Vehicle control device

Abstract

To provide a technology that can reduce a possibility of a side mirror coming into contact with an object when performing remote parking support control.SOLUTION: A vehicle control device includes a second controller that stores operation information indicating whether or not a predetermined operation to transition a side mirror from an open state to a closed state has been performed by a user, and calculates this information as a travel route from a current vehicle position to a target position, which is the position at a completion of an exit, in response to a request from a mobile device to start the exit, so as to execute parking support control. The second controller prohibits a first controller from executing an automatic side mirror deployment process if the predetermined operation is performed at a start of the parking support control.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes parking assist control. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there have been proposed vehicle control devices that execute parking assistance control so that the vehicle moves to a target area that is set according to the surrounding conditions of the vehicle (see, for example, Patent Document 1).

[0003] Furthermore, a vehicle control system (hereinafter referred to as a "conventional system") has also been proposed that executes parking assist control when the driver has got out of the vehicle. This type of control is also referred to as "remote parking assist control." The remote parking assist control includes a number of modes, including, for example, a parking mode and an exit mode. The parking mode is a mode for parking a vehicle. The exit mode is a mode for moving a parked vehicle out (to a driving path). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-040517 A Summary of the Invention

[0005] However, there are cases where the distance between a parked vehicle (own vehicle) and an object (another vehicle, a wall, etc.) existing around the own vehicle is small. Assume that the conventional system executes remote parking assistance control in the leaving mode. The conventional system first changes the engine start switch (ignition switch) to the on state, thereby starting the drive source (internal combustion engine) of the vehicle. When the engine start switch is changed to the on state, the side mirrors of the vehicle automatically change from a closed state to an open state. If the vehicle attempts to move onto the road in this state, there is a risk that the side mirrors will come into contact with an object. Furthermore, in the remote parking assistance control, since the driver has dismounted from the vehicle, the driver cannot operate a specified switch to return the side mirrors to the closed state.

[0006] An object of the present invention is to provide a technique that can reduce the possibility of a side mirror coming into contact with an object when remote parking assist control in pulling out mode is executed.

[0007] In one or more embodiments, the vehicle control device comprises: a switch (24) that is changed from an off state to an on state when a user starts driving a vehicle (VA) and that is changed from the on state to the off state when the user ends driving the vehicle; a first control device (60) that executes an automatic deployment process for automatically transitioning side mirrors (61L, 61R) of the vehicle from a closed state to an open state when the switch is changed from the off state to the on state; a storage unit (10e) configured to store operation information (Xa) indicating whether or not a predetermined operation (62) for transitioning the side mirror from the open state to the closed state has been performed by the user; In response to a start request from a portable device (110), a route along which the vehicle can be moved from a current position of the vehicle to a target position, which is the position of the vehicle when the vehicle has been taken out of the garage, is calculated as a moving route (MP); a second control device (10) that executes parking assistance control so that the vehicle moves along the movement path; Equipped with. The second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, Prohibiting the first control device from executing the automatic deployment process It is structured as follows.

[0008] The above configuration provides the following effects. It is assumed that the user performs a predetermined operation when the vehicle is parked to transition the side mirror from an open state to a closed state. The driver operates the portable device to send a start request to the second control device. In this case, the second control device prohibits the first control device from executing the automatic deployment process. Therefore, the vehicle moves along the travel path with the side mirror remaining in the closed state. This reduces the possibility of the side mirror coming into contact with an object (another vehicle, a wall, etc.).

[0009] In one or more embodiments, the second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, Calculating the travel path so that the vehicle moves only forward or backward. It is structured as follows.

[0010] According to the above configuration, the vehicle does not turn while the parking assist control is being executed, which further reduces the possibility of the side mirror coming into contact with an object (another vehicle, a wall, etc.).

[0011] In one or more embodiments, the second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, The movement path is calculated so that a magnitude of a steering angle of the vehicle during execution of the parking assist control is equal to or smaller than a predetermined steering angle threshold value. It is structured as follows.

[0012] According to the above configuration, the degree of turning of the vehicle is reduced while the parking assist control is being executed, which further reduces the possibility of the side mirror coming into contact with an object (another vehicle, a wall, etc.).

[0013] In one or more embodiments, the second control device is configured to cause the first control device to execute the automatic deployment process after the parking assistance control is terminated.

[0014] According to the above configuration, the automatic deployment process is executed after the vehicle has left the garage, so the side mirrors will not come into contact with objects (other vehicles, walls, etc.). Furthermore, when the driver gets into the vehicle and starts driving the vehicle, there is no need to transition the state of the side mirrors from a closed state to an open state. This saves the driver time and improves convenience.

[0015] In one or more embodiments, the first and second control devices may each be implemented by a microprocessor programmed to perform one or more functions described herein. In one or more embodiments, the first and second control devices may each be implemented in whole or in part by hardware configured by one or more application specific integrated circuits, i.e., ASICs. In the above description, in order to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are added in parentheses to the configurations of the invention corresponding to those embodiments. However, each component of the present invention is not limited to the embodiments defined by the names and / or symbols. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic configuration diagram of a vehicle control system according to an embodiment of the present invention. [Diagram 2] 13 is an example of a situation in which parking assist control in an exit mode is executed. [Diagram 3] 13 is an example of a situation in which parking assist control in an exit mode is executed. [Figure 4] 4 is a flowchart showing a "leaving mode execution routine" executed by the parking assist ECU. [Diagram 5] 13 is an example of a situation in which parking assist control in an exit mode is executed. [Figure 6] 13 is an example of a situation in which parking assist control in an exit mode is executed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] <Configuration> As shown in FIG. 1, the vehicle control system according to this embodiment includes a vehicle control device 100 mounted on (applied to) a vehicle VA, and a portable device 110.

[0018] The vehicle control device 100 includes a parking assist ECU 10, an engine ECU 20, a brake ECU 30, a Shift-by-Wire (SBW) ECU 40, an electric power steering ECU (hereinafter referred to as the "EPS ECU") 50, and a body ECU 60. These ECUs are connected to each other via a Controller Area Network (CAN) 90 so as to be able to transmit and receive data to and from each other.

[0019] ECU is an abbreviation of Electronic Control Unit, and is an electronic control circuit having a microcomputer including a CPU, ROM, RAM, interface, non-volatile memory, etc. as a main component. The CPU realizes various functions by executing instructions (routines, programs) stored in the ROM. For example, the parking assistance ECU 10 is equipped with a microcomputer including a CPU 10a, ROM 10b, RAM 10c, interface (I / F) 10d, non-volatile memory 10e, etc.

[0020] The engine ECU 20 is connected to an engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of a throttle valve of an internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to the driving wheels via a transmission 23 and a driving force transmission mechanism. Therefore, the engine ECU 20 can control the driving force of the vehicle VA by controlling the engine actuator 21.

[0021] The state of the internal combustion engine 22 is changed in response to the operation of an engine start switch 24. The engine start switch 24 may be referred to as an "ignition switch (IG switch)" or a "vehicle start switch". Hereinafter, the engine start switch 24 will be simply referred to as the "start switch 24".

[0022] The start switch 24 is a switch operated by a driver (user) when the driver starts or ends driving the vehicle VA. Each time the start switch 24 is pressed, the state of the start switch 24 alternates between an on state and an off state. The state of the drive source of the vehicle VA (in this example, the internal combustion engine 22) is changed according to the state of the start switch 24. When starting to drive the vehicle VA, the driver presses the start switch 24 to change the state of the start switch 24 from an off state to an on state. This starts the internal combustion engine 22. When ending the driving of the vehicle VA, the driver presses the start switch 24 to change the state of the start switch 24 from an on state to an off state. This stops the internal combustion engine 22.

[0023] If the vehicle VA is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the driving source. Furthermore, if the vehicle VA is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the driving source.

[0024] If the vehicle VA is a hybrid vehicle or an electric vehicle, when the start switch 24 is turned on, the wiring connecting the battery mounted on the vehicle and the electric motor is changed from a disconnected state to a connected state. This starts the electric motor as a drive source. On the other hand, when the start switch 24 is turned off, the wiring is changed from a connected state to a disconnected state. This stops the electric motor.

[0025] The brake ECU 30 is connected to a brake actuator 31. The brake actuator 31 includes a known hydraulic circuit. The hydraulic circuit includes a reservoir, an oil pump, various valve devices, and the like. The brake actuator 31 adjusts the hydraulic pressure (i.e., braking pressure) supplied to the wheel cylinder 32 in response to an instruction from the brake ECU 30. The frictional braking force generated on the wheel changes in response to the braking pressure. Therefore, the brake ECU 30 can control the braking force of the vehicle VA by controlling the brake actuator 31.

[0026] The SBW ECU 40 is connected to an SBW actuator 41. The SBW ECU 40 controls the SBW actuator 41 based on the position of a shift lever (not shown). The SBW actuator 41 controls a shift switching mechanism 42 in response to an instruction from the SBW ECU 40 to switch the shift position of the transmission 23 to one of a plurality of shift positions.

[0027] In this example, the shift positions include at least a parking position in which no driving force is transmitted to the drive wheels and the vehicle VA is mechanically locked in a stopped position, a neutral position in which no driving force is transmitted to the drive wheels and the vehicle VA is not mechanically locked in a stopped position, a forward position in which a driving force is transmitted to the drive wheels to move the vehicle VA forward, and a reverse position in which a driving force is transmitted to the drive wheels to move the vehicle VA backward.

[0028] The EPS·ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is incorporated in a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the wheels by rotating the steering wheel SW. The steering mechanism 52 includes a steering wheel SW, a steering shaft US connected to the steering wheel SW, and a steering gear mechanism (not shown). The EPS·ECU 50 detects the steering torque input to the steering wheel SW by the driver using a steering torque sensor (not shown) provided on the steering shaft US, and drives the assist motor 51 based on this steering torque. The EPS·ECU 50 applies a steering torque (steering assist torque) to the steering mechanism 52 by driving the assist motor 51, thereby assisting the steering operation of the driver.

[0029] In addition, when the EPS·ECU 50 receives a steering command from the parking assist ECU 10 while executing parking assist control described below, the EPS·ECU 50 drives the assist motor 51 based on the steering torque specified by the steering command. This steering torque is different from the above-mentioned steering assist torque and represents a torque applied to the steering mechanism 52 by the steering command from the parking assist ECU 10 without requiring the driver to perform a steering operation. This torque changes the steering angle of the steered wheels of the vehicle VA (i.e., the steering angle).

[0030] The body ECU 60 is connected to the left and right side mirrors 61L and 61R of the vehicle VA and a side mirror switch 62. The side mirror switch 62 is provided near the driver's seat (for example, inside the driver's door). The side mirror switch 62 is a switch for transitioning (switching) the state of the side mirrors 61L and 61R between an open state and a closed state. The "open state" is a state in which the mirror surface of the side mirror stands upright against the side of the vehicle body and faces the rear of the vehicle VA, and may also be called the "unfolded state." When the side mirrors 61L and 61R are in the open state, the driver can check the situation behind the vehicle VA through the side mirrors 61L and 61R. The "closed state" is a state in which the mirror surface of the side mirror is approximately parallel to the side of the vehicle body and faces the vehicle body side of the vehicle VA, and may also be called the "stored state." When the side mirrors 61L and 61R are in the closed state, the side mirrors 61L and 61R do not stand upright relative to the sides of the vehicle body, thereby reducing the possibility of the side mirrors 61L and 61R coming into contact with objects (other vehicles, walls, etc.).

[0031] When the driver presses the side mirror switch 62 while the side mirrors 61L and 61R are in the open state, the state of the side mirrors 61L and 61R transitions from the open state to the closed state. On the other hand, when the driver presses the side mirror switch 62 while the side mirrors 61L and 61R are in the closed state, the state of the side mirrors 61L and 61R transitions from the closed state to the open state.

[0032] When the state of the start switch 24 is changed from the OFF state to the ON state (i.e., the internal combustion engine 22 starts), the body ECU 60 automatically changes the state of the side mirrors 61L and 61R from the closed state to the open state. Such processing is hereinafter referred to as "automatic side mirror deployment processing."

[0033] The parking assistance ECU 10 is connected to a surrounding sensor 70. The surrounding sensor 70 is configured to acquire vehicle surrounding information. The vehicle surrounding information includes information about objects present around the vehicle VA and information about dividing lines on the road surface around the vehicle VA. The objects include, for example, moving objects such as automobiles, pedestrians, and bicycles, and fixed objects such as guardrails and fences. For example, the surrounding sensor 70 includes a plurality of ultrasonic sensors 71 and a plurality of cameras 72.

[0034] The ultrasonic sensor 71 transmits ultrasonic waves in a pulsed manner to a predetermined range around the vehicle VA and receives the reflected waves reflected by an object. The ultrasonic sensor 71 can detect the "reflection point, which is the point on the object where the transmitted ultrasonic waves are reflected," the "distance between the ultrasonic sensor and the object," and the like, based on the time from transmission to reception of the ultrasonic waves.

[0035] The camera 72 is a digital camera incorporating an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The camera 72 acquires image data of the surroundings of the vehicle VA (including the positions and shapes of objects and the positions and shapes of demarcation lines) and outputs the image data to the parking assistance ECU 10.

[0036] The parking assistance ECU 10 receives vehicle surroundings information from the surroundings sensor 70 every time a predetermined time dT elapses. Based on the vehicle surroundings information, the parking assistance ECU 10 detects an "area where no objects exist" that is an area around the vehicle VA. If the area where no objects exist has a size and shape that allows the vehicle VA to leave (or park) with ease, the parking assistance ECU 10 determines the area as an "exit possible area (or parking possible area)".

[0037] Furthermore, the parking assistance ECU 10 is connected to a communication unit 80. The communication unit 80 includes an "antenna unit and a communication processing unit" (not shown). The communication unit 80 is configured to be able to transmit and receive information to and from the portable device 110 through wireless communication. The portable device 110 is a portable terminal operated by the driver, and is, for example, a smartphone. The portable device 110 may be another device (for example, a tablet terminal) as long as it is carried by the driver. The portable device 110 includes a CPU, a ROM, a RAM, an interface, and the like.

[0038] An application for parking assist control (hereinafter referred to as "parking application") is installed in the portable device 110. The parking assist control is a well-known control that automatically moves the vehicle VA to a target area set according to the surrounding situation of the vehicle VA. When the driver performs a predetermined operation on the parking application, the portable device 110 transmits a signal (hereinafter referred to as "start request") instructing the start of parking assist control to the communication unit 80. The start request includes information on the assistance mode. The assistance mode includes a parking mode and an exit mode. The parking mode is a mode for parking the vehicle VA. The exit mode is a mode for exiting the parked vehicle VA (moving it to a driving path). Since the parking mode is not directly related to the vehicle control device according to this embodiment, a description of the parking mode will be omitted hereinafter. When the parking assist ECU 10 receives the start request from the portable device 110 via the communication unit 80, the parking assist ECU 10 starts the parking assist control according to the assistance mode (in this example, the exit mode) included in the start request.

[0039] <Parking Assist Control in Exit Mode> When the parking assist ECU 10 receives the start request, it changes the state of the start switch 24 from the OFF state to the ON state, whereby the internal combustion engine 22 starts.

[0040] Next, the parking assistance ECU 10 determines an area that the body of the vehicle VA will occupy when the vehicle VA moves to the exit area as a "target area." Furthermore, the parking assistance ECU 10 sets the position of the vehicle VA when the movement of the vehicle VA to the target area is completed (i.e., the exit of the vehicle VA is completed) as a target position. The target position here is the position to which the center position of the vehicle VA should reach in a plan view.

[0041] The parking assistance ECU 10 calculates a movement path MP along which the vehicle VA moves from the current position to the target position. The movement path MP is a path along which the vehicle VA can move from the current position to the target position while keeping a predetermined distance or more between the body of the vehicle VA and objects (other vehicles, curbs, guardrails, etc.). The parking assistance ECU 10 calculates the movement path MP according to one of various known calculation methods (for example, the method proposed in JP 2015-3565 A).

[0042] Next, the parking assist ECU 10 determines movement assistance information for moving the vehicle VA along the movement path MP. The movement assistance information includes the movement direction of the vehicle VA (specifically, the shift position of the transmission 23), the steering angle pattern, and the speed pattern.

[0043] The parking assist ECU 10 transmits a shift control command to the SBW·ECU 40 via the CAN 90 in accordance with the determined shift position. When the SBW·ECU 40 receives a shift control command from the parking assist ECU 10, it drives the SBW actuator 41 to change the shift position of the transmission 23 to a position specified by the shift control command (i.e., executes shift control).

[0044] The steering angle pattern is data that associates the position of the vehicle VA on the travel path MP with the steering angle of the steering wheels, and represents the change in steering angle when the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a steering command (including a target steering angle) to the EPS·ECU 50 via the CAN 90 in accordance with the steering angle pattern. When the EPS·ECU 50 receives a steering command from the parking assist ECU 10, it drives the assist motor 51 based on the steering torque specified by the steering command to make the actual steering angle coincide with the target steering angle (i.e., it executes steering angle control).

[0045] The speed pattern is data that associates the position of the vehicle VA on the travel path MP with the target speed of the vehicle VA, and represents the change in the speed of the vehicle VA when the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a driving force control command to the engine ECU 20 via the CAN 90 in accordance with the speed pattern. When the engine ECU 20 receives a driving force control command from the parking assist ECU 10, the engine ECU 20 controls the engine actuator 21 in response to the driving force control command (i.e., executes driving force control). Furthermore, the parking assist ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 in accordance with the speed pattern. When the brake ECU 30 receives a braking force control command from the parking assist ECU 10, the brake ECU 30 controls the brake actuator 31 in response to the braking force control command (i.e., executes braking force control).

[0046] As described above, the parking assist ECU 10 is capable of executing parking assist control (remote parking assist control) for moving the vehicle VA from the current position to a target position when the driver has got out of the vehicle VA.

[0047] <Overview of operation> There are cases where the distance between the parked vehicle VA and objects (other vehicles, walls, etc.) around the vehicle VA is small. In this situation, in many cases, when the driver parks the vehicle VA, he or she operates the side mirror switch 62 to transition the side mirrors 61L and 61R from the open state to the closed state. It is assumed that the driver then operates the portable device 110 to cause the vehicle control device 100 to execute parking assistance control in the leaving mode. When the start switch 24 is changed to the on state, the automatic unfolding process of the side mirrors is executed. If the vehicle VA attempts to move to the driving path with the side mirrors 61L and 61R still in the open state, there is a risk that the side mirrors 61L and 61R will come into contact with objects (other vehicles, walls, etc.).

[0048] Therefore, the parking assist ECU 10 in this embodiment stores operation information (in this example, operation flag Xa) related to the side mirror switch 62 in the non-volatile memory 10e. The operation flag Xa is a flag indicating whether or not the driver has performed an operation (operation of the side mirror switch 62) to transition the side mirrors 61L and 61R from an open state to a closed state. When the value of the operation flag Xa is "1", this indicates that the side mirrors 61L and 61R are in a closed state, and more specifically, this indicates that the driver has performed an operation (operation of the side mirror switch 62) to transition the side mirrors 61L and 61R from an open state to a closed state. When the value of the operation flag Xa is "0", this indicates that the side mirrors 61L and 61R are in an open state.

[0049] When the body ECU 60 detects an operation of the side mirror switch 62, it transmits the information to the parking assist ECU 10 via the CAN 90. The parking assist ECU 10 changes the value of the operation flag Xa in the non-volatile memory 10e in response to the operation of the side mirror switch 62.

[0050] When the driver performs an operation to transition the side mirrors 61L and 61R from the open state to the closed state, the parking assist ECU 10 sets the operation flag Xa to "1."

[0051] On the other hand, when the driver performs an operation to transition the side mirrors 61L and 61R from the closed state to the open state, the parking assist ECU 10 sets the operation flag Xa to "0." Note that even when the automatic unfolding process of the side mirrors is executed, the parking assist ECU 10 sets the operation flag Xa to "0."

[0052] The parking assist ECU 10 refers to the value of the operation flag Xa in the non-volatile memory 10e when starting the parking assist control in the leaving mode. When the value of the operation flag Xa is "1", this indicates that the driver performed an operation to transition the side mirrors 61L and 61R from the open state to the closed state when the vehicle VA was parked. Since the driver intentionally transitions the side mirrors 61L and 61R from the open state to the closed state, it is highly likely that the distance between the parked vehicle VA and an object present around the vehicle VA is small. Therefore, when the value of the operation flag Xa is "1" when starting the parking assist control in the leaving mode, the parking assist ECU 10 prohibits the body ECU 60 from executing the automatic unfolding process of the side mirrors.

[0053] In the example of FIG. 2, the vehicle VA is parked between the first other vehicle OV1 and the second other vehicle OV2. The interval between the vehicle VA and the first other vehicle OV1 and the interval between the vehicle VA and the second other vehicle OV2 are small. The driver operates the side mirror switch 62 when the vehicle VA is parked to transition the side mirrors 61L and 61R from the open state to the closed state. Therefore, the parking assistance ECU 10 sets the operation flag Xa to "1". After that, the driver operates the portable device 110 to cause the vehicle control device 100 to execute parking assistance control in the leaving mode. In this case, since the value of the operation flag Xa is "1", the parking assistance ECU 10 prohibits the body ECU 60 from executing the automatic unfolding process of the side mirrors. The parking assistance ECU 10 moves the vehicle VA along the movement path MP with the side mirrors 61L and 61R in the closed state. According to this configuration, the possibility that the side mirrors 61L and 61R will come into contact with the other vehicles OV1 and OV2 can be reduced.

[0054] In the example of FIG. 3, the vehicle VA is parked adjacent to the third other vehicle OV3. The distance between the vehicle VA and the third other vehicle OV3 is relatively large, and therefore the driver does not operate the side mirror switch 62 when the vehicle VA is parked. The side mirrors 61L and 61R remain open. Therefore, the operation flag Xa is "0." The driver operates the portable device 110 to cause the vehicle control device 100 to execute parking assistance control in the leaving mode. In this case, the parking assistance ECU 10 moves the vehicle VA along the movement path MP with the side mirrors 61L and 61R remaining open.

[0055] <Activation> Next, a description will be given of the operation of the CPU 10a (simply referred to as "CPU") of the parking assist ECU 10. The CPU executes a "leaving mode execution routine" shown in the flowchart of FIG. 4 every time a predetermined time dT has elapsed.

[0056] The CPU acquires vehicle surroundings information from the surroundings sensor 70 by executing a routine (not shown) every time a predetermined time dT elapses.

[0057] At a predetermined timing, the CPU starts processing from step 400 in FIG. 4 and proceeds to step 401 to determine whether the value of the execution flag Xb is "0". When the value of the execution flag Xb is "0", this indicates that parking assistance control in the leaving mode is not being executed. When the value of the execution flag Xb is "1", this indicates that parking assistance control in the leaving mode is being executed. The value of the execution flag Xb is set to "0" when the state of the start switch 24 is changed from the on state to the off state after the vehicle VA is parked.

[0058] Now, assume that the vehicle VA is parked and the value of the execution flag Xb is "0." The CPU judges "Yes" in step 401 and proceeds to step 402 to judge whether or not a start request has been received from the portable device 110. If a start request has not been received, the CPU judges "No" in step 402 and proceeds directly to step 495 to temporarily end this routine.

[0059] Now, assuming that a start request has been received, the CPU determines "Yes" in step 402 and proceeds to step 403 to determine whether a predetermined execution condition is met. The execution condition is met when both the following condition A1 and condition A2 are met. The following conditions A1 and A2 are examples, and the execution condition may further include other conditions. (Condition A1) The position of the shift lever is the parking position (P). (Condition A2) The CPU detects an exit possible area in which the vehicle VA can move, based on the vehicle surroundings information.

[0060] If the execution condition is not satisfied, the CPU determines "No" in step 403 and proceeds directly to step 495, where the routine ends for the time being. In this case, the CPU may transmit a display command to the mobile device 110. Upon receiving the display command, the mobile device 110 displays on the parking application that the parking assistance control in the leaving mode cannot be executed.

[0061] On the other hand, if the execution condition is met, the CPU judges “Yes” in step 403 and sequentially performs the processes of steps 404 and 405 described below.

[0062] Step 404: The CPU changes the state of the start switch 24 to the on state, whereby the internal combustion engine 22 starts. Step 405: The CPU sets the value of the execution flag Xb to “1”.

[0063] Next, in step 406, the CPU determines whether the value of the operation flag Xa is "1". If the value of the operation flag Xa is "1", the CPU sequentially performs the processes of steps 407 to 410 described below. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0064] Step 407: The CPU prohibits the body ECU 60 from executing the automatic unfolding process of the side mirrors. Step 408: The CPU determines an area that the vehicle body of the vehicle VA will occupy when the vehicle VA is moved relative to the possible exit area as a target area. The CPU sets a target position within the target area. The CPU then calculates a moving path MP for moving the vehicle VA from the current position to the target position. Step 409: The CPU determines travel assistance information (specifically, the shift position, steering angle pattern, and speed pattern of the transmission 23) for moving the vehicle VA along the travel route MP. Step 410: The CPU executes parking assist control in the leaving mode. Specifically, the CPU executes shift control by sending a shift control command to the SBW·ECU 40 according to the determined shift position. The CPU executes steering angle control by sending a steering command to the EPS·ECU 50 according to the steering angle pattern. The CPU executes driving force control by sending a driving force control command to the engine ECU 20 according to the speed pattern. Furthermore, the CPU executes braking force control by sending a braking force control command to the brake ECU 30 according to the speed pattern. Therefore, the vehicle VA moves along the movement path MP with the side mirrors 61L and 61R remaining in the closed state.

[0065] On the other hand, if the value of the operation flag Xa is not "1" in step 406, the CPU determines "No" in that step 406 and executes the above-mentioned processing of steps 408 to 410. Therefore, the vehicle VA moves along the movement path MP with the side mirrors 61L and 61R remaining in the open state.

[0066] After the CPU starts parking assist control in the leaving mode, it starts the routine of FIG. 4 again. When the CPU proceeds to step 401, the CPU judges "No" and proceeds to step 411. The CPU judges whether a predetermined end condition is satisfied. The end condition is satisfied when the vehicle VA reaches the target position. If the end condition is not satisfied, the CPU judges "No" in step 411 and executes the processing of step 410 as described above. That is, the CPU continues parking assist control. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0067] On the other hand, if the end condition is satisfied when the CPU proceeds to step 411, the CPU determines "Yes" in step 411 and sequentially performs the processes of steps 412 and 413 described below. After that, the CPU proceeds to step 495 and temporarily ends this routine.

[0068] Step 412: The CPU executes a predetermined end process. Specifically, the CPU stops the vehicle VA at the target position by braking force control. Furthermore, the CPU transmits a display command to the mobile device 110. Upon receiving the display command, the mobile device 110 displays on the parking application that the parking assistance control in the leaving mode has ended. Step 413: The CPU sets the value of the execution flag Xb to “0”.

[0069] The above configuration has the following effects. It is assumed that the driver operates the side mirror switch 62 when the vehicle VA is parked to transition the side mirrors 61L and 61R from an open state to a closed state. The driver operates the portable device 110 to cause the vehicle control device 100 to execute parking assistance control in the leaving mode. In this case, automatic unfolding processing of the side mirrors is prohibited. As a result, the vehicle VA moves along the movement path MP with the side mirrors 61L and 61R remaining in the closed state. The possibility of the side mirrors 61L and 61R coming into contact with objects (other vehicles, walls, etc.) can be reduced.

[0070] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0071] (Variation 1) FIG. 5 shows the same situation as FIG. 2. When the value of the operation flag Xa is "1", the CPU may calculate the movement path MP in step 408 as follows. The CPU may calculate the movement path MP so that the vehicle VA moves only forward or backward. With this configuration, the vehicle VA does not turn while the parking assist control is being executed. Therefore, the possibility of the side mirrors 61L and 61R coming into contact with the other vehicles OV1 and OV2 can be further reduced.

[0072] (Variation 2) FIG. 6 shows the same situation as FIG. 2. When the value of the operation flag Xa is "1", the CPU may calculate the movement path MP in step 408 as follows. The CPU may calculate the movement path MP so that the magnitude (absolute value) of the steering angle of the vehicle VA during execution of parking assist control is equal to or smaller than a predetermined steering angle threshold value θth. With this configuration, the degree of turning of the vehicle VA during execution of parking assist control is reduced. The possibility of the side mirrors 61L and 61R coming into contact with the other vehicles OV1 and OV2 can be further reduced.

[0073] (Variation 3) The CPU may further execute the following processing in step 412. The CPU causes the body ECU 60 to execute automatic unfolding processing of the side mirrors. With this configuration, the automatic unfolding processing of the side mirrors is executed after the parking assistance control is ended (i.e., the vehicle VA has completed leaving the parking lot). The side mirrors 61L and 61R do not come into contact with objects (other vehicles, walls, etc.). Furthermore, the driver does not need to operate the side mirror switch 62 when getting into the vehicle VA and starting to drive the vehicle VA. This does not require the driver to take any effort, thereby improving convenience. [Explanation of symbols]

[0074] 10...parking assist ECU, 20...engine ECU, 30...brake ECU, 40...SBW·ECU, 50...EPS·ECU, 60...body ECU, 61L and 61R...side mirrors, 62...side mirror switch, 70...surrounding sensor, 80...communication unit, 100...vehicle control device, 110...portable device.

Claims

1. a switch that is changed from an off state to an on state when a user starts driving a vehicle, and that is changed from the on state to the off state when the user ends driving the vehicle; a first control device that executes an automatic deployment process for automatically transitioning a side mirror of the vehicle from a closed state to an open state when the switch is changed from the off state to the on state; a storage unit that stores operation information indicating whether a predetermined operation for transitioning the side mirror from the open state to the closed state has been performed by the user; In response to a start request from a portable device, calculate, as a movement route, a route along which the vehicle can be moved from a current position of the vehicle to a target position, which is the position of the vehicle when the vehicle has been taken out of the garage; a second control device that executes parking assistance control so that the vehicle moves along the movement path; Equipped with The second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, The first control device is prohibited from executing the automatic deployment process. It was configured as follows: Vehicle control device.

2. The vehicle control device according to claim 1, The second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, Calculating the travel path so that the vehicle moves only forward or backward. It was configured as follows: Vehicle control device.

3. The vehicle control device according to claim 1, The second control device, at the time of starting the parking assist control, When the operation information indicates that the predetermined operation has been performed, The movement path is calculated so that a magnitude of a steering angle of the vehicle during execution of the parking assist control is equal to or smaller than a predetermined steering angle threshold value. It was configured as follows: Vehicle control device.

4. The vehicle control device according to claim 1, The second control device is configured to cause the first control device to execute the automatic deployment process after the parking assistance control is terminated. Vehicle control device.

Images