, each of which cooperates with the others. The configurations and processes of the vehicle 10 and the terminal device 60 will be described below.

[0019] A parking lot is a space with multiple parking positions (parking spaces), and is envisioned as, for example, a parking lot in a commercial facility such as a shopping mall or a parking space at an event venue. In this embodiment, for example, as shown in Figure 6, an example is shown in which a vehicle 10 parked in a predetermined parking position 210 in a parking lot P adjacent to a commercial facility 200 is autonomously moved to a predetermined exit position 220. The exit position 220 may be predetermined by the commercial facility 200, or it may be specified by the user. In this embodiment, the exit position 220 is located near the entrance 230 of the commercial facility 200. Also in Figure 6, the reference numeral V1 indicates another vehicle parked in a different position from the parking position 210.

[0020] <Configuration of a vehicle equipped with a control device> Figure 1 is a side view showing an example of a vehicle 10 equipped with a control device 20. Figure 2 is a top view of the vehicle 10 shown in Figure 1. The vehicle 10 is an example of a "mobile body" in the embodiment.

[0021] Vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels and steerable wheels 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.

[0022] Furthermore, vehicle 10 is capable of driver assistance. Driver assistance as defined herein refers to the recognition or monitoring of the driving environment and surrounding conditions, as well as the vehicle 10's system performing at least a portion of driving operations such as starting, accelerating, decelerating, steering, and stopping. In this embodiment, at least parking assistance is possible. For example, parking assistance is possible, which automatically controls (automatic steering) the driving operations when parking vehicle 10, and exit assistance is possible, which moves vehicle 10 from the parking position 210 to a predetermined exit position 220. Note that vehicle 10 may also be an autonomous vehicle in which the vehicle 10's system performs all of the recognition or monitoring of the driving environment and surrounding conditions, as well as driving operations such as starting, accelerating, decelerating, steering, and stopping.

[0023] 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 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.

[0024] 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.

[0025] 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 device 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.

[0026] The sensor group 16 acquires various detection values ​​used for control by the control device 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.

[0027] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire external environment recognition data (e.g., surrounding images) for recognizing the outside world of the vehicle 10 by imaging the area around the vehicle 10. The surrounding images 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.

[0028] 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.

[0029] 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.

[0030] 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 device 20. The vehicle speed sensor 36 detects the vehicle speed V based, for example, on the rotation of the transmission countershaft.

[0031] The operation detection unit 38 detects the user's operation using the operation input unit 14 and outputs the detected operation to the control device 20. The operation input unit 14 includes various user interfaces, such as side mirror switches for switching the open / closed state of side mirrors 11L and 11R, and shift devices (such as a shift lever or shift switch).

[0032] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GNSS receiver (not shown). The GNSS receiver determines the current position of the vehicle 10 (for example, the latitude and longitude of the location where the vehicle 10 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 18 may acquire the detection results of wheel sensors 34a, wheel sensors 34b, and vehicle speed sensor 36 via the control device 20, and determine or supplement the current position of the vehicle 10 using an INS (Inertial Navigation System) that utilizes the detection values ​​of these sensors.

[0033] The navigation device 18 also includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input and display device for the control device 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 in voice.

[0034] The touch panel 42 functions as an input device that receives various types of information for the control device 20, and as a display device controlled by the control device 20. The touch panel 42 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 44 is configured to output sound to the occupants of the vehicle 10. Note that the touch panel 42 is an example of a "display unit" in this embodiment.

[0035] For example, a user can input commands related to vehicle movement assistance for the vehicle 10 via the touch panel 42. This movement assistance includes parking assistance and vehicle 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 device 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 vehicle exit assistance. The parking assistance buttons include a remote parking button to request parking by the control device 20's automatic steering and an auxiliary parking button to request assistance when parking by the user. The exit assistance buttons include a remote exit button to request exit by the control device 20's automatic steering and an auxiliary exit button to request assistance when exiting by the user. Note that components other than the touch panel 42, such as smartphones or tablets, may also be used as input or display devices.

[0036] Note that "parking" is synonymous with, for example, "parking." For example, "parking" refers to a stop that involves passengers getting in and out of the vehicle, excluding temporary stops at traffic lights, etc. Also, "parking location" refers to the position where vehicle 10 is stopped, that is, the parking location.

[0037] The control device 20 is a computer that provides overall control of the entire vehicle 10, and includes, for example, a control unit 52 that performs various calculations, a storage unit 54 that has a non-transient storage medium for storing various information, and an input / output unit (not shown) that inputs and outputs signals to and from each unit connected to the control device 20.

[0038] The control device 20 is implemented by a single ECU (Electronic Control Unit) or by the cooperation of multiple ECUs. Since the control device 20 provides mobility assistance, such as controlling the vehicle on behalf of the user, it can also be described as a control device in an advanced driver-assistance system. The specific configuration and control examples of the control device 20, including the control unit 52 and memory unit 54, will be described later, so their explanation is omitted here.

[0039] The communication unit 24 is a communication interface that communicates with an external device in accordance with control instructions from the control device 20. In other words, the control device 20 can communicate with an external device via the communication unit 24. Examples of external devices include terminal devices 60 such as smartphones and tablets that can be carried by the user, and server devices managed by the manufacturer of the vehicle 10. For communication between the vehicle 10 and the external device, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0040] The EPS system 22 is comprised of, for example, a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS_ECU 108.

[0041] The steering angle sensor 100 detects the steering angle θst of the steering 110 and outputs information indicating the detected steering angle θst to the EPS_ECU 108. The torque sensor 102 detects the steering torque TQ, which is the torque applied to the steering 110 of the vehicle 10, and outputs information indicating the detected steering torque TQ to the EPS_ECU 108.

[0042] The EPS motor 104 assists the driver's operation of the steering 110 by applying a driving force or reaction force to the steering column 112, which is connected to the steering 110, according to instructions from the EPS_ECU 108. The resolver 106 detects the rotation angle θm of the EPS motor 104 and outputs information indicating the detected rotation angle θm to the EPS_ECU 108.

[0043] The EPS_ECU108 controls the entire EPS system 22. The EPS_ECU108 includes a processor that performs various calculations, a storage unit with a non-transient storage medium that stores various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS_ECU108 (none of which are shown). It is a computer that controls the EPS system 22 and is implemented by one or more ECUs.

[0044] The drive force control system 26 includes a drive ECU 130 and is configured to control the drive force of the vehicle 10. The drive ECU 130 is a computer that controls the drive force control system 26 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 130 (none of which are shown). For example, the drive ECU 130 controls the drive force of the vehicle 10 by controlling the internal combustion engine, etc., based on the amount of operation of the accelerator pedal (not shown) provided on the vehicle 1 and the detected value of a shift position sensor (not shown) that detects the shift position of a shift device (e.g., a shift lever or shift switch) (not shown).

[0045] The braking force control system 28 includes a braking ECU 132 and is configured to control the braking force of the vehicle 10. The braking ECU 132 is a computer that controls the braking force control system 28 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 132 (none of which are shown). For example, the braking ECU 132 controls the braking force of the vehicle 1 by controlling the brake device (not shown) provided in the vehicle 10 based on the operation of a brake pedal (not shown) provided in the vehicle 1.

[0046] <Control device configuration> Next, the configuration of the control device 20 will be described. As described above, the control device 20 includes a control unit 52 and a storage unit 54. The storage unit 54 stores various data and programs for the control unit 52 to execute.

[0047] For example, the memory unit 54 stores map information. The map information includes node data indicating the locations of nodes set on the road, link data indicating the connections between nodes, and facility data indicating the locations of facilities on and around the road. The facility data also includes information on roads within facilities, such as roads within a parking lot P. Therefore, by referring to the map information, the control device 20 can display not only the road map but also the roads within the parking lot on the touch panel 42.

[0048] The storage unit 54 also stores information related to the remote movement of the vehicle 10. The storage unit 54 stores route information related to the movement path when the vehicle 10 moves from the entry start position to the stopping position. The stopping position is the parking position of the vehicle 10, and will be referred to as the parking position below. When the vehicle moves to the parking position, it means when the vehicle moves to the parking position through the user's driving or mobility assistance. The entry start position is the position of the vehicle 10 when the user starts parking, and includes, for example, the position of the vehicle 10 when the user presses the parking assistance button to activate the parking assist function, the position when the vehicle 10 enters a predetermined parking area, and the position of the vehicle 10 when it arrives near the destination indicated by the navigation device 18. The route information includes route data showing the movement path, parking position data showing the parking position, and surrounding environment data showing the characteristics of the surrounding environment of the movement path and parking position based on external environment recognition data.

[0049] Such map information and route information may also be stored in a storage medium in the navigation device 18.

[0050] The control unit 52 executes various programs stored in the storage unit 54. In this embodiment, the control unit 52 executes a process that allows for flexible operation of calling the vehicle 10 when moving the vehicle 10 to the exit position 220. When performing remote exit, for example, it is assumed that the user calls the vehicle 10 by operating a terminal device 60 such as a smartphone. For example, it is assumed that various authentications such as authentication between the vehicle 10 to be called and the terminal device 60 are performed, and then various devices such as turning on the ignition of the vehicle 10 and each ECU of the vehicle 10 are started before the vehicle 10 is actually moved. In such a case, the user would have to perform this series of operations at the calling position each time the vehicle 10 is called, and the operation to call the vehicle 10 would take time. This may cause inconvenience to the user and, consequently, may reduce the convenience of the calling function. Therefore, in this embodiment, the system is configured to execute a predetermined program that allows for flexible operation of calling the vehicle 10.

[0051] The control unit 52 includes an acquisition unit 55, a mobile object control unit 57, and a display control unit 59 as functional units realized by the execution of a predetermined program. In the following, the processes described as being performed by the acquisition unit 55, the mobile object control unit 57, and the display control unit 59 are processes realized by the control device 20 (control unit 52).

[0052] The acquisition unit 55 acquires user instructions for the vehicle 10. Specifically, the acquisition unit 55 acquires "reservation instructions," "vehicle start instructions," and "departure instructions." Note that the vehicle start instruction is an example of a "predetermined instruction" in this embodiment.

[0053] Specifically, first, the acquisition unit 55 acquires a reservation instruction to move the vehicle 10 before acquiring a remote exit instruction from the user to move the vehicle 10 parked at the parking position 210 to the exit position 220. As described above, when performing a remote exit, a series of operations to call up the vehicle 10 takes time. Therefore, in this embodiment, some operations are configured to be accepted in advance as "reservation instructions". Some operations are, for example, operations that should be performed before starting up each piece of equipment that makes the vehicle 10 ready to move, such as the ignition of the vehicle 10, the control device 20, the EPS_ECU 108, the drive ECU 130, and the brake ECU 132.

[0054] Examples of such operations include authentication operations between the terminal device 60 and the vehicle 10, agreement operations to accept the disclaimer, and operations to set the exit position 220. The agreement operation to accept the disclaimer referred to here is an operation to accept the agreement to the precautions specified regarding mobility assistance. In this embodiment, such "reservation instruction" operations are accepted, for example, on the touch panel 42 of the navigation device 18 of the vehicle 10, or by linking the touch panel 42 and the terminal device 60. In this embodiment, the display control unit 59 functions to display predetermined information on the touch panel 42 and accept input from the user.

[0055] Specifically, the display control unit 59 displays a predetermined operation screen related to the authentication operation on the touch panel 42 during the authentication operation between the terminal device 60 and the vehicle 10. The authentication operation may be achieved, for example, by verifying the digital key between the vehicle 10 and the terminal device 60. If there are multiple vehicles that may be the target, the user selects the vehicle to be remotely retrieved before performing the authentication operation.

[0056] Furthermore, in the agreement operation for accepting the disclaimer, the display control unit 59 displays a disclaimer screen on the touch panel 42 for accepting the disclaimer. Figure 4 shows an example of such a disclaimer screen for accepting the disclaimer, which includes an agreement statement such as, for example, "When making a reservation, set the shift position to the P range." The disclaimer screen also includes an agreement button 42a that the user operates to indicate that they have confirmed the precautions.

[0057] Furthermore, the display control unit 59 accepts the user's setting of the location from which the vehicle 10 will exit the parking space during the operation to set the exit position 220. Figure 5 shows an example of the screen display of the touch panel 42 that accepts reservation instructions from the user, including the setting of the exit position 220. Here, for example, a parking lot map is displayed on the left side of the screen, and explanatory text prompting the user to set the exit position 220 and the route is displayed on the right side of the screen. Also on the right side of the screen, a confirmation message asking whether to make a reservation instruction and the terminal number of the terminal device 60 authenticated through the authentication operation with the terminal device 60 described above are displayed. Note that the various types of information shown here do not necessarily have to be displayed on a single screen; for example, the screen displayed may switch depending on the type of setting.

[0058] Figure 6 is a magnified view of the portion of the parking map enclosed by the dashed line in the screen display of Figure 5. The display control unit 59 displays, for example, the parking map of the currently parked parking lot P on the touch panel 42 and accepts the user's setting of a predetermined exit position. The user can set the exit position by, for example, tapping the touch panel 42. In the example shown in Figure 6, for example, the user has specified the area enclosed by the thick dashed line indicated by reference numeral 220 as the exit position.

[0059] Furthermore, it is preferable that the display control unit 59 accepts the setting of the route from the parking position 210 to the exit position 220 in accordance with the setting of the exit position 220. For example, a parking map is displayed on the touch panel 42, and the user accepts the setting of the route to the exit position 220. The user sets the route by, for example, tracing an approximate route with their finger. In the example shown in Figure 6, for example, the route specified by the user from the parking position 210 to the exit position 220 is indicated by an arrow.

[0060] Furthermore, if there is a past parking history at the current parking location 210 and the information of that parking history is stored in the storage unit 54, the display control unit 59 may refer to the storage unit 54 to identify the corresponding parking history and display information of the route, including the starting and ending positions of the parking, on the touch panel 42 based on the parking map. If the user wants to exit the vehicle 10 to the same exit location 220 by following the same route as the displayed parking history information, the user specifies the ending position as the exit location 220 on the displayed parking map. This allows the display control unit 59 to accept the specified ending position as the exit location 220.

[0061] Once the display control unit 59 has received all such reservation instructions, it displays a message indicating that the reservation instruction has been completed, such as "Reservation Complete."

[0062] The vehicle start instruction is an instruction to make the vehicle 10 ready to move, and includes instructions to start each ECU (hereinafter simply referred to as each ECU), such as the vehicle 10's ignition, control device 20, EPS_ECU 108, drive ECU 130, and brake ECU 132, as well as each piece of equipment for driving the vehicle 10 (e.g., the drive battery). This vehicle start instruction may be obtained after the reservation instruction, and is issued according to the usage status of the terminal device 60 held by the user, such as location information and payment information. The acquisition unit 55 obtains the instruction via the communication unit 24. A detailed explanation will be given in the section on the configuration of the terminal device 60.

[0063] The dispatch instruction is an instruction to remotely dispatch the vehicle 10, and is issued by a terminal operation on the user's terminal device 60. The acquisition unit 55 acquires this instruction via the communication unit 24.

[0064] The mobile control unit 57 controls the state of the vehicle 10 based on the user's instructions obtained by the acquisition unit 55. For example, when the mobile control unit 57 obtains the aforementioned reservation instruction from the acquisition unit 55, it transitions the vehicle 10 to a first state, which is a state of readiness for movement. The first state (ready for movement) is, for example, a state in which the ignition is off, the control devices such as each ECU of the vehicle 10 are not activated, and communication with the terminal device 60 is possible. In other words, at first glance, the vehicle 10 appears to be simply parked in the parking lot P, but it is in a state where communication with the terminal device 60 is possible.

[0065] Furthermore, when the vehicle 10 is in the first state, the mobile control unit 57, upon receiving a vehicle start instruction after a reservation instruction from the acquisition unit 55, transitions the state of the vehicle 10 from the first state to the second state, in which the vehicle 10 is moved in response to a departure instruction. In other words, once a vehicle start instruction is received after a reservation instruction, the mobile control unit 57 transitions the vehicle 10 to the second state, in which it is movable. Then, when a departure instruction is received from the user, it performs remote departure, calling the vehicle 10 to the departure position 220. The second state is a state in which the vehicle 10 is movable, and the ignition, control devices such as each ECU, and other equipment necessary to drive the vehicle 10 (for example, the drive battery) are activated.

[0066] Furthermore, once the mobile control unit 57 receives a parking exit instruction via the acquisition unit 55, it performs drive control, braking control, and steering control via the drive ECU 130, brake ECU 132, EPS_ECU 108, etc., to remotely exit the parking space from the parking position 210 to the exit position 220 specified by the user.

[0067] <Terminal device configuration> Next, the configuration of the terminal device 60 will be described. Figure 7 shows an example of the hardware configuration of a terminal device 60 owned by a user of the vehicle 10. Here, the terminal device 60 is a smartphone as an example. The terminal device 60 comprises a processor 61, memory 62, a communication interface 63, and a user interface 64. The processor 61, memory 62, communication interface 63, and user interface 64 are connected, for example, by a bus 65.

[0068] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire terminal device 60. The processor 61 may also be implemented using other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 61 may be implemented by combining multiple digital circuits. The processor 61 is an example of the "control unit of the terminal device 60".

[0069] Memory 62 includes, for example, main memory and auxiliary memory. Main memory is, for example, RAM (Random Access Memory). Main memory is used as the work area of ​​processor 61.

[0070] Auxiliary memory is a non-volatile memory such as a magnetic disk, optical disk, or flash memory. Various programs for operating the terminal device 60 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into main memory and executed by the processor 61.

[0071] Furthermore, the auxiliary memory may include portable memory that can be removed from the terminal device 60. Portable memory may include USB (Universal Serial Bus) flash drives, memory cards such as SD (Secure Digital) memory cards, and external hard disk drives.

[0072] The communication interface 63 is a communication interface that performs wireless communication with an external party (for example, the communication unit 24 of the vehicle 10) of the terminal device 60. For example, the communication interface 63 includes an interface for communicating with the vehicle 10.

[0073] The user interface 64 includes, for example, an input device that accepts user input and an output device that outputs information to the user. The input device can be implemented by, for example, a touch panel. The output device can be implemented by, for example, a display or a speaker.

[0074] The processor 61 performs movement control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement control of the vehicle 10 (e.g., parking control) based on specific user operations on the terminal screen 64a of the terminal device 60 (see, for example, Figure 9). Specific operations include, for example, tap operations to give instructions regarding parking (calling) the vehicle 10, and slide operations to move the vehicle 10. Slide operations include continuous position instruction operations (e.g., swipe operations) and rotation instruction operations in a predetermined rotation direction (e.g., rotation swipe operations). The processor 61 also generates guidance images to prompt user instructions on the terminal screen 64a of the terminal device 60, and controls the display of the generated guidance images on the terminal screen 64a.

[0075] The processor 61 issues vehicle start-up and departure instructions to the vehicle 10 for remote departure based on specific operations on the terminal screen 64a of the terminal device 60. That is, it issues vehicle start-up and departure instructions to the vehicle 10 via the communication interface 63.

[0076] Specifically, the processor 61 issues a vehicle start command to make the vehicle 10 mobile (in other words, ready for remote departure) depending on the usage status of the terminal device 60. Here, the usage status of the terminal device 60 includes, for example, the use of the terminal device 60 in conjunction with the user's movement, or the use of the terminal device 60 based on the user's payment processing.

[0077] For example, the processor 61 acquires location information of the terminal device 60. Based on the acquired location information, if the terminal device 60 is located outside the first range C1 but within the second range C2 from the exit position 220, the processor 61 executes a response request to instruct the user to start the vehicle. Figure 8 is a diagram illustrating an example of issuing a vehicle start instruction based on the location information of the terminal device 60. In this example in Figure 8, the area enclosed by the solid line represents the range of the exit position 220, the area enclosed by the dashed line represents the first range C1, and the area enclosed by the dashed line represents the second range C2. That is, in this example, the processor 61 executes a response request to instruct the user to start the vehicle if the terminal device 60 is located between the first range C1 and the second range C2. The example in Figure 8 shows an example where the terminal device 60 is located between the first range C1 and the second range C2 as the user moves.

[0078] In such cases, the processor 61 displays a response request on the terminal screen 64a, for example, asking "Do you want to issue a vehicle start command?" as shown in Figure 9. If the processor 61 receives a positive response from the user to the response request, it issues a vehicle start command to the vehicle 10. However, if the user does not wish to have the vehicle remotely retrieved at this time, it is conceivable that they may issue a negative response to the response request, or not respond at all.

[0079] Furthermore, if the terminal device 60 is located within the first range C1 from the exit position 220 based on the acquired location information, the processor 61 may issue a vehicle start command to the vehicle 10 without executing the response request as shown in Figure 9. In other words, if the terminal device 60 is located within the first range C1, it is closer to the exit position 220 than the area enclosed by the first range C1 and the second range C2, so it can be assumed that the user is requesting remote exit. Therefore, in such a case, it is assumed that a vehicle start command has been issued, and the vehicle start command is issued without issuing a response request.

[0080] The first and second ranges may be ranges predetermined by, for example, the manufacturer.

[0081] Furthermore, the system may be configured to issue a vehicle start command based on the usage status of the terminal device 60 based on location information, as well as based on the user's payment processing of the terminal device 60. For example, the processor 61 acquires the user's payment information. This payment information includes, for example, payment information such as credit card payment or electronic money payment using the terminal device 60. Once the payment information is acquired, the processor 61 executes a response request to issue a vehicle start command to the user. The response request may be the same as the example shown in Figure 9. When the processor 61 receives a positive response from the user to the response request, it issues a vehicle start command to the vehicle 10.

[0082] Furthermore, when the processor 61 obtains payment information, it may issue a vehicle start command to the vehicle 10 without executing a response request. In this case, it is assumed that the user has requested remote vehicle departure due to the payment processing. The processor 61 may also distinguish whether to issue a vehicle start command after issuing a response request or without issuing a vehicle start command, depending on the content of the payment information. For example, if the payment information satisfies predetermined conditions, the processor 61 may issue a vehicle start command without executing a response request. These predetermined conditions include, for example, if the payment processing is performed multiple times (e.g., two or more times), in which case the vehicle start command may be issued without executing a response request. This is because some users may perform multiple transactions within the facility, such as paying on each floor or forgetting to buy something, and therefore, if multiple payment processing has been performed, the likelihood of such an event occurring decreases. In other words, if the payment processing is performed only once, there is still a possibility of further payment processing, in which case the response request is executed before issuing the vehicle start command.

[0083] The processor 61 issues a vehicle start command to make the vehicle 10 ready to move, depending on the usage status. In addition to the examples above, usage status may also include, for example, usage when a user manually calls the vehicle 10, or usage linked to a schedule stored in the terminal device 60. Usage when a user manually calls the vehicle 10 means that the user issues a vehicle start command to the vehicle 10 at their own timing. Furthermore, usage linked to the function of a schedule stored in the terminal device 60 means that if the user has previously entered a schedule such as a calendar in the terminal device 60 to remotely dispatch the vehicle 10, the vehicle start command will be automatically issued in conjunction with that timing.

[0084] After issuing a vehicle start command, the processor 61 issues a vehicle departure command. That is, based on a specific operation on the terminal screen 64a of the terminal device 60, the processor 61 sends a vehicle departure command to the vehicle 10 to remotely depart the vehicle. Figure 10 shows a terminal screen 64a that illustrates an example of a response request for a vehicle departure command. The user can issue a vehicle departure command by responding to this response request.

[0085] The terminal device 60 may have an application installed that enables the vehicle 10 to move (remote parking, remote exit) by sending and receiving information related to the vehicle 10's movement control to and from the vehicle 10.

[0086] <An example of processing in the embodiment> Next, an example of processing in the embodiment will be described. As described above, the vehicle 10 and the terminal device 60 can communicate with each other and cooperate. Figures 11 to 14 are flowcharts showing an example of processing in the embodiment, where Figures 11 and 12 show the processing in the control device 20 of the vehicle 10, and Figures 13 and 14 show the processing in the processor 61 of the terminal device 60. Here, we will first explain the processing of the control device 20.

[0087] As described above, when remote vehicle departure is performed, the control device 20 sequentially acquires a reservation instruction and a vehicle start instruction, and transitions the state of the vehicle 10 according to each instruction. Then, upon acquiring the departure instruction, it starts moving the vehicle 10. Here, the flow of this process will be explained using the flowchart shown in Figure 11. Note that the specific details of the processing performed by the control device 20 are as described above, so here we will mainly explain the flow of the process, and detailed explanations of the processing will be omitted or simplified.

[0088] In the example shown here, it is assumed that vehicle 10 is parked in a designated parking position 210, and that the user has operated the remote exit button or similar from that position.

[0089] First, the control device 20 acquires a reservation instruction (step S10). That is, the control device 20 displays a screen on the touch panel 42 that accepts the operation of the reservation instruction. Figure 12 shows a subroutine for acquiring a reservation instruction, which accepts the above-mentioned reservation instruction operations in order.

[0090] Specifically, in step S100, the control device 20 accepts authentication operations between the terminal device 60 and the vehicle 10.

[0091] Furthermore, in step S110, the control device 20 accepts an agreement operation to accept the disclaimer explained with reference to Figure 4.

[0092] Furthermore, in step S120, the control device 20 accepts the setting operation for the exit position 220 and the setting operation for the route, as explained using Figure 6.

[0093] The control device 20 terminates the process of acquiring reservation instructions once it has received all operations related to these reservation instructions.

[0094] Returning to Figure 11, the control device 20 transitions the state of the vehicle 10 to the first state (step S11). That is, since the control device 20 has received the reservation instruction in step S10, it transitions to the first state in which communication with the user's terminal device 60 from outside the vehicle is possible. In the first state, as described above, the ignition and each ECU of the vehicle 10 are in the off state.

[0095] Next, the control device 20 determines whether it has received a vehicle start instruction (step S12). That is, the control device 20 determines whether it has received a vehicle start instruction from the user's terminal device 60. For example, it may obtain a vehicle start instruction based on the location information and payment information of the terminal device 60.

[0096] If the control device 20 determines in step S12 that it has not received a vehicle start instruction (No in step S12), it waits until it receives a vehicle start instruction. A waiting time may be set in advance. In that case, for example, if the waiting time elapses, the process shown in Figure 11 is terminated. In that case, for example, the reservation instruction may be considered to have been canceled.

[0097] On the other hand, if the control device 20 determines that it has received a vehicle start command (Yes in step S12), it proceeds to step S13. In step S13, the control device 20 transitions the state of the vehicle 10 from the first state to the second state. That is, it turns on the ignition and each ECU of the vehicle 10 to make the vehicle 10 ready to move.

[0098] Next, the control device 20 determines whether it has received a dispatch instruction (step S14). That is, the control device 20 determines whether it has received a dispatch instruction from the user's terminal device 60.

[0099] If the control device 20 determines in step S14 that it has not received a dispatch instruction (No in step S14), it waits until it receives a dispatch instruction. The waiting time may be set in advance. In that case, for example, if the waiting time has elapsed, the process shown in Figure 11 is terminated. In that case, for example, if remote dispatch is performed, the system may be configured to obtain a reservation instruction again. The waiting time when a negative determination is made in step S14 may be shorter than the waiting time when a negative determination is made in step S12. This is because the waiting time here is different from the state in step S12, where the vehicle 10 is already in a state where it can move, and therefore each ECU etc. is not activated (i.e., in a state ready for movement).

[0100] If the control device 20 determines that it has received an instruction to exit the parking space (Yes in step S14), it starts moving (exiting) the vehicle 10 (step S15). That is, the control device 20 performs drive control, brake control, and steering control, etc., via the drive ECU 130, brake ECU 132, EPS_ECU 108, etc., to remotely exit the parking space from the parking position 210 to the exit position 220 specified by the user.

[0101] Next, we will explain the processing performed by the user's terminal device 60. As described above, the terminal device 60 issues vehicle start and exit commands to the vehicle 10. Here, we will explain the flow of this process using a flowchart.

[0102] Figure 13 shows an example of issuing vehicle start and exit commands based on location information. Note that the process shown in Figure 13 is initiated, for example, when the vehicle 10 is in the first state.

[0103] Specifically, first, the processor 61 acquires the location information of the terminal device 60 (step S20). For example, the processor 61 acquires the location information of the terminal device 60 based on the location information obtained from a GNSS receiver (not shown) provided by the terminal device 60.

[0104] Next, the processor 61 determines, based on the location information of the terminal device 60 acquired in step S20, whether the location of the terminal device 60 is outside the first range C1 but within the second range C2 from the outbound position 220 (step S21).

[0105] If the processor 61 determines that the location of the terminal device 60 is outside the first range C1 but within the second range C2 (Yes in step S21), it requests the terminal device 60 to respond with a vehicle start instruction (step S22).

[0106] Next, the processor 61 determines whether it has received a positive response instruction in response to the response request in step S22 (step S23). For example, if the user has responded to the terminal device 60 by issuing a vehicle start instruction, it is determined to be positive.

[0107] Therefore, if a positive response instruction is received in response to the response request (Yes in step S23), the processor 61 issues a vehicle start instruction to the vehicle 10 (step S24).

[0108] Then, after issuing a vehicle start command, the processor 61 issues a vehicle departure command to the vehicle 10 (step S25). In other words, it receives a vehicle departure command from the user and issues a vehicle departure command to the vehicle 10.

[0109] On the other hand, if in step S21 described above it is determined that the position of the terminal device 60 is outside the first range C1 and not within the second range C2 (No in step S21), the processor 61 determines whether the position of the terminal device 60 is within the first range C1 based on the position information of the terminal device 60 (step S26).

[0110] If the processor 61 determines that the location of the terminal device 60 is within the first range C1 (Yes in step S26), it issues a vehicle start command to the vehicle 10 (step S24).

[0111] Conversely, if it is determined that the position of the terminal device 60 is not within the first range C1 (No in step S26), the processor 61 terminates the processing shown in Figure 13.

[0112] In step S23 described above, if no response instruction is received in response to the vehicle start instruction response request, the processor 61 similarly terminates the processing shown in Figure 13. If not shown, this may include cases where a negative response is received in response to the response instruction.

[0113] Next, referring to Figure 14, we will explain the process of issuing vehicle start and exit instructions based on payment information. Note that the example shown in Figure 14 is almost the same as the process explained in Figure 13. In the example shown in Figure 14, the processing steps include steps S30 to S35, but only step S30 differs from the example in Figure 13, while steps S31 to S34 are the same as steps S22 to S25 in the example in Figure 13. Therefore, here we will only explain step S30, which differs from the example in Figure 13.

[0114] In step S30, the processor 61 acquires payment information from the terminal device 60. That is, the processor 61 acquires payment information such as credit card payments and electronic money payments made using the terminal device 60.

[0115] Then, in step S31, the processor 61 requests a response from the user for a vehicle start command. However, as mentioned above, if there are multiple payment records, it is considered that there is a relatively higher probability of remote vehicle dispatch compared to when there is only one payment record, and a response request does not need to be made. In other words, in that case, the processing in step S31 may be omitted.

[0116] The processing from steps S32 to S35 is the same as that described above for steps S23 to S25, so the explanation will be omitted.

[0117] As described above, in the above embodiment, the control device 20 of the vehicle 10 can acquire a reservation instruction to move the vehicle 10 before acquiring a departure instruction for remote departure. In other words, before the user calls the vehicle 10 at a predetermined departure position 220, the control device 20 accepts a reservation instruction from inside the vehicle, for example, when parking. This allows the user to perform the operation corresponding to the reservation instruction, which is part of the series of operations for remote departure, while parking.

[0118] Then, when the control device 20 receives a reservation instruction, it transitions the vehicle 10 to a first state, which is a state ready for movement. That is, it turns off the ignition and the various ECUs of the vehicle 10 while enabling communication with the terminal device 60. Furthermore, when the vehicle 10 is in the first state, if the control device 20 receives a vehicle start instruction based on the location information and payment information of the user's terminal device 60, it transitions the vehicle 10 from the first state to the second state. That is, the control device 20 activates the various ECUs of the vehicle 10 in order to make the vehicle 10 ready for movement. Then, when the control device 20 receives a departure instruction (in other words, a call operation) from the user, it moves the vehicle 10 to the departure position 220.

[0119] Thus, in this embodiment, instead of performing a series of operations for remote vehicle departure in a continuous manner, some operations (operations related to reservation instructions) can be accepted in advance, and some operations (vehicle start instructions) can be linked to the use of the terminal device 60. As a result, when the user actually calls for vehicle 10, remote departure is possible by performing only operations related to departure instructions. In other words, if all of these operations were to be performed when calling for vehicle 10, it would take time, but in this embodiment, since only operations related to departure instructions are required at the time of calling, the time can be significantly reduced. To put it another way, even if the total time for the series of operations for remote vehicle departure remains the same, the time required at the time of actual calling can be reduced. Therefore, the convenience of remote vehicle departure can be improved compared to a configuration in which all operations are performed at the time of actual calling.

[0120] For example, when a user calls vehicle 10 after shopping at a shopping mall, they may be carrying a large amount of luggage. In such a situation, since the reservation and vehicle start-up instructions have already been completed, the user can easily call vehicle 10. This ease of calling vehicle 10 reduces the inconvenience for the user when performing remote vehicle dispatch operations.

[0121] <Variation> Next, a modified example will be described. In the embodiment described above, the control device 20 was shown to acquire a vehicle start instruction and then acquire an exit instruction to move the vehicle 10 from the parking position 210 to the exit position 220. However, after acquiring a vehicle start instruction, the control device may start the various ECUs of the vehicle 10 and immediately begin moving the vehicle 10. In other words, the vehicle start instruction may include an exit instruction to move the vehicle 10 from the parking position 210 to the exit position 220. This is because a vehicle start instruction from the user can be considered as an intention to call the vehicle 10 to the exit position 220.

[0122] In other words, when the vehicle 10 is in the first state and the control device 20 receives a vehicle start instruction after the reservation instruction, it transitions the vehicle 10 from the first state to the second state and moves the vehicle 10 to the exit position 220.

[0123] Furthermore, the reservation instruction may include, in addition to the authentication operation between the terminal device 60 and the vehicle 10, the agreement operation to accept the disclaimer, and the operation to set the departure location, an operation to specify a time. The operation to specify a time is an operation to set the departure time, and for example, the control device 20 accepts the departure time setting from the user by displaying a time specification operation screen on the touch panel 42 using the functions of the display control unit 59. In this case, the terminal screen 64a of the terminal device 60 may be configured to display a response request for a vehicle start instruction a few minutes before the set departure time and to request a response from the user. Then, when a response instruction is received in response to that response request, a vehicle start instruction may be issued.

[0124] As mentioned above, several examples of reservation instructions have been described, but not all of these are required to be included in the reservation instructions.

[0125] Furthermore, in the above-described embodiment, the vehicle start command was configured to be acquired based on the location information or payment information of the terminal device 60. However, the vehicle start command may also be acquired based on multiple pieces of information (for example, based on location information and payment information). By acquiring the vehicle start command based on multiple pieces of information, it is possible to increase the likelihood of issuing the vehicle start command without executing a response request to the user to issue the vehicle start command. In other words, if multiple pieces of information satisfy predetermined conditions, it can be determined that there is a higher probability of remote departure, and the vehicle start command can be issued to the vehicle 10 without confirming the vehicle start command.

[0126] Although embodiments of the present invention have been described above with reference to the drawings, it goes without saying that the present invention is not limited to the embodiments described above. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these are also understood to naturally fall within the technical scope of the present invention. Furthermore, the components of the above embodiments may be combined arbitrarily without departing from the spirit of the invention.

[0127] In the configuration of the above-described embodiment, functions may be shared or the system may consist of fewer devices. For example, at least a portion of the configuration of the vehicle 10 or the terminal device 60 may be realized by other devices.

[0128] Furthermore, some of the components of the above-described embodiment may be omitted, or the processes may be varied or omitted.

[0129] In the embodiments described above, an example was given in which the moving object was a vehicle, but the invention is not limited to this. For example, it may be a motorcycle, a Segway, or other type of vehicle.

[0130] Furthermore, the control method described in the above-mentioned embodiments can be realized by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed by reading it 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.

[0131] 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.

[0132] (1) A control device (control device 20) that controls a mobile body (vehicle 10) capable of autonomously moving from a parking position (parking position 210) to a predetermined exit position (exit position 220), An acquisition unit (acquisition unit 55) that acquires user instructions for the moving object, The system includes a mobile body control unit (mobile body control unit 57) that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, and the acquisition unit acquires a predetermined instruction (vehicle start instruction) after the reservation instruction, the moving body is transitioned from the first state to a second state in which the moving body is moved in response to the depot instruction. Control device.

[0133] According to (1), the control device can obtain a reservation instruction to move the mobile body before obtaining an instruction to release the mobile body. In other words, before the user calls the mobile body at a predetermined release position, the control device can, for example, receive a reservation instruction inside the vehicle while parked. This allows the user to perform the operation corresponding to the reservation instruction, which is part of a series of operations for remote release, while parked. When the control device obtains a reservation instruction, it transitions the mobile body to a first state, which is a state of readiness for movement. Furthermore, when the mobile body is in the first state and a predetermined instruction is obtained, the control device transitions the mobile body to a second state in which the mobile body is moved according to the predetermined instruction.

[0134] In this way, instead of performing a series of operations for remote dispatch in a continuous manner, some operations (operations related to reservation instructions) can be accepted in advance, or some operations (prescribed instructions) can be linked to the use of external devices. As a result, when the user actually calls for the mobile vehicle, remote dispatch is possible by performing only operations related to dispatch instructions. In other words, if all of these operations were to be performed when the mobile vehicle is called, it would take time, but in configuration (1), only operations related to dispatch instructions are required, so the time can be significantly reduced. Therefore, compared to a configuration in which all operations are performed when the vehicle is actually called, the convenience of remote dispatch can be improved, and the hassle of performing remote dispatch operations for the user can be reduced.

[0135] (2) A control device (control device 20) that controls a mobile body (vehicle 10) capable of autonomously moving from a parking position (parking position 210) to a predetermined exit position (exit position 220), An acquisition unit (acquisition unit 55) that acquires user instructions for the moving object, The system includes a mobile body control unit (mobile body control unit 57) that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, if the acquisition unit acquires a predetermined instruction after the reservation instruction, the moving body is transitioned to a second state in which it is moved, and the moving body is moved to the exit position. Control device.

[0136] According to (2), when a predetermined instruction is received after a reservation instruction, the system transitions to a second state in which the mobile body is moved, and the mobile body is moved to the departure position. This makes it possible to include an instruction to move the mobile body to the departure position in the predetermined instruction, and consequently, the time required for the departure instruction can be shortened.

[0137] (3) A control device as described in (1) or (2), The first state is a state in which the moving body is stationary and capable of communicating with an external device (terminal device 60). Control device.

[0138] According to (3), by enabling communication with an external device, for example, a user can give a predetermined instruction to the mobile unit from outside the vehicle.

[0139] (4) A control device as described in (1) or (2), The second state is a state in which the mobile body is movable while the control device is activated. Control device.

[0140] According to (4), since the control device of the mobile body is activated and the body is in a movable state, for example, when a dispatch instruction is given, the control device is already activated, so the time until the mobile body starts moving can be shortened compared to when the control device is activated when a dispatch instruction is given.

[0141] (5) A control device as described in (1) or (2), A memory unit (memory unit 54) that stores map information, The system further includes a display control unit (display control unit 59) that controls a display unit (touch panel 42) that displays predetermined information and accepts input, The display control unit, When obtaining the aforementioned reservation instruction, the system displays a map of the parking lot where the mobile vehicle is parked, based on the map information. In the aforementioned parking map, the designated predetermined location is accepted as the exit location. Control device.

[0142] According to (5), since the user can specify the departure position by operating the display unit of the mobile unit, it is more likely that the operation can be performed on a larger screen compared to, for example, when the departure position is specified using the user's terminal device.

[0143] (6) A control device as described in (1) or (2), The aforementioned mobile body has a storage unit (storage unit 54) that stores information about the route it has traveled in the past, The system further includes a display control unit (display control unit 59) that controls a display unit (touch panel 42) that displays predetermined information and accepts input, The aforementioned route information stores route information including the starting and ending positions of the parking area. The display control unit, When obtaining the aforementioned reservation instruction, a parking map based on the aforementioned route information is displayed. The terminal position specified in the aforementioned parking map is accepted as the exit position. Control device.

[0144] According to (6), since information on past parking locations can be used, the user can more easily specify the exit location compared to a configuration like (5), for example.

[0145] (7) A terminal device (terminal device 60) capable of executing instructions for autonomously moving a mobile body (vehicle 10) from a parking position (parking position 210) to a predetermined exit position (exit position 220), The terminal device is equipped with a control unit (processor 61) that controls the terminal device, The control unit, Depending on the state of the terminal device, a predetermined instruction (vehicle start instruction) is given to the mobile body to enable autonomous movement. Terminal device.

[0146] According to (7), the user can give predetermined instructions to the mobile unit via a terminal device, that is, they can give instructions regarding remote retrieval while away from the mobile unit.

[0147] (8) The terminal device described in (7), The control unit, The location information of the terminal device is acquired, Based on the location information, if the terminal device is located outside the first range (first range C1) from the loading position and within the second range (second range C2), it executes a response request to the user to give the predetermined instruction. When a response instruction for the response request is received from the user, the predetermined instruction is given to the mobile body. Terminal device.

[0148] According to (8), predetermined instructions can be given based on the location information of the terminal device. If the location of the terminal device is outside the first range but within the second range, a response request is made to give the predetermined instructions. This prevents situations where there is no intention to release goods, such as when the terminal device is outside the first range but within the second range due to the user's movement, from being issued as a release instruction.

[0149] (9) The terminal device described in (8), The control unit, If the terminal device is located within the first range for a predetermined time, the predetermined instruction is given to the mobile body without executing the response request. Terminal device.

[0150] According to (9), predetermined instructions can be given based on the location information of the terminal device. If the location of the terminal device is within the first range, the predetermined instructions are given to the moving object without sending a response request. As a result, the user can give predetermined instructions by moving themselves, that is, they can give predetermined instructions without sending a response instruction in response to a response request. As a result, the convenience of remote retrieval can be improved.

[0151] (10) The terminal device described in (7), The control unit, The terminal device acquires payment information, Based on the acquired payment information, a response request is executed to give the predetermined instructions to the user. When a response instruction for the response request is received from the user, the predetermined instruction is given to the mobile body. Terminal device.

[0152] According to (10), a predetermined instruction can be given based on the payment information of the terminal device.

[0153] (11) The terminal device described in (10), The control unit, If the acquired payment information satisfies predetermined conditions, the predetermined instruction is given to the mobile body without executing the response request. Terminal device.

[0154] According to (11), if the payment information of the terminal device satisfies predetermined conditions (for example, if there is multiple payment information), a predetermined instruction is given to the mobile device without issuing a response request. This allows the user to issue a predetermined instruction without issuing a response instruction in response to a response request. As a result, the convenience of remote retrieval can be improved.

[0155] (12) A terminal device as described in any of (8) to (11), The aforementioned predetermined instruction includes an instruction to move the mobile body from the parking position to the exit position. Terminal device.

[0156] According to (12), by including a dispatch instruction in the prescribed instructions, the user can shorten the operations related to dispatch instructions.

[0157] (13) A computer that controls a mobile body (vehicle 10) capable of autonomously moving from a parking position (parking position 210) to a predetermined exit position (exit position 220), The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction (vehicle start instruction) is received after the reservation instruction, the process is executed to transition the moving body from the first state to a second state in which the moving body is moved in response to the departure instruction. Control method.

[0158] According to (13), it is possible to obtain a reservation instruction to move the mobile body before obtaining an instruction to release the mobile body. In other words, before the user calls the mobile body at a predetermined release location, for example, a reservation instruction can be received inside the vehicle while parked. This allows the user to perform the operation corresponding to the reservation instruction, which is part of the series of operations for remote release, while parked. When a reservation instruction is obtained, the mobile body is transitioned to a first state, which is a state of readiness for movement. Furthermore, when a predetermined instruction is obtained while the mobile body is in the first state, the mobile body is transitioned to a second state, which is a state in which the mobile body is moved according to the predetermined instruction.

[0159] In this way, instead of performing a series of operations for remote dispatch in a continuous manner, some operations (operations related to reservation instructions) can be accepted in advance, or some operations (prescribed instructions) can be linked to the use of external devices. As a result, when the user actually calls for a mobile vehicle, remote dispatch is possible by performing only operations related to dispatch instructions. In other words, if all of these operations were to be performed when calling for a mobile vehicle, it would take time, but since only operations related to dispatch instructions are required, the time can be significantly reduced. Therefore, compared to a configuration where all operations are performed when actually calling, the convenience of remote dispatch can be improved, and the hassle of performing remote dispatch operations for the user can be reduced.

[0160] (14) A computer that controls a mobile body (vehicle 10) capable of autonomously moving from a parking position (parking position 210) to a predetermined exit position (exit position 220), The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction (vehicle start instruction) is received after the reservation instruction, the process is executed to transition the moving body from the first state to a second state in which the moving body is moved in response to the departure instruction. Control program.

[0161] According to (14), it is possible to obtain a reservation instruction to move the mobile body before obtaining an instruction to release the mobile body. In other words, before the user calls the mobile body at a predetermined release location, for example, a reservation instruction can be received inside the vehicle while parked. This allows the user to perform the operation corresponding to the reservation instruction, which is part of the series of operations for remote release, while parked. When a reservation instruction is obtained, the mobile body is transitioned to a first state, which is a state of readiness for movement. Furthermore, when a predetermined instruction is obtained while the mobile body is in the first state, the mobile body is transitioned to a second state, which is a state in which the mobile body is moved according to the predetermined instruction.

[0162] In this way, instead of performing a series of operations for remote dispatch in a continuous manner, some operations (operations related to reservation instructions) can be accepted in advance, or some operations (prescribed instructions) can be linked to the use of external devices. As a result, when the user actually calls for a mobile vehicle, remote dispatch is possible by performing only operations related to dispatch instructions. In other words, if all of these operations were to be performed when calling for a mobile vehicle, it would take time, but since only operations related to dispatch instructions are required, the time can be significantly reduced. Therefore, compared to a configuration where all operations are performed when actually calling, the convenience of remote dispatch can be improved, and the hassle of performing remote dispatch operations for the user can be reduced.

[0163] (15) The computer of a terminal device (terminal device 60) capable of executing instructions for autonomously moving a mobile body (vehicle 10) from a parking position (parking position 210) to a predetermined exit position (exit position 220), The process involves issuing a predetermined instruction (vehicle start instruction) to the mobile body to enable autonomous movement, depending on the state of the terminal device. A method for controlling terminal devices.

[0164] According to (15), the user can give predetermined instructions to the mobile unit via a terminal device, that is, give instructions regarding remote retrieval while away from the mobile unit.

[0165] (16) The computer of a terminal device (terminal device 60) capable of executing instructions for autonomously moving the mobile body (vehicle 10) from the parking position (parking position 210) to a predetermined exit position (exit position 220), Depending on the state of the terminal device, a predetermined instruction (vehicle start instruction) is given to the mobile body to enable autonomous movement, and the process is executed. A control program for terminal devices.

[0166] According to (16), the user can give predetermined instructions to the mobile unit via a terminal device, that is, they can give instructions regarding remote retrieval while away from the mobile unit. [Explanation of symbols]

[0167] 10. Vehicles (mobile devices) 20 Control device 42 Touch panel (display unit) 54 Storage section 55 Acquisition Department 57 Mobile Unit Control Unit 59 Display Control Unit 60 Terminal devices (external devices) 61. Processor (Control unit for terminal devices) 210 Parking spot 220 Delivery position

Claims

1. A control device for controlling a mobile body that is capable of autonomously moving from a parking position to a predetermined exit position, An acquisition unit that acquires user instructions for the aforementioned moving object, The system includes a mobile body control unit that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, and the acquisition unit acquires a predetermined instruction after the reservation instruction, the moving body is transitioned from the first state to a second state in which the moving body is moved in response to the outbound instruction. Control device.

2. A control device for controlling a mobile body that is capable of autonomously moving from a parking position to a predetermined exit position, An acquisition unit that acquires user instructions for the aforementioned moving object, The system includes a mobile body control unit that controls the mobile body based on the acquired instructions, The acquisition unit is capable of acquiring a reservation instruction to move the mobile body before acquiring an exit instruction to move the mobile body parked at the parking position to the exit position. The aforementioned mobile body control unit is When the acquisition unit acquires the reservation instruction, the moving body is transitioned to a first state which is a state of preparation for movement. When the moving body is in the first state, if the acquisition unit acquires a predetermined instruction after the reservation instruction, the moving body is transitioned to a second state in which it is moved, and the moving body is moved to the exit position. Control device.

3. A control device according to claim 1 or 2, The first state is that the moving body is stationary and capable of communicating with an external device. Control device.

4. A control device according to claim 1 or 2, The second state is a state in which the mobile body is movable while the control device is activated. Control device.

5. A control device according to claim 1 or 2, A memory unit that stores map information, The system further comprises a display control unit that controls a display unit that displays predetermined information and accepts input, The display control unit, When obtaining the aforementioned reservation instruction, the system displays a map of the parking lot where the mobile vehicle is parked, based on the map information. In the aforementioned parking map, the designated predetermined location is accepted as the exit location. Control device.

6. A control device according to claim 1 or 2, The aforementioned mobile body has a storage unit that stores information about the route it has traveled in the past, The system further comprises a display control unit that controls a display unit that displays predetermined information and accepts input, The aforementioned route information stores route information including the starting and ending positions of the parking area. The display control unit, When obtaining the aforementioned reservation instruction, a parking map based on the aforementioned route information is displayed. The terminal position specified in the aforementioned parking map is accepted as the exit position. Control device.

7. A terminal device capable of issuing instructions for autonomously moving a mobile object from a parking position to a predetermined exit position, The terminal device is equipped with a control unit that controls the terminal device, The control unit, Depending on the state of the terminal device, a predetermined instruction is given to the mobile body to enable autonomous movement. Terminal device.

8. A terminal device according to claim 7, The control unit, The location information of the terminal device is acquired, Based on the location information, if the terminal device is located outside the first range from the retrieval position and within the second range, a response request for the predetermined instruction is executed to the user. When a response instruction for the response request is received from the user, the predetermined instruction is given to the mobile body. Terminal device.

9. A terminal device according to claim 8, The control unit, If the terminal device is located within the first range for a predetermined time, the predetermined instruction is given to the mobile body without executing the response request. Terminal device.

10. A terminal device according to claim 7, The control unit, The terminal device acquires payment information, Based on the acquired payment information, a response request is executed to give the predetermined instructions to the user. When a response instruction for the response request is received from the user, the predetermined instruction is given to the mobile body. Terminal device.

11. A terminal device according to claim 10, The control unit, If the acquired payment information satisfies predetermined conditions, the predetermined instruction is given to the mobile body without executing the response request. Terminal device.

12. A terminal device according to any one of claims 8 to 11, The aforementioned predetermined instruction includes an instruction to move the mobile body from the parking position to the exit position. Terminal device.

13. A computer that controls a mobile vehicle capable of autonomously moving from a parking position to a designated exit position, The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction is received after the reservation instruction, the process is executed to transition the moving body from the first state to a second state in which the moving body is moved in response to the outbound instruction. Control method.

14. A computer that controls a mobile vehicle capable of autonomously moving from a parking position to a designated exit position, The user's instructions for the moving object are obtained, Based on the acquired instructions, the moving body is controlled. Before obtaining an exit instruction to move the mobile body parked at the aforementioned parking position to the aforementioned exit position, it is possible to obtain a reservation instruction to move the mobile body. When the aforementioned reservation instruction is received, the mobile body is transitioned to a first state, which is a state of readiness for movement. When the moving body is in the first state and a predetermined instruction is received after the reservation instruction, the process is executed to transition the moving body from the first state to a second state in which the moving body is moved in response to the outbound instruction. Control program.

15. A computer in a terminal device capable of executing instructions to autonomously move a mobile object from a parking position to a designated exit position, The process involves issuing a predetermined instruction to the mobile body to enable autonomous movement, depending on the state of the terminal device, and executing the process. A method for controlling terminal devices.

16. A computer in a terminal device capable of executing instructions to autonomously move a mobile object from a parking position to a designated exit position, Depending on the state of the terminal device, a predetermined instruction is given to the mobile body to enable autonomous movement, and a process is executed. A control program for terminal devices.

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