Vehicle control device

Abstract

To provide a vehicle control apparatus capable of reducing the possibility of remote operation control being stopped although a terminal is located within a permission range.SOLUTION: A vehicle control apparatus includes: a radio receiver capable of wirelessly receiving a terminal signal transmitted by a first terminal carried by a user located outside a vehicle; and a control unit capable of executing remote operation control to move the vehicle in response to remote operation to the first terminal or a second terminal of the user located outside the vehicle. When a signal condition including a condition that the terminal signal is received is satisfied, the control unit executes the remote operation control in response to the remote operation. When the signal condition becomes unsatisfied during the execution of the remote operation control, the control unit continues the remote operation control if the unsatisfied state in which the signal condition becomes unsatisfied has not continued for a prescribed extension time. If the unsatisfied state has continued for the extension time, the control unit stops the remote operation control.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes remote operation control for moving a vehicle in response to remote operation by a user located outside the vehicle. [Background technology]

[0002] Conventionally, there have been known vehicle control devices that execute remote control. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") executes remote control to move the vehicle based on a signal related to remote control from the terminal when the terminal is located within an "allowed range of distances from the side of the vehicle from distance X1 to distance X2". When the terminal is not located within the allowed range, the conventional device stops the remote control and stops the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-86920 A Summary of the Invention

[0004] Conventional devices determine whether or not a terminal is located within a permitted range based on a signal from the terminal (terminal signal). However, depending on the surrounding environment of the permitted range, there may be areas with strong radio waves and areas with weak radio waves within the permitted range. When the terminal is located in an area with weak radio waves, the conventional device may not be able to receive the terminal signal even though the terminal is located within the permitted range. In this case, the conventional device determines that the terminal is not located within the permitted range and stops remote operation control. Such a stop of remote operation control may be annoying to the driver (user) of the vehicle.

[0005] The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a vehicle control device that can reduce the possibility that remote control is stopped even if a terminal is located within a permitted range.

[0006] The vehicle control device of the present invention (hereinafter also referred to as the "device of the present invention") is a wireless receiver (22) mounted on a vehicle (VA) and configured to wirelessly receive a terminal signal transmitted by a first terminal (23) carried by a user located outside the vehicle (VA); The user carries the device and the device accepts remote control by the user. a control unit (20, 30, 40, 50, 60) configured to be capable of executing remote operation control for moving the vehicle in response to a remote operation to a second terminal (26); Equipped with The control unit The user is located within a permitted range that is within a predetermined permitted distance from the vehicle, and If the signal condition including the condition that the terminal signal is received is satisfied (step 705 "Yes", step 720), execute the remote operation control in response to the remote operation (step 910 "Yes", step 915 "Yes", step 925); When the signal condition is no longer satisfied during the execution of the remote operation control (step 705 “No”), If the non-satisfied state, in which the signal condition is no longer satisfied, has not continued for a predetermined grace period (Text) (Step 745 "No"), determining that the user is located within the permitted range; Continue the remote operation control (step 910 "Yes", step 915 "Yes", step 925), If the non-established state continues for the grace period (step 745 "Yes"), determining that the user is located outside the permitted range; The remote control is stopped (step 750, step 910 "No", step 950); It is configured as follows: The radio receiver is configured so that a possible distance (Dkanou) at which the radio receiver can receive the terminal signal is shorter than the allowed distance.

[0007] If the first terminal is temporarily located in a "weak radio wave area" during remote operation control, the signal condition may not be met due to the temporary inability to receive the terminal signal. Even in such a case, the device of the present invention continues remote operation control unless the signal condition is not met for the grace period. Therefore, even if the signal condition is temporarily not met, the remote operation control being executed is suddenly stopped, and the possibility of the user feeling annoyed can be reduced.

[0008] In one embodiment of the device of the present invention, The user Permission The remote control is configured such that execution of the remote control control is prohibited when the remote control is outside the permissible range.

[0009] If the distance between the first terminal and the wireless receiver becomes longer than the possible distance while remote control is being executed, the wireless receiver cannot receive the terminal signal, and the signal condition is no longer satisfied. In this case, remote control is continued until the non-satisfaction state continues for the grace period. Therefore, remote control can be executed even if the possible distance is exceeded.

[0010] In the above aspect, The control unit In the remote operation control, the vehicle is driven at a preset control vehicle speed (Vc), A distance difference obtained by subtracting the possible distance from the permitted distance The grace period is set to a value obtained by dividing (ΔD) by the faster of the control vehicle speed and the walking speed (Vw) of the user. It is structured as follows.

[0011] By setting the grace period in advance based on the distance difference obtained by subtracting the possible distance from the permitted distance, the possibility that the first terminal will be located outside the permitted range when the ineffective state continues for the grace period can be reduced, and the possibility that remote operation control will be executed even if the first terminal is located outside the permitted range can be reduced.

[0012] In the above aspect, The control unit In the remote operation control, the vehicle is driven at a preset control vehicle speed (Vc), If the signal condition is satisfied (step 705 “Yes” shown in FIG. 12), a distance difference (ΔD) obtained by subtracting a terminal distance (D) between the first terminal and the wireless receiver, which is determined based on the terminal signal, from the permitted distance (Dkyoka) The grace time is set to a value obtained by dividing the control vehicle speed by the faster one of the control vehicle speed and the walking speed of the user. (Step 1220), If the signal condition is no longer satisfied (step 705 “No” shown in FIG. 12 ), it is determined whether the non-satisfied state continues for the grace period set when the signal condition was last satisfied (step 745 shown in FIG. 12 ). It is structured as follows.

[0013] When the signal condition is satisfied, the grace period is set based on the distance difference obtained by subtracting the terminal distance from the permitted distance. Then, when the signal condition is no longer satisfied, it is determined whether the non-satisfied state has continued for the "grace period set when the signal condition was last satisfied." This reduces the possibility that the first terminal is located outside the permitted range when the non-satisfied state has continued for the grace period, and further reduces the possibility that remote operation control is executed even when the first terminal is located outside the permitted range.

[0017] Books In one aspect of the inventive device, the first terminal is implemented in the second terminal.

[0018] In the above description, in order to facilitate understanding of the 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 invention is not limited to the embodiments defined by the names and / or symbols. Other objects, other features, and associated advantages of the present invention will be easily understood from the following description of the embodiments of the present invention, which will be described with reference to the drawings. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a diagram showing the permissible and possible ranges. [Diagram 3] FIG. 3 is a timing chart for explaining an outline of the operation of the present invention. [Figure 4] FIG. 4 is a sequence diagram of the electronic key, the vehicle control device, and the mobile terminal. [Figure 5A] FIG. 5A is an explanatory diagram of a start screen displayed on the mobile terminal. [Figure 5B] FIG. 5B is an explanatory diagram of a confirmation screen displayed on the mobile terminal. [Figure 5C] FIG. 5C is an explanatory diagram of an operation screen displayed on the mobile terminal. [Figure 6] FIG. 6 is a flowchart showing a response signal receiving routine executed by the CPU of the verification ECU. [Figure 7] FIG. 7 is a flowchart showing a permission condition determination routine executed by the CPU of the parking ECU. [Figure 8] FIG. 8 is a flowchart showing a start condition determination routine executed by the CPU of the parking ECU. [Figure 9] FIG. 9 is a flowchart showing a remote operation control routine executed by the CPU of the parking ECU. [Figure 10] FIG. 10 is a flowchart showing a termination condition determination routine executed by the CPU of the parking ECU. [Figure 11] FIG. 11 is a flowchart showing a response signal receiving routine executed by the CPU of the verification ECU according to the second modified example of the embodiment of the present invention. [Figure 12] FIG. 12 is a flowchart showing a permission condition determination routine executed by the CPU of the parking ECU according to the second modified example of the embodiment of the present invention. [Figure 13] FIG. 13 is a flowchart showing a permission condition determination routine executed by the CPU of the parking ECU according to the third modified example of the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] <Configuration> As shown in Fig. 1, a vehicle control device 10 according to this embodiment (hereinafter referred to as "this control device 10") is mounted (applied) to a vehicle VA. This control device 10 includes a verification ECU 20, a parking ECU 30, a drive ECU 40, a brake ECU 50, and a steering ECU 60. These ECUs 20, 30, 40, 50, and 60 are connected via a CAN (Controller Area Network) 70 so as to be able to transmit and receive data to and from each other.

[0021] ECU is an abbreviation of Electronic Control Unit, and is an electronic control circuit having a microcomputer including a CPU, ROM, RAM, and an interface as a main component. ECU may also be called a "control unit" or a "controller." The CPU realizes various functions by executing instructions (routines) stored in the memory (ROM). All or some of the above ECUs 20, 30, 40, 50, and 60 may be integrated into one ECU.

[0022] The control device 10 includes a plurality of exterior transmitting antennas 21 (21L, 21R, and 21RR), a plurality of exterior receiving antennas 22 (22L, 22R, and 22RR), and a data communication unit (hereinafter, referred to as "DCU") 23. These are connected to a verification ECU 20.

[0023] The exterior transmitting antenna 21 is an antenna for transmitting a predetermined wireless signal (e.g., a request signal) toward the outside of the vehicle VA (outside the vehicle). The exterior receiving antenna 22 is an antenna for receiving a wireless signal (e.g., a response signal) transmitted from a device located outside the vehicle. Hereinafter, the exterior receiving antenna 22 may be referred to as a "wireless receiver." As shown in Fig. 2, an exterior transmitting antenna 21L and an exterior receiving antenna 22L are disposed on the left side of the vehicle VA. An exterior transmitting antenna 21R and an exterior receiving antenna 22R are disposed on the right side of the vehicle VA. An exterior transmitting antenna 21RR and an exterior receiving antenna 22RR are disposed at the rear end of the vehicle VA. In the following, the exterior transmitting antennas 21L, 21R, and 21RR will be referred to as the "exterior transmitting antenna 21" when there is no need to distinguish one from another, and the exterior receiving antennas 22L, 22R, and 22RR will be referred to as the "exterior receiving antenna 22" when there is no need to distinguish one from another.

[0024] The electronic key 23 is a key for the vehicle VA carried by the driver (user) of the vehicle VA, and is used, for example, when locking / unlocking a door (not shown) of the vehicle VA. Hereinafter, the electronic key 23 may be referred to as a "first terminal." The electronic key 23 is configured to be capable of wireless communication with the control device 10. When the electronic key 23 receives a request signal from the vehicle VA via wireless communication, the electronic key 23 transmits a response signal via wireless communication including a key ID that is an identifier preset in the electronic key 23. When the electronic key 23 is located outside the vehicle, the electronic key 23 receives the request signal transmitted from the exterior transmitting antenna 21 when the electronic key 23 is located within the transmission range of a wireless signal from the exterior transmitting antenna 21. The exterior receiving antenna 22 receives the response signal transmitted from the electronic key 23 (hereinafter, may be referred to as a "terminal signal").

[0025] The verification ECU 20 transmits the request signal to the outside of the vehicle via the exterior transmitting antenna 21. Furthermore, the verification ECU 20 is capable of receiving a response signal from the electronic key 23. When the exterior receiving antenna 22 receives a response signal from the electronic key 23, the verification ECU 20 determines whether or not the key ID included in the received response signal matches a vehicle-specific ID, which is an identifier that is preset for the vehicle VA. That is, the verification ECU 20 performs key verification and transmits the result to the parking ECU 30 via the CAN 70.

[0026] The DCU 25 is configured to be capable of establishing a wireless connection with a mobile terminal 26 (e.g., a smartphone, a tablet terminal, etc.) which is a communication device carried by a user. The mobile terminal 26 may be referred to as a "second terminal." The DCU 25 performs data communication with the mobile terminal 26 by well-known short-range wireless communication (e.g., Bluetooth (registered trademark)).

[0027] Furthermore, the control device 10 includes a plurality of sonars 32. The sonars 32 are connected to the parking ECU 30.

[0028] The multiple sonars 32 include a front sonar, a rear sonar, a left side sonar, and a right side sonar. The front sonar, the rear sonar, the left side sonar, and the right side sonar transmit sound waves to an area in front of the vehicle VA, an area behind the vehicle VA, an area on the left side of the vehicle VA, and an area on the right side of the vehicle VA, respectively, and receive reflected waves of the sound waves reflected by objects. Each of the multiple sonars 32 transmits information (i.e., sonar data) related to the transmitted sound waves and the received reflected waves to the parking ECU 30 every time a predetermined time elapses.

[0029] The drive ECU 40 is connected to an accelerator pedal operation amount sensor 41 and a drive source actuator 42 .

[0030] The accelerator pedal operation amount sensor 41 detects an accelerator pedal operation amount AP, which is the amount of operation of the accelerator pedal 41a, and generates a signal indicative of the accelerator pedal operation amount AP. The drive ECU 40 obtains the accelerator pedal operation amount AP based on the signal generated by the accelerator pedal operation amount sensor 41.

[0031] The drive source actuator 42 is connected to a drive source (such as an electric motor or an internal combustion engine) 42a that generates a drive force applied to the vehicle VA. The drive ECU 40 changes the operating state of the drive source 42a by controlling the drive source actuator 42. This allows the drive ECU 40 to adjust the drive force applied to the vehicle VA. The drive ECU 40 controls the drive source actuator 42 so that the drive force applied to the vehicle VA increases as the accelerator pedal operation amount AP increases.

[0032] The brake ECU 50 is connected to a brake pedal operation amount sensor 51 and a brake actuator 52 .

[0033] The brake pedal operation amount sensor 51 detects a brake pedal operation amount BP, which is an operation amount of the brake pedal 51a, and generates a signal indicative of the brake pedal operation amount BP. The brake ECU 50 obtains the brake pedal operation amount BP based on the signal generated by the brake pedal operation amount sensor 51.

[0034] The brake actuator 52 is connected to a known hydraulic braking device 52a. The brake ECU 50 controls the brake actuator 52 to change the friction braking force generated by the braking device 52a. This allows the brake ECU 50 to adjust the braking force applied to the vehicle VA. The brake ECU 50 controls the brake actuator 52 so that the braking force applied to the vehicle VA increases as the brake pedal operation amount BP increases.

[0035] The steering ECU 60 is connected to a steering angle sensor 61 , a steering torque sensor 62 , and a steering motor 63 .

[0036] The steering angle sensor 61 detects the rotation angle of the steering wheel 61a from the neutral position as the steering angle θs, and generates a signal representing the steering angle θs. The steering ECU 60 obtains the steering angle θs based on the signal generated by the steering angle sensor 61.

[0037] The steering torque sensor 62 detects a steering torque Tr that represents a torque acting on a steering shaft 62a connected to the steering wheel 61a, and generates a signal that represents the steering torque Tr. The steering ECU 60 obtains the steering torque Tr based on the signal generated by the steering torque sensor 62.

[0038] The steering motor 63 is incorporated in the vehicle VA so as to be capable of transmitting "generated torque" to "a steering mechanism 63a including a steering wheel 61a, a steering shaft 62a, a steering gear mechanism, etc." The steering motor 63 generates torque according to "electric power supplied from a vehicle battery (not shown)" whose direction, magnitude, etc. are controlled by the steering ECU 60. This torque generates a steering assist torque, or steers (turns) the left and right wheels.

[0039] In normal operation, the steering ECU 60 generates a steering assist torque corresponding to the steering torque Tr by using the steering motor 63. Furthermore, when the steering ECU 60 receives a "steering command including a target steering angle" from the parking ECU 30, it controls the steering motor 63 so that the steering angle θs coincides with the "target steering angle included in the received steering command", thereby automatically steering the steered wheels.

[0040] (Overview of operation) The control device 10 executes control (hereinafter referred to as "remote operation control") to move the vehicle VA in response to an operation (hereinafter referred to as "remote operation") performed on a mobile terminal 26 of a user located outside the vehicle. It is defined (prescribed) that if the user is located outside the permission range Rkyoka (see Figure 2), which is within a predetermined permission distance Dkyoka from the vehicle VA, execution of remote control is prohibited. This provision has been introduced from the perspective that when a user is located outside the permitted range Rkyoka, it becomes difficult for the user to see the surroundings of the vehicle VA, and that there is an increased possibility that a third party may enter a vehicle VA that is being remotely controlled and steal the vehicle VA.

[0041] In this embodiment, the possible distance Dkanou, which is the distance at which the exterior receiving antenna 22 can receive the response signal transmitted by the electronic key 23, is shorter than the permitted distance Dkyoka. In other words, the possible range Rkanou at which the exterior receiving antenna 22 can receive the response signal is narrower than the permitted range Rkyoka. When a signal condition is satisfied including a condition that the exterior receiving antenna 22 has received the response signal, the control device 10 determines that the permission condition that the user is located within the permitted range Rkyoka is satisfied, and permits execution of remote operation control.

[0042] Depending on the surrounding environment, the possible range Rkanou may include a "weak area Awk (see FIG. 2) where radio waves become weak." If the electronic key 23 is located in the weak area Awk, the exterior receiving antenna 22 may not be able to receive the response signal even if the electronic key 23 is located within the permitted range Rkyoka. When such a situation occurs, the conventional device stops the remote operation control that was being executed.

[0043] To solve this problem, if the state where the exterior receiving antenna 22 does not receive a response signal (i.e., the non-satisfied state where the signal condition is not satisfied) does not continue for a predetermined grace period Text, the control device 10 determines that the permission condition is satisfied and continues the remote operation control without stopping it. On the other hand, if the non-satisfied state continues for the grace period Text, the control device 10 determines that the permission condition is not satisfied, stops the remote operation control, and executes deceleration control to stop the vehicle VA.

[0044] As a result, even if the electronic key 23 is temporarily located in the weak area Awk of the possible range Rkanou and the exterior receiving antenna 22 is temporarily unable to receive the response signal, the control device 10 can continue remote control without interrupting it, thereby preventing the user from feeling uncomfortable.

[0045] Furthermore, if the electronic key 23 is located outside the range R and the exterior receiving antenna 22 is no longer able to receive the response signal, the control device 10 continues remote control without interrupting it until the inability to receive the response signal continues for the grace period Text. This allows remote control to continue even if the user is located outside the range R.

[0046] For example, Figure 3 Prior to the time t1 shown in FIG. 1, the exterior receiving antenna 22 receives a response signal. Therefore, the control device 10 determines that the permission conditions are met and executes remote operation control. At time t1, the exterior receiving antenna 22 stops receiving a response signal, and the state changes from "a state in which the signal conditions are met" to "a state in which the signal conditions are not met." During the period from time t1 to "time t2 when the grace time Text has elapsed from time t1," the control device 10 determines that the permission conditions are met even if the exterior receiving antenna 22 does not receive a response signal, and continues remote operation control. 3 In the example shown in FIG. 1, the exterior receiving antenna 22 starts receiving the response signal again at time t3, which is before time t2, and the condition changes from not being satisfied to being satisfied. Therefore, since the condition not being satisfied does not continue for the grace period Text, the control device 10 continues to determine that the permission condition is satisfied, and continues the remote operation control.

[0047] After time t4, the vehicle exterior receiving antenna 22 stops receiving the response signal. At time t5 when the grace period Text has elapsed from time t4, the non-established state continues for the grace period Text, so the control device 10 determines that the permission condition is not established and stops remote operation control.

[0048] (Example of operation) The operations of the control device 10, the electronic key 23, and the mobile terminal 26 will be specifically described with reference to FIG. The control device 10 transmits a request signal from the vehicle exterior transmitting antenna 21 every time a predetermined time period elapses (step 402). When the electronic key 23 receives the request signal, it transmits a response signal including the key ID (step 404).

[0049] When the vehicle exterior receiving antenna 22 receives the response signal, the control device 10 performs key verification to determine whether or not the key ID matches the vehicle unique ID (step 406). If the key ID and the vehicle-specific ID match (i.e., if the key matching is successful), the control device 10 determines that the signal condition is met, and if the key ID and the vehicle-specific ID do not match (i.e., if the key matching is unsuccessful), the control device 10 determines that the signal condition is not met. In this embodiment, the signal condition is met when both the condition that a response signal is received and the condition that key matching is successful are met.

[0050] The user operates the mobile terminal 27 to start the remote operation control application (step 408). When the remote operation control application is started, the mobile terminal 27 displays the start screen 500 shown in Fig. 5A on the display 270 (see Figs. 5A to 5C) (step 410). The display 270 is a touch panel type display device.

[0051] 5A, the start screen 500 includes a slide operation area 502. In the initial state of the start screen 500, an operation display element 504 is located at the left end of the slide operation area 502. When the user slides the operation display element 504 to the right end of the slide operation area 502, the mobile terminal 26 transmits a target position request signal to the DCU 25 (step 412).

[0052] When the control device 10 receives the target position request signal, it determines a target stopping position and a target route based on the sonar data (step 414). The target stopping position is the target position of the vehicle VA in remote operation control, and the vehicle speed Vs becomes zero when the vehicle VA reaches the target stopping position. The target route is a route through which the midpoints of the left and right rear wheels of the vehicle VA pass in remote operation control.

[0053] After that, the control device 10 transmits a confirmation request signal to the mobile terminal 26 (step 416). The confirmation request signal includes image data related to a confirmation image. The confirmation image is an image that represents the positional relationship between the vehicle VA and the target stopping position and the target route.

[0054] When the mobile terminal 27 receives the confirmation request signal, it displays the confirmation screen 510 shown in Fig. 5B on the display 270. As shown in Fig. 5B, the confirmation screen 510 includes a stop position display area 512 and a long press button 514. The above-mentioned confirmation image is displayed in the stop position display area 512. When the user looks at the confirmation image displayed in the stop position display area 512 and agrees with the target stop position and the target route, the user touches the long press button 514. When the long press button 514 is touched for a predetermined time or longer, the mobile terminal 26 determines that a predetermined start operation has been performed, and transmits an acknowledgement signal (start signal) to the DCU 25 (step 420).

[0055] When the DCU 25 receives the confirmation response signal (start signal), the control device 10 determines that a predetermined start condition is satisfied and starts remote operation control (step 422). When a start operation is performed on the confirmation screen 510, the mobile terminal 26 displays an operation screen 520 (see FIG. 5C) on the display 270 (step 424). As shown in FIG. 5C, the operation screen 520 includes an operation area 522. When the user performs an operation to change the touch position in the operation area 522 (remote operation), the mobile terminal 26 continues to transmit an operation signal to the DCU 25 every time a predetermined time elapses (step 426).

[0056] Once the control device 10 starts remote operation control, as long as the permission conditions are met and an operation signal is received, the control device 10 continues to drive the vehicle VA along the target route until the vehicle VA reaches the target stopping position. When the vehicle VA reaches a deceleration start position, which is a position along the target route a predetermined distance before the target stopping position, the control device 10 starts to decelerate the vehicle VA and stops the vehicle VA at the target stopping position.

[0057] In addition, if the state in which the signal condition is no longer satisfied continues for the grace time Text, the control device 10 determines that the permission condition is not satisfied and performs deceleration control to decelerate the vehicle VA to stop it (i.e., stops remote operation control).

[0058] When the control device 10 determines that the vehicle VA has reached the target stopping position (step 428), it transmits an end signal to the mobile terminal 26 (step 430). When the mobile terminal 26 receives the end signal, it displays an end screen (not shown) on the display 270. When an OK button (not shown) on the end screen is operated, the mobile terminal 26 ends the remote operation control application.

[0059] (Specific operation) <Response signal receiving routine> The CPU of the verification ECU 20 (hereinafter, when referred to as the "first CPU", unless otherwise specified, refers to the CPU of the verification ECU 20) executes a response signal receiving routine shown in the flowchart of FIG. 6 every time a predetermined time has elapsed.

[0060] Therefore, at a predetermined timing, the first CPU starts processing from step 600 in FIG. 6, proceeds to step 605, and determines whether or not a response signal has been received from the electronic key 23 during the period from the previous time this routine was executed to the current time.

[0061] If a response signal has been received during the above period, the first CPU determines "Yes" in step 605, and proceeds to step 610. In step 610, the first CPU determines whether the key ID matches the vehicle unique ID.

[0062] If the key ID matches the vehicle-specific ID, the first CPU determines "Yes" in step 610 and proceeds to step 615. In step 615, the first CPU transmits a reception notification including ID match information indicating that the key ID and the vehicle-specific ID match to the parking ECU 30. After that, the first CPU proceeds to step 695 and temporarily ends this routine.

[0063] On the other hand, if the key ID does not match the vehicle unique ID, the first CPU determines "No" in step 610 and proceeds to step 620. In step 620, the first CPU transmits a reception notification including ID mismatch information indicating that the key ID and the vehicle unique ID do not match to the parking ECU 30. After that, the first CPU proceeds to step 695 and temporarily ends this routine.

[0064] If the first CPU has not received a response signal during the above period when it proceeds to step 605, the first CPU determines "No" in step 605, proceeds to step 695, and temporarily ends this routine.

[0065] <Permission condition determination routine> The CPU of the parking ECU 30 (hereinafter, when it is written as "second CPU", it means the CPU of the parking ECU 30 unless otherwise specified) executes the permission condition determination routine shown in the flowchart of FIG. 7 every time a predetermined time has elapsed.

[0066] Therefore, at a predetermined timing, the second CPU starts processing from step 700 in FIG. 7, proceeds to step 705, and determines whether or not a reception notification has been received from the verification ECU 20 during the period from the time this routine was last executed to the current time.

[0067] If a reception notification is received during the above period, the second CPU determines "Yes" in step 705, and proceeds to step 710. In step 710, the second CPU determines whether or not the received reception notification includes ID matching information.

[0068] If the reception notification includes ID matching information, the second CPU determines that the signal condition is satisfied. In this case, the second CPU determines "Yes" in step 710 and proceeds to step 715. In step 715, the second CPU determines whether the value of the permission flag Xkyoka is "0".

[0069] The value of the permission flag Xkyoka is set to "0" when the permission conditions are not met, and is set to "1" when the permission conditions are met. The value of the permission flag Xkyoka is set to "0" in an initial routine. The initial routine is executed by the second CPU when an ignition switch (not shown) is changed from the OFF position to the ON position.

[0070] If the value of the permission flag Xkyoka is "0", the second CPU determines "Yes" in step 715 and executes steps 720 and 725 in this order. Step 720: The second CPU sets the value of the permission flag Xkyoka to “1”. Step 725: The second CPU sets the value of the grace timer TMext to “0”. The grace timer TMext is a timer for counting the "time during which the permission condition is not satisfied" during the period in which the permission condition is satisfied. After executing step 725, the second CPU proceeds to step 795 and temporarily ends this routine.

[0071] If the value of the permission flag Xkyoka is "1" when the second CPU proceeds to step 715, the second CPU determines "No" in step 715 and executes step 725. After that, the second CPU proceeds to step 795 and temporarily ends this routine.

[0072] If the second CPU has not received the reception notification when it proceeds to step 705, the exterior receiving antenna 22 has not received a response signal, and therefore the signal condition is not satisfied. In this case, the second CPU determines "No" in step 705 and proceeds to step 730. In step 730, the second CPU determines whether the value of the permission flag Xkyoka is "1".

[0073] If the value of the permission flag Xkyoka is "1", the second CPU determines "Yes" in step 730 and proceeds to step 735. In step 735, the second CPU determines whether the value of the execution flag Xexe is "1" or not. The value of the execution flag Xexe is set to "1" when the start condition of the remote operation control is met, and is set to "0" when the end condition of the remote operation control is met.

[0074] If the value of the execution flag Xexe is "0", the second CPU determines "No" in step 735 and executes steps 740 and 745 in this order. Step 740: The second CPU adds "1" to the delay timer TMext. Step 745: The second CPU judges whether or not the value of the delay timer TMext is equal to or greater than the threshold value TMth. The threshold value TMth is preset to a value such that the non-established state continues for the grace time Text when the value of the grace timer TMext reaches the threshold value TMth.

[0075] If the value of the grace timer TMext is less than the threshold value TMth, that is, if the unestablished state has not continued for the grace time Text, the second CPU judges "No" in step 745, proceeds to step 795, and temporarily ends this routine.

[0076] On the other hand, if the value of the grace timer TMext is equal to or greater than the threshold value TMth, that is, if the non-established state continues for the grace time Text, the second CPU determines "Yes" in step 745 and proceeds to step 750. In step 750, the second CPU sets the value of the permission flag Xkyoka to "0" and sets the value of the out-of-range timer TMg to "0", then proceeds to step 795 and ends this routine. The out-of-range timer TMg is a timer for counting the time that has elapsed since the permission conditions were no longer satisfied.

[0077] If the value of the execution flag Xexe is "1" when the second CPU proceeds to step 735, the second CPU determines "Yes" in step 735 and proceeds to step 755. In step 755, the second CPU transmits a first out-of-range notification command from the DCU 25 to the portable terminal 27. Thereafter, the second CPU executes the processes from step 740 onwards. Upon receiving the first out-of-range notification command, the portable terminal 27 displays a message on the display 270 saying "Please get closer to the vehicle."

[0078] If the value of the permission flag Xkyoka is "0" when the second CPU proceeds to step 730, the second CPU determines "No" in step 730, proceeds to step 795, and temporarily ends this routine.

[0079] If the reception notification does not include ID match information when the second CPU proceeds to step 710 (i.e., if the reception notification includes ID mismatch information), the second CPU determines that the signal condition is not satisfied. In this case, the second CPU determines “No” in step 710 and proceeds to step 730.

[0080] <Start condition determination routine> The second CPU executes a start condition determination routine shown in the flowchart of FIG. 8 every time a predetermined time elapses.

[0081] Therefore, at a predetermined timing, the second CPU starts the process from step 800 in FIG. 8, and proceeds to step 805 to determine whether the value of the execution flag Xexe is "0" or not.

[0082] If the value of the execution flag Xexe is "0", the second CPU judges "Yes" in step 805 and proceeds to step 810. In step 810, the second CPU judges whether the value of the permission flag Xkyoka is "1". If the value of the permission flag Xkyoka is "0", the second CPU judges "No" in step 810 and proceeds to step 895 to temporarily end this routine.

[0083] If the value of the permission flag Xkyoka is "1", the second CPU determines "Yes" in step 810 and proceeds to step 815. In step 815, the second CPU determines whether or not a start condition is met, that is, the DCU 25 has received an acknowledgment signal.

[0084] If the start condition is not satisfied, the second CPU judges "No" in step 815, proceeds to step 895, and temporarily ends this routine. On the other hand, if the start condition is satisfied, the second CPU judges "Yes" in step 815, and proceeds to step 820. In step 820, the second CPU sets the value of the execution flag Xexe to "1". After that, the second CPU proceeds to step 895, and temporarily ends this routine.

[0085] If the value of the execution flag Xexe is "1" when the second CPU proceeds to step 805, the second CPU determines "No" in step 805, proceeds to step 895, and temporarily ends this routine.

[0086] <Remote Control Routine> The second CPU executes a remote operation control routine shown in the flowchart of FIG. 9 every time a predetermined time elapses.

[0087] 9, and proceeds to step 905. In step 905, the second CPU determines whether the value of the execution flag Xexe is "1." If the value of the execution flag Xexe is "0," the second CPU determines "No" in step 905, proceeds to step 995, and temporarily ends this routine.

[0088] If the value of the execution flag Xexe is "1", the second CPU determines "Yes" in step 905 and proceeds to step 910. In step 910, the second CPU determines whether the value of the permission flag Xkyoka is "1" or not.

[0089] If the value of the permission flag Xkyoka is "1", the second CPU determines "Yes" in step 910 and proceeds to step 915. In step 915, the second CPU determines whether or not the DCU 25 has received an operation signal during the period from the time this routine was last executed to the current time.

[0090] If the DCU 25 receives an operation signal during the above period, the second CPU determines "Yes" in step 915, and executes steps 920 and 925 in this order. Step 920: The second CPU sets the value of the no-operation timer TMn to "0". The no-operation timer TMn is a timer for counting the time during which no operation is performed on the operation area 522 after the start of remote operation control (hereinafter, referred to as the "no-operation time"). Step 925: The second CPU executes driving control so that the vehicle VA drives along the target route at a preset control vehicle speed Vc. Thereafter, the second CPU proceeds to step 995 and temporarily ends this routine.

[0091] The driving control will be specifically described. The second CPU acquires a vehicle speed Vs representing the current speed of the vehicle VA from a vehicle speed sensor (not shown), and if the vehicle VA has not reached a predetermined deceleration start position, calculates a target acceleration Gt for making the vehicle speed Vs coincide with the above-mentioned control vehicle speed Vc. The second CPU transmits the target acceleration Gt to the drive ECU 40 and the brake ECU 50. The deceleration start position is a position a predetermined distance before the target stop position. When the vehicle VA reaches the target stop position, deceleration is started at a predetermined first deceleration so that the vehicle VA stops when it reaches the target stop position. Therefore, if the vehicle VA has reached the deceleration start position, the second CPU transmits the first deceleration as the target acceleration Gt to the drive ECU 40 and the brake ECU 50.

[0092] The drive ECU 40 controls the drive source actuator 42 so that the acceleration G of the vehicle VA coincides with the received target acceleration Gt, and the brake ECU 50 controls the brake actuator 52 based on the received target acceleration Gt. The acceleration of the vehicle VA is obtained by differentiating the vehicle speed Vs with respect to time.

[0093] Furthermore, the second CPU calculates a target steering angle for the vehicle VA to travel along the target route, and transmits the target steering angle to the steering ECU 60. The steering ECU 60 controls the steering motor 63 so that the steering angle θs coincides with the target steering angle.

[0094] When the second CPU proceeds to step 915 and the DCU 25 has not received an operation signal during the above period, the second CPU determines “No” in step 915 and executes steps 930 to 940 .

[0095] Step 930: The second CPU adds "1" to the value of the no-operation timer TMn. Step 935 : The second CPU transmits an operation notification command from the DCU 25 to the mobile terminal 27 . When mobile terminal 27 receives the operation notification command, mobile terminal 27 displays a message above operation area 522 of operation screen 520 displayed on display 270 saying, "Tap the operation area with your finger and continue to move your finger. Remote operation control will end shortly."

[0096] Step 940: The second CPU executes deceleration control to decelerate the vehicle VA at a predetermined second deceleration. The magnitude of the second deceleration is preferably set in advance to a value smaller than the magnitude of the first deceleration, but the magnitude of the second deceleration may be set to the same value as the magnitude of the first deceleration. Thereafter, the second CPU proceeds to step 995 and temporarily ends this routine.

[0097] If the value of the permission flag Xkyoka is "0" when the second CPU proceeds to step 910, the start condition has not been satisfied for the grace period Text since it was satisfied. In this case, the second CPU determines "No" in step 910 and executes steps 945 and 950 in this order. Step 945: The second CPU adds “1” to the value of the out-of-range timer TMg. Step 950: The second CPU transmits a second out-of-range notification command from the DCU 25 to the portable terminal 27. Upon receiving the second out-of-range notification command, the portable terminal 27 displays a message on the display 270 saying "Please approach the vehicle. Remote operation control will end soon." After executing step 950, the second CPU proceeds to step 940 to execute the above-mentioned deceleration control, and then proceeds to step 995 to temporarily end this routine.

[0098] <Termination condition determination routine> The second CPU executes, every time a predetermined time elapses, an end condition determination routine shown in the flowchart of Fig. 10. The end condition is met when any one of the following conditions 1 to 3 is met. Condition 1: The vehicle VA reaches the target stopping position. Condition 2: The value of the no-operation timer TMn is equal to or greater than the no-operation threshold value TMnth. Condition 3: The value of the out-of-range timer TMg is equal to or greater than the out-of-range threshold TMgth.

[0099] 10, and proceeds to step 1005. In step 1005, the second CPU determines whether the value of the execution flag Xexe is "1." If the value of the execution flag Xexe is "0," the second CPU determines "No" in step 1005, proceeds to step 1095, and temporarily ends this routine.

[0100] If the value of the execution flag Xexe is "1", the second CPU determines "Yes" in step 1005 and proceeds to step 1010. In step 1010, the second CPU determines whether the vehicle VA has reached the target stopping position. More specifically, the second CPU determines that the vehicle VA has reached the target stopping position when the current position of the vehicle VA on the target route specified based on the vehicle speed Vs and the steering angle θs coincides with the target stopping position.

[0101] When the vehicle VA reaches the target stop position (that is, when the above condition 1 is satisfied), the second CPU judges "Yes" in step 1010 and executes steps 1015 and 1020 in this order. Step 1015: The second CPU sets the value of the execution flag Xexe to “0”. Step 1020: The second CPU activates a parking brake actuator (not shown) and changes the shift position to the parking position. When the parking brake actuator is activated, a frictional braking force is applied to the wheels, thereby maintaining the vehicle VA at a standstill. Thereafter, the second CPU proceeds to step 1095 and temporarily ends this routine.

[0102] When the second CPU proceeds to step 1010, if the vehicle VA has not yet reached the target stop position, the second CPU determines "No" in step 1010 and proceeds to step 1025. In step 1025, the second CPU determines whether the value of the no-operation timer TMn is equal to or greater than a predetermined no-operation threshold Tnth.

[0103] If the value of the no-operation timer TMn is less than the no-operation threshold TMnth, the second CPU determines "No" in step 1025 and proceeds to step 1030. In step 1030, the second CPU determines whether the value of the out-of-range timer TMg is equal to or greater than a predetermined out-of-range threshold TMgth.

[0104] If the value of the out-of-range timer TMg is less than the out-of-range threshold TMgth, the second CPU determines "No" in step 1030, proceeds to step 1095, and temporarily ends this routine.

[0105] When the second CPU proceeds to step 1025, if the value of the no-operation timer TMn is equal to or greater than the no-operation threshold value TMnth (i.e., if the above condition 2 is satisfied), the second CPU determines "Yes" in step 1025 and executes steps 1015 and 1020. After that, the second CPU proceeds to step 1095 and temporarily ends this routine.

[0106] When the second CPU proceeds to step 1030, if the value of the out-of-range timer TMg is equal to or greater than the out-of-range threshold value TMgth (i.e., if the above condition 3 is satisfied), the second CPU determines "Yes" in step 1030 and executes steps 1015 and 1020. After that, the second CPU proceeds to step 1095 and temporarily ends this routine.

[0107] As described above, according to the present control device 10, even if the signal conditions are not satisfied (step 705 "No", step 710 "No"), if the unsatisfied state has not continued for the grace time Text (step 745 "No"), the value of the permission flag Xkyoka is maintained at "1". As a result, when the signal conditions are no longer satisfied, the value of the permission flag Xkyoka is immediately set to "0", and deceleration control is executed (step 910 "No", step 940), thereby preventing the remote operation control from being stopped.

[0108] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0109] (First Modification) The second CPU of the vehicle control device 10 according to the first modification sets the grace time Text (that is, the threshold value TMth) in advance as follows.

[0110] The second CPU obtains the distance difference ΔD by subtracting the possible distance Dkanou (see FIG. 2) from the allowed distance Dkyoka (see FIG. 2).

[0111] The second CPU obtains a required time Tn that indicates the time required to travel the distance difference ΔD by dividing the distance difference ΔD by the faster of the control vehicle speed Vc and the walking speed Vw. The second CPU presets the grace period Text to a predetermined value equal to or less than the required period Tn.

[0112] This reduces the possibility that the electronic key 23 is located outside the permission range when the non-established state continues for the grace time Text because the electronic key 23 is located outside the permission range. Therefore, it reduces the possibility that the vehicle control device 10 determines that the permission condition is established and executes remote operation control even when the electronic key 23 is located outside the permission range.

[0113] For example, under the following assumptions, the grace period Text is set to 2.0 seconds. Permitted distance Dkyoka: 6.0m Possible distance: 3.0m Control vehicle speed Vc: 0.55 m / s Walking speed Vw: 1.1m / s

[0114] In this case, the distance difference ΔD is 3.0 m, and the walking speed Vw is faster than the control vehicle speed Vc. Therefore, the required time Tn is 2.7 s (= 3.0 / 1.1). The grace period Texet is set to 2.0 s, which is less than 2.7 s.

[0115] (Second Modification) The vehicle control device 10 of the second modified example obtains the distance D (hereinafter sometimes referred to as the “terminal distance”) from the vehicle VA of the electronic key 23 (more specifically, the location of the exterior receiving antenna 22) based on the response signal, and sets the grace period Text (i.e., the threshold value Tmth) based on the distance D.

[0116] <Response signal receiving routine> The first CPU of the verification ECU 20 of the second modified example executes a response signal receiving routine shown in FIG. 11 instead of the response signal receiving routine shown in FIG. 6 every time a predetermined time has elapsed. In FIG. 11, steps that perform the same processes as the steps shown in FIG. 6 are given the same reference numerals as those used in FIG. 6, and the description thereof will be omitted.

[0117] At a predetermined timing, the first CPU starts the process from step 1100 shown in Fig. 11, and proceeds to step 605 shown in Fig. 11. If the exterior receiving antenna 22 has not received a response signal, the first CPU determines "No" in step 605 shown in Fig. 11, proceeds to step 1195, and temporarily ends this routine.

[0118] If the vehicle exterior receiving antenna 22 receives a response signal, the first CPU judges "Yes" in step 605 shown in FIG. 11, and proceeds to step 610 shown in FIG. If the key ID and the vehicle unique ID do not match, the first CPU determines "No" in step 610 shown in Fig. 11, and transmits a reception notification including ID mismatch information in step 620 shown in Fig. 11. After that, the first CPU proceeds to step 1195 and temporarily ends this routine.

[0119] If the key ID and the vehicle unique ID match, the first CPU judges "Yes" in step 610 shown in FIG. 11, and executes steps 1105 and 1110 in this order.

[0120] Step 1105: The first CPU determines the distance D based on the radio wave intensity of the response signal. Step 1110: The first CPU transmits a reception notification including the ID match information and the “distance information indicating the distance D” to the parking ECU 30. Thereafter, the first CPU proceeds to step 1195 and temporarily ends this routine.

[0121] The second CPU of the parking ECU 30 of the second modified example executes the permission condition determination routine shown in FIG. 12 instead of the permission condition determination routine shown in FIG. 7 every time a predetermined time has elapsed, and executes the routines shown in FIG. 8 to FIG. 10 every time a predetermined time has elapsed. In FIG. 12, steps that perform the same processes as the steps shown in FIG. 7 are given the same reference numerals as those used in FIG. 7, and the description thereof will be omitted.

[0122] <Permission condition determination routine> At a predetermined timing, the second CPU starts the process from step 1200 shown in Fig. 12 and proceeds to step 705 shown in Fig. 12. When a reception notification is received and the received reception notification includes ID matching information, the second CPU judges "Yes" at step 705 shown in Fig. 12 and step 710 shown in Fig. 12. After that, if the value of the permission flag Xkyoka is "0", the second CPU sets the value of the permission flag Xkyoka to "1" at step 720 shown in Fig. 12, and then sets the value of the grace timer TMext to "0" at step 725 shown in Fig. 12. If the value of the permission flag Xkyoka is "1", the second CPU proceeds to step 725 shown in Fig. 12.

[0123] After executing step 725 shown in FIG. 12, the second CPU executes steps 1205 to 1220 in order. Step 1205: The second CPU identifies the distance D indicated by the distance information included in the reception notification, and stores the identified distance D in the RAM of the parking ECU 30. Specifically, the RAM has a plurality of distance storage areas for storing the distances D, and the second CPU overwrites the distance storage area in which the oldest distance D is stored with the distance D identified in step 1205. Step 1210: The second CPU obtains a distance difference ΔD by subtracting the above distance D from the permitted distance Dkyoka. Step 1215: The second CPU obtains the required time Tn by dividing the distance difference ΔD by the faster one of the control vehicle speed Vc and the walking speed Vw. Step 1220: The second CPU sets a threshold value TMth so that the grace time Text is a predetermined value equal to or less than the required time Tn, and stores the threshold value TMth in the RAM of the parking ECU 30. Specifically, one threshold value storage area for storing the threshold value TMth is set in the RAM, and the second CPU overwrites the threshold value TMth set in step 1220 in the threshold value storage area of ​​the RAM. Thereafter, the second CPU proceeds to step 1295 and temporarily ends this routine.

[0124] If the second CPU judges "No" in step 705 shown in Fig. 12, or if the second CPU judges "No" in step 710 shown in Fig. 12, the second CPU proceeds to the processing of step 730 and subsequent steps shown in Fig. 12. When the second CPU proceeds to step 745 shown in Fig. 12, the second CPU reads the threshold value TMth from the threshold value storage area of ​​the RAM, and judges whether the value of the grace timer TMext is equal to or greater than the read threshold value TMth.

[0125] In step 1215, the second CPU may obtain the relative speed of the electronic key 23 with respect to the vehicle VA based on the distances D stored in multiple distance storage areas of the RAM, and obtain the required time Tn by dividing the distance difference ΔD by this relative speed.

[0126] According to the second modification, the grace period Text is set based on the distance D from the electronic key 23 to the vehicle VA, which reduces the possibility that the electronic key 23 will be located outside the permission range Rkyoka when the invalid state continues for the grace period Text. This further reduces the possibility that remote operation control will be performed even when the electronic key 23 is located outside the permission range.

[0127] (Third Modification) The permissible range Rkyoka in the third modified example is narrower than the possible range Rkanou. That is, the receivable distance Dkanou of the exterior receiving antenna 22 in the third modified example is longer than the permissible distance Dkyori.

[0128] When the signal condition is met, the vehicle control device 10 of the third variant sets the value of the distance flag Xkyoka to "1" if the distance D determined based on the response signal is less than or equal to the permitted distance Dkyoka, and sets the value of the distance flag Xkyoka to "0" if the distance D is longer than the permitted distance Dkyoka.

[0129] Furthermore, when the signal condition is no longer satisfied, the vehicle control device 10 of the third variant immediately sets the value of the permission flag Xkyoka to "0" if the distance D determined based on the last response signal when the signal condition was satisfied is equal to or greater than a threshold distance Dth that is shorter than the permission distance Dkyoka, regardless of whether the non-satisfied state has continued for the grace time Text.

[0130] The first CPU of the verification ECU 20 of the third modified example executes the response signal receiving routine shown in FIG. 11 every time a predetermined time elapses. The second CPU of the parking ECU 30 of the third modified example executes the permission condition determination routine shown in FIG. 13 instead of the permission condition determination routine shown in FIG. 7 every time a predetermined time has elapsed, and executes the routines shown in FIG. 8 to FIG. 10 every time a predetermined time has elapsed. In FIG. 13, steps that perform the same processes as the steps shown in FIG. 7 are given the same reference numerals as those used in FIG. 7, and the description thereof will be omitted.

[0131] <Permission condition determination routine> At a predetermined timing, the second CPU starts the process from step 1300 shown in Fig. 13, and proceeds to step 705 shown in Fig. 13. If the signal condition is met (if a reception notification is received and the received reception notification includes ID matching information), the second CPU judges "Yes" at step 705 shown in Fig. 13, and judges "Yes" at step 710 shown in Fig. 13. After that, the second CPU executes step 1305 and step 1310 in order.

[0132] Step 1305: The second CPU stores the distance D indicated by the distance information included in the reception notification in the RAM of the parking ECU 30. Specifically, one distance storage area for storing the distance D is set in the RAM, and the second CPU overwrites the distance D specified in step 1305 in the distance storage area. Step 1310: The second CPU determines whether or not the distance D is equal to or less than the permitted distance Dkyoka.

[0133] If the distance D is equal to or less than the permissible distance Dkyoka, the second CPU judges "Yes" in step 1310, and proceeds to the processing of step 715 and subsequent steps shown in FIG. On the other hand, if the distance D is longer than the permitted distance Dkyoka, the second CPU determines "No" in step 1310, proceeds to step 750 shown in Fig. 13, sets the value of the permission flag Xkyoka to "0", and sets the value of the out-of-range timer TMg to "0". After that, the second CPU proceeds to step 1395 and temporarily ends this routine.

[0134] If the signal condition is not satisfied, the second CPU judges "No" in either step 705 or step 710 shown in Fig. 13, and proceeds to step 730 shown in Fig. 13. If the value of the permission flag Xkyoka is "0", the second CPU judges "No" in step 730 shown in Fig. 13, proceeds to step 1395, and temporarily ends this routine.

[0135] If the value of the permission flag Xkyoka is "1", the second CPU judges "Yes" in step 730 shown in Fig. 13 and proceeds to step 1315. In step 1315, the second CPU obtains the distance D specified based on the last response signal for which the signal condition was satisfied (i.e., the distance D stored in the distance storage area of ​​the RAM), and judges whether the distance D is equal to or smaller than a predetermined threshold distance Dth. The threshold distance Dth is preset to a value shorter than the permission distance Dkyoka.

[0136] If the distance D is equal to or less than the threshold distance Dth, the second CPU judges "Yes" in step 1315 and proceeds to the processing of step 735 and subsequent steps shown in Fig. 13. If the non-established state continues for the grace time Text, the second CPU sets the value of the permission flag Xkyoka to "0" and sets the value of the out-of-range timer TMg to "0". After that, the second CPU proceeds to step 1395 and ends this routine.

[0137] If the distance D is longer than the threshold distance Dth, the second CPU determines "No" in step 1315, and proceeds to step 750 shown in Fig. 13 regardless of whether the non-established state continues for the grace time Text. In this step 750, the second CPU sets the value of the permission flag Xkyoka to "0" and sets the value of the out-of-range timer TMg to "0". After that, the second CPU proceeds to step 1395 and temporarily ends this routine.

[0138] According to the third modification, when the permitted range Rkyoka is narrower than the possible range Rkanou, it is possible to reduce the possibility that remote control will be suspended even if the electronic key 23 is located in the weak area Awk within the permitted range Rkyoka.

[0139] Furthermore, when the signal condition is no longer satisfied and the distance D determined based on the last response signal for which the signal condition was satisfied is longer than the threshold distance Dth, the value of the permission flag Xkyoka is set to "0" regardless of whether the unsatisfied state continues for the grace time Text. This reduces the possibility that remote control is executed even when the electronic key 23 is located outside the permission range Rkyoka.

[0140] (Fourth Modification) In the above embodiment, the remote operation control is described as "control for moving the vehicle VA along the target route to the target stopping position in response to the user's remote operation," but the remote operation control is not limited to this. For example, the remote operation control may be control for moving the vehicle VA forward or updating the vehicle VA in response to the user's remote operation.

[0141] (Fifth Modification) In the above embodiment, the user performed remote control by operating the operation area 522 of the operation screen 520 displayed on the mobile terminal 26, but the user may perform remote control on the electronic key 23. For example, the electronic key 23 is equipped with a touch panel display, and the user may perform operations in the operation area 522 of the operation screen 520 displayed on this display.

[0142] Furthermore, the functions of the electronic key 23 may be implemented in the mobile terminal 26. When the mobile terminal 26 receives a request signal, it transmits a response signal (terminal signal). In this case, the request signal may be transmitted from the DCU 25, and the response signal may be received by the DCU 25.

[0143] (Sixth Modification) The number and arrangement positions of the vehicle exterior transmitting antennas 21 and the vehicle exterior receiving antennas 22 are not limited to those in the above embodiment.

[0144] (Seventh Modification) The vehicle control device 10 can be mounted on vehicles such as an engine vehicle, a hybrid vehicle (HEV: Hybrid Electric Vehicle), a plug-in hybrid electric vehicle (PHEV: Plug-in Hybrid Electric Vehicle), a fuel cell electric vehicle (FCEV: Fuel Cell Electric Vehicle), and an electric vehicle (BEV: Battery Electric Vehicle). [Explanation of symbols]

[0145] 10...vehicle control device, 20...verification ECU, 22...exterior receiving antenna, 23...electronic key, 25...DCU, 26...mobile terminal, 30...parking ECU, 40...driving ECU, 50...brake ECU, 60...steering ECU.

Claims

1. A wireless receiver configured to wirelessly receive a terminal signal transmitted by a first terminal carried by a user located outside the vehicle and mounted on the vehicle; a control unit configured to execute remote operation control for moving the vehicle in response to the remote operation of a second terminal carried by the user and accepting remote operations from the user; Equipped with The control unit When a signal condition is satisfied, the signal condition includes a condition that the user is located within an allowable range, which is within a predetermined allowable distance from the vehicle, and the user receives the terminal signal, and the remote operation control is executed in response to the remote operation. When the signal condition is no longer satisfied during the execution of the remote operation control, If the non-satisfied state, in which the signal condition is no longer satisfied, has not continued for a predetermined grace period, it is determined that the user is located within the permitted range, and the remote operation control is continued; If the non-established state continues for the grace time, it is determined that the user is located outside the permitted range, and the remote operation control is stopped. It is configured as follows: The wireless receiver is configured to make a possible distance at which the wireless receiver can receive the terminal signal shorter than the permitted distance. Vehicle control device.

2. The vehicle control device according to claim 1, The execution of the remote operation control is prohibited when the user is located outside the permitted range. Vehicle control device.

3. The vehicle control device according to claim 2, The control unit In the remote operation control, the vehicle is driven at a preset control vehicle speed, a distance difference obtained by subtracting the possible distance from the permitted distance and dividing the distance difference by an earlier one of the control vehicle speed and the walking speed of the user, the divided value being set as the grace time; It was configured as follows: Vehicle control device.

4. The vehicle control device according to claim 2, The control unit In the remote operation control, the vehicle is driven at a preset control vehicle speed, When the signal condition is satisfied, a distance difference obtained by subtracting a terminal distance, which is a distance between the first terminal and the wireless receiver specified based on the terminal signal, from the permitted distance is divided by an earlier one of the control vehicle speed and the walking speed of the user, and the divided value is set as the grace time; when the signal condition is no longer satisfied, it is determined whether or not the non-satisfied state continues for a grace time period that was set when the signal condition was last satisfied. configured to Vehicle control device.

5. In the vehicle control device according to claim 1, The first terminal is implemented in the second terminal. Vehicle control device.

Images