Control device and mobile unit

Abstract

To provide a control device which enables a user to easily select a desired candidate position image, even when a plurality of candidate position images are disposed while overlapping with each other.SOLUTION: An operation determination part 74 receives operation of selecting a candidate position image indicating a parking possible position set as a target parking position, among a plurality of candidate position images displayed on a touch panel 42. When the plurality of candidate position images are displayed while overlapping with each other, and one candidate position image among the plurality of candidate position images is selected, in the case where operation for an operation effective region on the display screen of the touch panel 42 is performed, the operation determination part 74 changes the candidate position image that is an object to be selected to other candidate position image. The operation effective region is a region including the plurality of candidate position images.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control device and a moving object equipped with the control device. [Background technology]

[0002] In recent years, there has been a demand for improving traffic safety to make cities and human settlements inclusive, safe, resilient, and sustainable. From the viewpoint of improving traffic safety, development of driving support technology and autonomous driving technology for moving objects (e.g., vehicles) is underway. For example, the following Patent Document 1 discloses a technology in which a surrounding image generated based on the imaging results of an imaging unit provided in a vehicle is displayed on a display device that is a touch panel, and a first symbol representing a parking area in which a vehicle can be parked is displayed on the surrounding image, and when a position corresponding to the first symbol is touched, parking in the parking area represented by the first symbol is supported. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-203214 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, multiple candidate positions that are candidates for the target position are detected around a moving body that is moving by automatic steering toward a target position specified by a user, and as a result, when candidate position images indicating each candidate position are displayed overlapping each other, it can become difficult for the user to select (specify) the desired candidate position image, leaving room for improvement in terms of improving operability.

[0005] The present invention provides a control device that makes it easy for a user to select a desired candidate location image even when multiple candidate location images are displayed overlapping each other, thereby improving operability, and a mobile body equipped with the control device. [Means for solving the problem]

[0006] The first invention is, A control device for controlling a display device mounted on a moving body that moves by automatic steering to a target position designated by a user, The control device includes: a display control unit that displays, when a candidate position that is a candidate for the target position is detected based on a detection result of an external sensor provided in the moving object, a candidate position image indicating the candidate position on the display device; a reception unit that receives an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images when the plurality of candidate position images are displayed on the display device; Equipped with the reception unit, when an operation is performed on an operation effective area on a display screen while the plurality of candidate position images are displayed overlapping each other and one of the plurality of candidate position images is selected, changes the candidate position image to be selected to another of the plurality of candidate position images, The operation effective area is an area including the plurality of candidate position images. What? , a rectangular area including the plurality of candidate location images, the upper end, the lower end, the right end, and the left end of the operation effective area respectively coincide with the upper end, the lower end, the right end, and the left end of the plurality of candidate position images; It is a control device.

[0007] The second invention relates to a control device according to the first invention, The display device; The external sensor; Equipped with Move to the target position by automatic steering. It is a mobile object. Effect of the Invention

[0008] According to the present invention, it is possible to provide a control device that makes it easy for a user to select a desired candidate location image even when multiple candidate location images are displayed overlapping each other, thereby improving operability, and a mobile body equipped with the control device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle equipped with a control device according to an embodiment; [Diagram 2] FIG. 2 is a diagram showing an example of a possible parking position. [Diagram 3] 11 is a flowchart showing an example of a parking assistance screen that is displayed when a possible parking position has not been detected. [Figure 4] FIG. 13 is a diagram showing an example of a parking assistance screen that is displayed when a plurality of possible parking positions are detected and none of the candidate position images are selected. [Diagram 5] 13 is a diagram showing an example of a parking assistance screen that is displayed when a plurality of possible parking positions are detected and one of the candidate position images is selected. FIG. [Figure 6] 5 is a flowchart showing an example of a display control process executed by the control device while parking assistance is being performed. [Figure 7] FIG. 1 is a diagram (part 1) showing an example of an overhead image and an effective operation area. [Figure 8] FIG. 2 is a diagram (part 2) showing an example of an overhead image and an effective operation area. [Figure 9] FIG. 11 is a diagram (part 3) showing an example of an overhead image and an effective operation area. [Figure 10] FIG. 4 is a diagram showing an example of an overhead image and an effective operation area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the control device of the present invention and a moving body equipped with the control device will be described in detail with reference to the drawings. Hereinafter, an embodiment in which the moving body of the present invention is a vehicle will be described. In this specification and the like, in order to simplify and clarify the description, the front / rear, left / right, and up / down directions are described according to the directions as seen by the driver of the vehicle. In addition, in the following, the same or similar elements are denoted by the same or similar reference symbols, and the description thereof may be omitted or simplified as appropriate.

[0011] [vehicle] The vehicle 10 of this embodiment is an automobile having a drive source, and wheels including drive wheels driven by the power of the drive source and steerable wheels (neither of which is shown). For example, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels may be a steerable wheel, or both of them may be steerable wheels.

[0012] The vehicle 10 is configured to be able to move to a target position designated by a user by automatic steering. For example, a parking position where the vehicle 10 can be parked may be set as the target position. That is, the vehicle 10 is configured to be able to park at a parking position designated by the user by automatic steering. In addition, at this time, the vehicle 10 moves to the parking position designated by the user by a parking pattern corresponding to the parking position (i.e., the target position) from among a plurality of types of parking patterns. Here, the parking pattern defines the movement mode of the vehicle 10 to the parking position (i.e., the target position). For example, the above-mentioned plurality of types of parking patterns may include a forward parking pattern in which the vehicle 10 is forward-parked to a parking position that is a target position, a backward parking pattern in which the vehicle 10 is backward-parked to a parking position that is a target position, and a parallel parking pattern in which the vehicle 10 is parallel-parked to a parking position that is a target position. The forward parking pattern is an example of a first movement pattern, the backward parking pattern is an example of a second movement pattern, and the parallel parking pattern is an example of a third movement pattern.

[0013] The parking patterns corresponding to the respective possible parking positions are set in advance, for example, in a control device (e.g., the control device 20 described below) that controls the vehicle 10. This setting may be performed, for example, by the manufacturer of the vehicle 10, or by the user of the vehicle 10 (e.g., passengers in the vehicle 10 including the driver; hereinafter, also simply referred to as the "user"). In addition, the control device that controls the vehicle 10 may appropriately derive and set the parking pattern corresponding to the possible parking position based on the image analysis results of the scenery around the possible parking position, etc.

[0014] As shown in FIG. 1, a vehicle 10 includes a sensor group 16, a navigation device 18, a control device 20, an EPS system (electric power steering system) 22, a communication unit 24, a driving force control system 26, and a braking force control system 28.

[0015] The sensor group 16 acquires various detection values ​​related to the vehicle 10 or the surroundings of the vehicle 10. The detection values ​​acquired by the sensor group 16 are provided for, for example, parking assistance for the vehicle 10. Here, parking assistance is parking the vehicle 10 at a parking position designated by the user by automatic steering. For example, parking assistance includes a step of detecting parking positions at which the vehicle 10 can be parked, a step of displaying (i.e., presenting to the user) the detected parking positions, a step of setting the parking position as a target position (hereinafter also referred to as a "target parking position") when any of the displayed parking positions is selected by the user, and a step of moving the vehicle 10 to the set target parking position by automatic steering (i.e., parking the vehicle 10 at the target parking position by automatic steering).

[0016] The sensor group 16 includes a front camera 30a, a rear camera 30b, a left side camera 30c, a right side camera 30d, a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. These cameras and sonar groups can function as external sensors that obtain information about the surroundings of the vehicle 10.

[0017] The front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d output image data of surrounding images obtained by capturing images of the surroundings of the vehicle 10 to the control device 20. The surrounding images captured by the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d are referred to as the front image, the rear image, the left side image, and the right side image, respectively. An image composed of the left side image and the right side image is also referred to as a lateral image.

[0018] The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sounds from other objects. The front sonar group 32a includes, for example, four sonars. The sonars constituting the front sonar group 32a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars constituting the left side sonar group 32c are provided in the front left side and the rear left side of the vehicle 10, respectively. The right side sonar group 32d includes, for example, two sonars. The sonars constituting the right side sonar group 32d are provided at the front and rear of the right side of the vehicle 10, respectively.

[0019] Further, the sensor group 16 includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38. The wheel sensors 34a, 34b each detect a rotation angle of a wheel (not shown). The wheel sensors 34a, 34b may be configured by an angle sensor or a displacement sensor. The wheel sensors 34a, 34b output a detection pulse every time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b can be used to calculate the rotation angle and the rotation speed of the wheel. The travel distance of the vehicle 10 can be calculated based on the rotation angle of the wheel. The wheel sensor 34a detects, for example, a rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, a rotation angle θb of the right rear wheel.

[0020] The vehicle speed sensor 36 detects the traveling speed of the body (not shown) of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control device 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0021] The operation detection unit 38 detects the operation contents performed by the user using the operation input unit 14, and outputs the detected operation contents to the control device 20. The operation input unit 14 may include, for example, an operation button that accepts an operation to execute parking assistance. The operation input unit 14 may be integrated with a touch panel 42 described later. The operation input unit 14 may also include a shift lever (select lever, selector) used to switch the vehicle 10 between forward and reverse.

[0022] The navigation device 18 detects the current position of the vehicle 10 using, for example, a Global Positioning System (GPS), and guides the user along a route to the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0023] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device that accepts input of various information to the control device 20, and as a display device controlled by the control device 20. That is, the user can input various commands to the control device 20 via the touch panel 42. In addition, various screens are displayed on the touch panel 42. As an example, a screen related to parking assistance (hereinafter also referred to as a "parking assistance screen PS") is displayed on the touch panel 42. The parking assistance screen PS will be described later.

[0024] The speaker 44 outputs various kinds of guidance information to the user by voice. As an example, during parking assistance, voice guidance may be provided via the speaker 44. Specifically, when movement to a target parking position by automatic steering is started, voice guidance may be provided via the speaker 44 to inform the passenger of the vehicle 10 that movement of the vehicle 10 will start by automatic steering. In other words, the speaker 44 may function as a notification unit that notifies the passenger of the vehicle 10 that movement of the vehicle 10 by automatic steering will start.

[0025] The control device 20 performs overall control of the vehicle 10. The control device 20 includes, for example, an input / output unit 50, a calculation unit 52, and a storage unit 54. The input / output unit 50 is an interface that inputs and outputs data between the inside and outside of the control device 20 in accordance with the control of the calculation unit 52. The storage unit 54 is configured from a non-volatile storage medium such as a flash memory, and stores various information (for example, data and programs) for controlling the operation of the vehicle 10.

[0026] The calculation unit 52 is configured with, for example, a CPU (Central Processing Unit) and controls each unit by executing a program stored in the storage unit 54. This realizes the parking assistance described above. For example, when the calculation unit 52 receives an operation to execute parking assistance via the operation input unit 14 or the like, the calculation unit 52 executes the parking assistance.

[0027] As functional units related to parking assistance, the calculation unit 52 includes a display control unit 70, a possible parking position detection unit 72, an operation determination unit 74, and a vehicle control unit 76. The display control unit 70 controls the display content of the touch panel 42. For example, the display control unit 70 causes a parking assistance screen PS to be displayed on the touch panel 42 in conjunction with the execution of parking assistance.

[0028] The available parking position detection unit 72 detects available parking positions where the vehicle 10 can be parked based on the detection results of the sensor group 16 as parking assistance is performed. For example, as shown in Fig. 2, assume that there are five parking spaces divided by white lines 93, and that among these five parking spaces, three parking spaces have other vehicles 10a parked therein, and the remaining two parking spaces indicated by reference numeral 90 in Fig. 2 do not have other vehicles 10a parked therein. In such a case, the available parking position detection unit 72 detects the parking spaces (the parking spaces indicated by reference numeral 90 in Fig. 2) in which other vehicles 10a are not parked as available parking positions.

[0029] Furthermore, the available parking position detection unit 72 may detect locations other than parking spaces defined by white lines 93 or the like as available parking positions. As one example, the available parking position detection unit 72 may detect any location set by the user as a available parking position as a available parking position. As another example, the available parking position detection unit 72 may detect any location where the vehicle 10 can be physically parked as a available parking position. Note that the available parking positions are one example of candidate positions.

[0030] When a possible parking position is detected by the possible parking position detection unit 72, the display control unit 70 causes a candidate position image (hereinafter referred to as a "candidate position image GF1") indicating the detected possible parking position to be displayed on the touch panel 42. The candidate position image GF1 is, for example, a frame image indicating the outline of the detected possible parking position (see, for example, FIGS. 3 to 5). By displaying the candidate position image GF1 on the touch panel 42, it becomes possible to guide the user to the possible parking position detected by the possible parking position detection unit 72.

[0031] Although details will be described later, the display control unit 70 causes the touch panel 42 to display a parking assistance screen PS including an overhead image (hereinafter also referred to as "overhead image PS1") of the vehicle 10 and its surroundings. The display control unit 70 then causes the candidate position image GF1 to be displayed on the overhead image PS1. This allows the user to be guided intuitively and easily to the available parking positions detected by the available parking position detection unit 72. The overhead image PS1 can be generated from surrounding images obtained by, for example, the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d.

[0032] Incidentally, there are cases where a plurality of possible parking positions are detected by the possible parking position detection unit 72. In such a case, the display control unit 70 causes the touch panel 42 to display candidate position images GF1 corresponding to each of the detected plurality of possible parking positions. That is, in such a case, the display control unit 70 causes the touch panel 42 to display a plurality of candidate position images GF1.

[0033] The operation determination unit 74 receives an operation of selecting a candidate position image GF1 indicating a parking position to be set as a target parking position from among the multiple candidate position images GF1 when the multiple candidate position images GF1 are displayed on the touch panel 42. A method of receiving this operation will be described later, and therefore a detailed description thereof will be omitted here. Note that the operation determination unit 74 is an example of a receiving unit.

[0034] The vehicle control unit 76 includes a target setting control unit 80 and an automatic steering control unit 82. When the operation determination unit 74 receives an operation to select a candidate position image GF1 indicating a possible parking position to be set as a target parking position, the target setting control unit 80 sets the possible parking position indicated by the candidate position image GF1 selected by the operation as the target parking position.

[0035] When the target parking position is set by the target setting control unit 80, the automatic steering control unit 82 determines a parking pattern that the vehicle 10 can execute when parking the vehicle 10 at the target parking position, and automatically operates the steering wheel 110 so that the vehicle 10 reaches the target parking position 92 according to the parking pattern. The automatic operation of the steering wheel 110 is performed by the EPS system 22 controlling the EPS motor 104.

[0036] The EPS system 22 has a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU (EPS electronic control unit) 108. The steering angle sensor 100 detects a steering angle θst of a steering wheel 110. The torque sensor 102 detects a torque TQ applied to the steering wheel 110.

[0037] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the driver in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects a rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for the overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit, a calculation unit, and a storage unit (none of which are shown).

[0038] The communication unit 24 enables wireless communication with another communication device 120. The other communication device 120 may be a base station, a communication device of another vehicle, or an information terminal such as a smartphone carried by a user of the vehicle 10. The control device 20 may communicate with the communication device 120 via the communication unit 24.

[0039] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown) or an instruction from the control device 20.

[0040] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 executes braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on an operation of a brake pedal (not shown) by a user or an instruction from the control device 20.

[0041] [Parking assistance screen] Next, a specific example of the parking support screen PS will be described with reference to Fig. 3 to Fig. 5. Fig. 3 shows an example of the parking support screen PS that is displayed when no possible parking positions have been detected by the possible parking position detection unit 72 (for example, immediately after the start of execution of parking support). Fig. 4 shows an example of the parking support screen PS that is displayed when multiple possible parking positions have been detected by the possible parking position detection unit 72 and none of the candidate position images GF1 has been selected. Fig. 5 shows an example of the parking support screen PS that is displayed when multiple possible parking positions have been detected by the possible parking position detection unit 72 and one of the candidate position images GF1 has been selected.

[0042] 3 to 5, the parking support screen PS includes an overhead image PS1 and a direction image PS2. As an example, the overhead image PS1 is displayed in one of the left and right areas of the parking support screen PS (the right half area in the illustrated example), and the direction image PS2 is displayed in the other left and right area of ​​the parking support screen PS (the left half area in the illustrated example).

[0043] As described above, the overhead image PS1 is an image of the vehicle 10 viewed from directly above. The direction image PS2 is a three-dimensional image virtually showing the space including the vehicle 10 and its surroundings. The viewpoint position of the direction image PS2 is set so that the direction image PS2 is an image including a scene in a predetermined direction (for example, forward or to the side) of the vehicle 10. The direction image PS2 can be generated, for example, by performing image processing to three-dimensionally reconstruct a composite image obtained by combining peripheral images obtained by the front camera 30a, the rear camera 30b, the left side camera 30c, and the right side camera 30d.

[0044] As shown in Fig. 3, when a possible parking position is not detected, the candidate position image GF1 is not displayed on the parking support screen PS. On the other hand, as shown in Fig. 4 and Fig. 5, when a possible parking position is detected, the candidate position image GF1 is displayed on the parking support screen PS. For example, assume that the possible parking positions 90 are detected around the vehicle 10 by the possible parking position detection unit 72. In this case, as shown in Fig. 4 and Fig. 5, an overhead image PS1 including a subject vehicle image GF10 showing the vehicle 10 and a plurality of candidate position images GF1 showing each of the detected possible parking positions 90 is displayed.

[0045] 4 and 5, three possible parking positions 90 are detected on the left side of the vehicle 10, so three candidate position images GF1 corresponding to these possible parking positions 90 are displayed to the left of the vehicle image GF10 in the overhead image PS1. Also, in the example shown in Fig. 4 and 5, two possible parking positions 90 are detected on the right side of the vehicle 10, so two candidate position images GF1 corresponding to these possible parking positions 90 are displayed to the right of the vehicle image GF10 in the overhead image PS1.

[0046] 4 and 5, if a detected possible parking position 90 exists in the direction indicated by the direction image PS2, a candidate position image GF1 indicating this possible parking position 90 is also displayed on the direction image PS2. This makes it possible to provide consistency between the display contents of the overhead view image PS1 and the direction image PS2.

[0047] In this way, when a plurality of candidate position images GF1 are displayed, it is assumed that an operation to select one of the plurality of candidate position images GF1 is performed by the user. In this case, as shown in FIG. 5, one of the plurality of candidate position images GF1 is highlighted as a selected candidate position image GF2 so as to be distinguished from the other candidate position images GF1. This selected candidate position image GF2 indicates a parking available position 90 set as a target parking position 92. Note that examples of the highlighting mode include making the outline of the selected candidate position image GF2 thicker than the other candidate position images GF1, and making the display color of the outline of the selected candidate position image GF2 different from the display color of the other candidate position images GF1.

[0048] Furthermore, when the user performs an operation to select one of the candidate position images GF1, the viewpoint position of the direction image PS2 is set so that the direction indicated by the direction image PS2 is the direction in which the available parking position 90 indicated by the selected candidate position image GF2 is located, as shown in Fig. 5. For example, as shown in Fig. 5, when the available parking position 90 indicated by the selected candidate position image GF2 is located on the left side of the vehicle 10, the viewpoint position of the direction image PS2 is set so that the direction image PS2 is an image including the scenery to the left of the vehicle 10.

[0049] In addition, when the user performs an operation to select one of the candidate position images GF1, a parking pattern image GP is displayed below the display position of the vehicle image GF10 in the overhead image PS1, as shown in Fig. 5. The parking pattern image GP includes a first image GA representing the available parking position 90 (i.e., the available parking position 90 that is the target parking position 92) indicated by the selected candidate position image GF2, a second image GB representing the vehicle 10, and a third image AL representing the path of the vehicle 10. The parking pattern image GP represents a parking pattern corresponding to the available parking position 90 indicated by the selected candidate position image GF2 by combining the first image GA, the second image GB, and the third image AL. As the parking pattern image GP, a parking pattern image GP1 representing a forward parking pattern, a parking pattern image GP2 representing a backward parking pattern, and a parking pattern image GP3 representing a parallel parking pattern may be displayed, as described in detail later.

[0050] By displaying such a parking pattern image GP below the display position of the vehicle 10 (host vehicle image GF10) in the overhead image PS1, which is displayed on the opposite side to the area in which the directional image PS2 is displayed, it is possible to effectively utilize the limited display area of ​​the touch panel 42 to display the parking pattern image GP.

[0051] Although the details will be described later, the user can change the candidate position image GF1 displayed as the selected candidate position image GF2 from one candidate position image GF1 to another candidate position image GF1 by performing a predetermined operation while the selected candidate position image GF2 is displayed. In this way, by changing the candidate position image GF1 displayed as the selected candidate position image GF2, the user can change the available parking position 90 set as the target parking position 92.

[0052] [Display control processing] Next, an example of a display control process executed by the control device 20 while the parking assistance is being performed will be described according to the flowchart shown in FIG. 6, with reference to FIGS. 3 to 5 and 7 to 10. FIG.

[0053] As shown in Fig. 6, the control device 20 judges whether or not a possible parking position 90 has been detected (step S1). If a possible parking position 90 has not been detected (step S1: No), the control device 20 repeats the process of step S1. At this point, since a possible parking position 90 has not been detected, the control device 20 causes the touch panel 42 to display the parking support screen PS in which the candidate position image GF1 as shown in Fig. 3 is not displayed.

[0054] Then, when the control device 20 determines that a possible parking position 90 has been detected (step S1: Yes), it causes a candidate position image GF1 indicating the detected possible parking position 90 to be displayed on the touch panel 42 (step S2). As a result, the parking support screen PS displaying the candidate position image GF1 as shown in FIG. 4 is displayed on the touch panel 42.

[0055] Next, the control device 20 judges whether or not a user operation has been performed on the touch panel 42 (step S3). In step S3, the control device 20 judges whether or not an operation has been performed to select any of the candidate position images GF1, in other words, an operation to select the candidate position image GF1 indicating the available parking position 90 to be set as the target parking position 92. One example of this operation is an operation (touch) performed on any position on the overhead image PS1 on the touch panel 42.

[0056] In step S3, if the control device 20 determines that there has been no user operation (step S3: No), the process returns to step S1. On the other hand, if the control device 20 determines that there has been a user operation (step S3: Yes), the control device 20 determines whether or not there are any overlapping candidate position images GF1 among the candidate position images GF1 being displayed on the touch panel 42 (step S4).

[0057] If the control device 20 determines that there are no overlapping candidate position images GF1 (step S4: No), it determines whether the user's operation performed in step S3 was an operation to select any of the candidate position images GF1 being displayed (step S5). For example, in this case, if the user's operation is an operation (touch) on any of the candidate position images GF1 in the overhead image PS1, the control device 20 determines that an operation to select the candidate position image GF1 has been performed.

[0058] If the user's operation is not an operation to select the candidate position image GF1 (step S5: No), the control device 20 returns to the process of step S1. On the other hand, if the user's operation is an operation to select the candidate position image GF1 (step S5: Yes), the control device 20 sets the selected candidate position image GF1 as the selected candidate position image GF2 (step S6). As a result, the parking support screen PS in which one of the candidate position images GF1 is displayed as the selected candidate position image GF2 as shown in FIG. 5 is displayed on the touch panel 42.

[0059] On the other hand, when the control device 20 determines in step S4 that there is an overlapping candidate position image GF1 (step S4: Yes), it determines whether the user's operation performed in step S3 was an operation on a predetermined operation valid area (hereinafter also referred to as the "operation valid area ED") that includes the overlapping candidate position image GF1 (step S7).

[0060] 7 to 10, the operation valid area ED is, for example, a rectangular area including a plurality of candidate position images GF1. This allows the user to easily and intuitively grasp the operation valid area ED.

[0061] For example, the upper end, lower end, right end, and left end of the operation valid area ED are set to coincide with the upper end, lower end, right end, and left end of the multiple candidate position images GF1 contained in the operation valid area ED, respectively. This makes it easier for the user to intuitively grasp the operation valid area ED. Furthermore, even if the user operates the end of any of the candidate position images GF1 contained in the operation valid area ED, it is possible to reliably accept the operation as an operation on the operation valid area ED.

[0062] Furthermore, as shown in Figures 7 to 10, when multiple parking positions 90 are detected on the left and right sides of the vehicle 10, and multiple candidate position images GF1 are displayed on the left and right sides of the host vehicle image GF10 in the overhead image PS1, the operation effective areas ED are provided on the left and right sides of the vehicle 10 (i.e., the host vehicle image GF10) in the overhead image PS1.

[0063] Specifically, in the example shown in FIG. 7 to FIG. 10, three overlapping candidate position images GF1 are displayed on the left side of the host vehicle image GF10 in the overhead-view image PS1. Therefore, an operation effective area ED1 including these three candidate position images GF1 is provided on the left side of the host vehicle image GF10. Also, in the example shown in FIG. 7 to FIG. 10, two overlapping candidate position images GF1 are displayed on the right side of the host vehicle image GF10 in the overhead-view image PS1. Therefore, an operation effective area ED2 including these two candidate position images GF1 is provided on the right side of the host vehicle image GF10. In this way, the candidate position image GF1 and the operation effective area ED are provided separately on the left and right sides of the vehicle 10 (i.e., the host vehicle image GF10) in the overhead-view image PS1 in accordance with the positional relationship between the vehicle 10 and the parking position 90, so that the user can more easily select a desired candidate position image GF1 (described later).

[0064] In step S7, the control device 20 judges whether the user's operation performed in step S3 was an operation on such an operation valid area ED (an operation on a position corresponding to the operation valid area ED). If the control device 20 judges that the operation was not an operation on the operation valid area ED (step S7: No), the process returns to step S1. On the other hand, if the control device 20 judges that the operation was an operation on the operation valid area ED (step S7: Yes), the control device 20 executes a process of changing the selected candidate position image GF2 (step S8).

[0065] For example, suppose that an operation is performed on the operation valid area ED1 in the state shown in Fig. 7, that is, in a state where the middle candidate position image GF1 among the three candidate position images GF1 in the operation valid area ED1 on the left side is the selected candidate position image GF2. In this case, in the process of step S8, the control device 20 changes the selected candidate position image GF2 to one of the other two candidate position images GF1 in the operation valid area ED1 (the candidate position image GF1 toward the rear of the vehicle 10 in the illustrated example) as shown in Fig. 8.

[0066] 8, if an operation is performed again on the operation valid area ED1, the control device 20 changes the selected candidate position image GF2 to the other of the two candidate position images GF1 (the candidate position image GF1 closer to the front of the vehicle 10) in the process of step S8. That is, if an operation is performed on the operation valid area ED1 when any of the candidate position images GF1 in the operation valid area ED1 is the selected candidate position image GF2, the control device 20 sequentially switches the candidate position image GF1 that becomes the selected candidate position image GF2 among the candidate position images GF1 in the operation valid area ED1 each time.

[0067] On the other hand, for example, suppose that an operation is performed on the right-side operation effective area ED2 in the state shown in Fig. 7. In this case, in the process of step S8, the control device 20 changes the selected candidate position image GF2 to one of the candidate position images GF1 in the operation effective area ED2 (in the illustrated example, the candidate position image GF1 indicating the possible parking position 90 extending toward the right of the vehicle 10) as shown in Fig. 9. This allows the user to switch the candidate position image GF1 that can be selected as the selected candidate position image GF2 from one in the operation effective area ED1 to one in the operation effective area ED2.

[0068] 9, if an operation is performed on the operation valid area ED2, the control device 20 changes the selected candidate position image GF2 to another candidate position image GF1 in the operation valid area ED2 in the process of step S8. That is, if an operation is performed on the operation valid area ED2 in a state where any candidate position image GF1 in the operation valid area ED2 is the selected candidate position image GF2, the control device 20 sequentially switches the candidate position image GF1 that becomes the selected candidate position image GF2 among the candidate position images GF1 in the operation valid area ED2 each time.

[0069] In this way, when an operation is performed on the left operation effective area ED1, the selected candidate position image GF2 is switched in sequence among the multiple candidate position images GF1 on the left side, and when an operation is performed on the right operation effective area ED2, the selected candidate position image GF2 is switched in sequence among the multiple candidate position images GF1 on the right side, so that even when multiple candidate position images GF1 are displayed overlapping on the left and right sides of the vehicle 10 (own vehicle image GF10) in the overhead image PS1, the selection of a candidate position image GF1 that is not intended by the user as the selected candidate position image GF2 is suppressed, and the selection of a desired candidate position image GF1 is made easy. For example, when the user intends to select one of the left candidate position images GF1, the right candidate position image GF1 will not be selected as long as the user performs an operation on the left operation effective area ED1, so that the selection of the right candidate position image GF1 that is not intended by the user is suppressed, and it becomes possible to easily select one of the left candidate position images GF1.

[0070] In addition, each time an operation is performed on the operation valid area ED, the selected candidate position image GF2 is changed sequentially among multiple candidate position images GF1 within the operation valid area ED, thereby enabling the user to reliably select the desired candidate position image GF1 by adjusting the number of operations on the operation valid area ED.

[0071] Here, each time an operation is performed on the operation effective area ED, the selected candidate position image GF2 is changed sequentially among the multiple candidate position images GF1 in the operation effective area ED, but this is not limited to the above. For example, when an operation is performed on the operation effective area ED, the control device 20 may change the candidate position image GF1 that becomes the selected candidate position image GF2 to the one closest to the operation position among the candidate position images GF1 in the operation effective area ED. Here, the candidate position image GF1 closest to the operation position may be the candidate position image GF1 whose center position is closest to the operation position, or may be the candidate position image GF1 whose side is closest to the operation position. This enables the user to intuitively grasp the selection operation of the candidate position image GF1.

[0072] Furthermore, for example, when the control device 20 changes the selected candidate position image GF2, it changes the viewpoint position of the direction image PS2 so that the direction image PS2 indicates the direction in which the possible parking position 90 indicated by the changed selected candidate position image GF2 is located. As a result, the direction image PS2 changes to indicate the scenery in the direction in which the possible parking position 90 indicated by the changed selected candidate position image GF2 is located. This makes it possible to intuitively and easily guide the user to the scenery in the direction in which the possible parking position 90 that is the target parking position 92 is located.

[0073] In addition, when the control device 20 displays the selected candidate position image GF2 by executing the processing of step S6 or step S8, it displays on the touch panel 42 a parking pattern image GP corresponding to the parking position 90 indicated by the selected candidate position image GF2 (step S9).

[0074] For example, as shown in FIG. 7, assume that the parking available position 90 indicated by the selected candidate position image GF2 is a parking available position 90 where both forward parking and backward parking are possible (but parallel parking is not possible). In this case, the control device 20 displays, as the parking pattern image GP, a parking pattern image GP1 indicating a forward parking pattern and a parking pattern image GP2 indicating a backward parking pattern. In this case, the user can instruct the control device 20 to set the parking available position 90 indicated by the selected candidate position image GF2 as the target parking position 92 and perform forward parking at the target parking position 92 by performing an operation (touch) on the displayed parking pattern image GP1. In this case, the user can instruct the control device 20 to set the parking available position 90 indicated by the selected candidate position image GF2 as the target parking position 92 and perform backward parking at the target parking position 92 by performing an operation on the displayed parking pattern image GP2.

[0075] On the other hand, as shown in FIG. 8, it is assumed that the parking position 90 indicated by the selected candidate position image GF2 is a parking position 90 where only backward parking is possible. In this case, the control device 20 displays the parking pattern image GP1 and the parking pattern image GP2 as the parking pattern image GP in the same manner as the example shown in FIG. 7, but displays the parking pattern image GP1 representing the unfeasible parking pattern with, for example, lower brightness than the parking pattern image GP2 representing the feasible parking pattern. In this case, even if there is an operation on the parking pattern image GP1 representing the unfeasible parking pattern (i.e., the parking pattern image displayed with lower brightness), the control device 20 does not accept the operation. In this way, the control device 20 displays the parking pattern image representing the feasible parking pattern (here, the parking pattern image GP2) in distinction from the parking pattern image representing the unfeasible parking pattern (here, the parking pattern image GP1). In addition, instead of or in addition to brightness, the control device 20 may, for example, make the transparency of the parking pattern image representing a feasible parking pattern different from that of the parking pattern image representing an impracticable parking pattern. In this way, the parking pattern image representing the feasible parking pattern and the parking pattern image representing the impracticable parking pattern can be displayed in a distinguished manner. Furthermore, the control device 20 may, for example, superimpose a mark (for example, a mark representing "NG") indicating that the parking pattern cannot be selected on the parking pattern image representing the impracticable parking pattern, thereby displaying the parking pattern image representing the feasible parking pattern and the parking pattern image representing the impracticable parking pattern in a distinguished manner.

[0076] 10, assume that the parking position 90 indicated by the selected candidate position image GF2 is a parking position 90 where only parallel parking is possible. In this case, the control device 20 displays a parking pattern image GP3 indicating a parallel parking pattern as the parking pattern image GP. In this case, the parking pattern image GP1 and the parking pattern image GP2 are not displayed, and only the parking pattern image GP3 is displayed large alone.

[0077] In this way, the control device 20 can guide the user to the parking pattern by displaying the parking pattern image GP indicating the parking pattern that can be performed when the available parking position 90 indicated by the selected candidate position image GF2 is set as the target parking position 92. Therefore, the user can grasp the parking pattern when the vehicle 10 moves to the target parking position 92 designated by the user.

[0078] Furthermore, when the parking pattern available for the parking position 90 indicated by the selected candidate position image GF2 is a parallel parking pattern, the control device 20 displays the parking pattern image GP3 indicating the parallel parking pattern in a display size different from the display sizes of the parking pattern image GP1 indicating the forward parking pattern and the parking pattern image GP2 indicating the backward parking pattern (for example, displayed large). This allows the user to be easily guided to parallel park the vehicle 10 at the target parking position 92 when the parking position 90 indicated by the selected candidate position image GF2 is set as the target parking position 92.

[0079] In addition, by displaying the parking pattern image GP representing an impracticable parking pattern for the parking position 90 indicated by the selected candidate position image GF2 in an unselectable state, the user can be guided to the unselectable parking pattern image GP and the parking pattern indicated by the parking pattern image GP can be prevented from being selected.

[0080] As described above, the parking pattern image GP includes a first image GA representing the available parking position 90 indicated by the selected candidate position image GF2, a second image GB representing the vehicle 10, and a third image AL representing the path of the vehicle 10. In the process of step S9, the control device 20 displays the parking pattern image GP in which the first image GA and the second image GB are arranged at positions according to the positional relationship between the vehicle 10 and the available parking position 90 indicated by the selected candidate position image GF2.

[0081] For example, in the state shown in FIG. 7, the available parking position 90 indicated by the selected candidate position image GF2 is on the left side of the vehicle 10. In this way, when the available parking position 90 indicated by the selected candidate position image GF2 is on the left side of the vehicle 10, the control device 20 displays the parking pattern image GP in which the first image GA is arranged on the left side of the second image GB, as shown in FIG. 7. In this case, the second image GB of the parking pattern image GP1 indicating the forward parking pattern represents the vehicle 10 facing left. Furthermore, the third image AL of this parking pattern image GP1 is an image of an arrow extending from the second image GB (vehicle 10 facing left) to the first image GA arranged on the left side. In this case, the second image GB of the parking pattern image GP2 indicating the backward parking pattern represents the vehicle 10 facing right. Furthermore, the third image AL of this parking pattern image GP2 is an image of an arrow extending from the second image GB (vehicle 10 facing right) to the first image GA arranged on the left side.

[0082] On the other hand, in the state shown in Fig. 9, the available parking position 90 indicated by the selected candidate position image GF2 is present on the right side of the vehicle 10. In this way, when the available parking position 90 indicated by the selected candidate position image GF2 is present on the right side of the vehicle 10, as shown in Fig. 9, the control device 20 displays a parking pattern image GP that is left-right inverted from the parking pattern image GP shown in Fig. 7.

[0083] In this way, by displaying a parking pattern image GP in which the first image GA and the second image GB are arranged at a position corresponding to the positional relationship between the vehicle 10 and the parking position 90 indicated by the selected candidate position image GF2, it is possible to display a parking pattern image GP that conforms to the user's sensibilities, and it is possible to avoid causing discomfort to the user due to the displayed parking pattern image GP.

[0084] After executing the process of step S9, the control device 20 judges whether or not an instruction to start parking has been given, i.e., whether or not an operation has been performed on any of the parking pattern images GP (step S10). If the control device 20 judges that an instruction to start parking has not been given (step S10: No), the control device 20 returns to the process of step S1. On the other hand, if the control device 20 judges that an instruction to start parking has been given (step S10: Yes), the control device 20 sets the available parking position 90 indicated by the selected candidate position image GF2 as the target parking position 92, and moves to the target parking position 92 by automatic steering (i.e., automatic parking) according to the parking pattern indicated by the selected parking pattern image GP (step S11), and ends the series of processes.

[0085] As described above, according to the control device 20 of the present embodiment, even when a plurality of candidate position images GF1 are displayed on the touch panel 42 in an overlapping manner, the user can easily select a desired candidate position image GF1. In the present embodiment, an example in which an operation effective area ED encompassing a plurality of candidate position images GF1 is provided when a plurality of candidate position images GF1 are displayed in an overlapping manner has been described, but the present embodiment is not limited to this. If a plurality of candidate position images GF1 are somewhat densely packed even if they do not overlap, it is assumed that the user will have difficulty selecting a desired candidate position image GF1, as in the case where the plurality of candidate position images GF1 are displayed in an overlapping manner. Therefore, the control device 20 may provide an operation effective area ED encompassing a plurality of candidate position images GF1 not only when a plurality of candidate position images GF1 are displayed in an overlapping manner, but also when a plurality of candidate position images GF1 are displayed in a somewhat densely packed manner (i.e., densely packed). The manufacturer of the vehicle 10 or the control device 20 may appropriately determine the density at which a plurality of candidate position images GF1 are displayed in order to provide an operation effective area ED encompassing the plurality of candidate position images GF1.

[0086] Furthermore, according to the vehicle 10 of this embodiment, which is equipped with a control device 20, a touch panel 42, and a sensor group 16 and moves to a target parking position 92 by automatic steering, even if multiple candidate position images GF1 are displayed overlapping each other on the touch panel 42, it is easy for the user to select a desired candidate position image GF1, and the vehicle can be parked (i.e., automatically parked) by automatic steering at the target parking position 92 indicated by the selected candidate position image GF1.

[0087] In addition, according to the control device 20 and vehicle 10 of this embodiment, it becomes possible for the user to understand the parking pattern when parking by automatic steering to the target parking position 92 indicated by the selected candidate position image GF1 (i.e., the target parking position 92 specified by the user).

[0088] Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and various modifications and improvements are possible as appropriate.

[0089] For example, in the above-described embodiment, the touch panel 42 provided in the vehicle 10 is used as the display device of the present invention, but the present invention is not limited to this. For example, a display device of the communication device 120 realized by a smartphone or the like carried by a user who is a passenger of the vehicle 10 may be used as the display device of the present invention.

[0090] In the above embodiment, the moving body of the present invention is the vehicle 10, which is a four-wheeled automobile, but is not limited to this. The moving body of the present invention may be a two-wheeled automobile (a so-called motorcycle), a Segway (registered trademark), a ship, an airplane, or the like.

[0091] This specification describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0092] (1) A control device (control device 20) for controlling a display device (touch panel 42) mounted on a moving body (vehicle 10) that moves by automatic steering to a target position (target parking position 92) designated by a user, The control device includes: a display control unit (display control unit 70) that displays a candidate position image (candidate position image GF1) indicating a candidate position (parking possible position 90) that is a candidate for the target position on the basis of a detection result of an external sensor (sensor group 16) provided on the moving body, on the display device; a reception unit (operation determination unit 74) that receives an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images when the plurality of candidate position images are displayed on the display device; Equipped with the reception unit, when an operation is performed on an operation effective area (operation effective area ED) on the display screen while the plurality of candidate position images are displayed overlapping each other and one of the plurality of candidate position images is selected, changes the candidate position image to be selected to another candidate position image among the plurality of candidate position images, the operation effective area is an area including the plurality of candidate position images; Control device.

[0093] According to (1), when multiple candidate location images are displayed overlapping each other, the user can switch the candidate location image to be selected by performing an operation on an effective operation area provided to include the multiple candidate location images. This makes it easy for the user to select a desired candidate location image even when multiple candidate location images are displayed overlapping each other.

[0094] (2) The control device according to (1), the operation effective area is a rectangular area including the plurality of candidate position images; Control device.

[0095] According to (2), the operation valid area is a rectangular area that includes a plurality of overlapping candidate position images, so that the operation valid area can be easily and intuitively grasped by the user.

[0096] (3) The control device according to (2), the upper end, the lower end, the right end, and the left end of the operation effective area respectively coincide with the upper end, the lower end, the right end, and the left end of the plurality of candidate position images; Control device.

[0097] According to (3), the upper end, lower end, right end, and left end of the operation effective area correspond to the upper end, lower end, right end, and left end of the overlapping candidate position images, respectively, so that the operation effective area can be easily understood by the user intuitively. Furthermore, even if the user operates the edge of the overlapping candidate position images, the operation can be reliably accepted as an operation on the operation effective area.

[0098] (4) A control device according to any one of (1) to (3), the reception unit sequentially changes a candidate position image to be selected from among the plurality of candidate position images every time an operation is performed on the operation effective area. Control device.

[0099] According to (4), each time an operation is performed on the operation effective area, the candidate location image to be selected is changed sequentially among multiple candidate location images, so that the user can reliably select the desired candidate location image by adjusting the number of operations on the operation effective area.

[0100] (5) A control device according to any one of (1) to (3), when an operation is performed on the operation valid area, the reception unit changes a candidate position image to be selected to another candidate position image that is closest to the operation position among the plurality of candidate position images. Control device.

[0101] According to (5), when an operation is performed on the operation valid area, the candidate location image to be selected is changed to the candidate location image that is closest to the operation position among multiple overlapping candidate location images, thereby making it possible to change to a candidate location image that is easy for the user to intuitively understand.

[0102] (6) A control device according to any one of (1) to (5), The display control unit is A bird's-eye view image (bird's-eye view image PS1) of the moving object is displayed, displaying the candidate position image indicating the candidate position detected on one of the left and right sides of the moving body in an area on the one side of the moving body in the overhead image; displaying the candidate position image indicating the candidate position detected on the other side of the moving body, in an area on the other side of the moving body in the overhead image; the operation effective area for receiving an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images displayed in the area on the one side is provided in the area on the one side, the operation effective area for receiving an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images displayed in the area on the other side is provided in the area on the other side; Control device.

[0103] According to (6), by dividing the candidate location image and the effective operation area into one side and the other side of the overhead image in accordance with the positional relationship between the moving body and the candidate location, the user can more intuitively select the desired candidate location image.

[0104] (7) A control device according to any one of (1) to (6), when any one of the candidate location images is selected from the plurality of candidate location images, the display control unit displays the selected candidate location image in a manner distinguished from candidate location images other than the selected candidate location image. Control device.

[0105] According to (7), the selected candidate position image can be presented to the user.

[0106] (8) A control device according to any one of (1) to (7), When any one of the candidate position images is selected from the plurality of candidate position images, the display control unit displays, on the display device, a movement pattern (parking pattern image GP) in which the moving object moves to the candidate position indicated by the selected candidate position image. Control device.

[0107] According to (8), it is possible to guide the user to a movement pattern in which the moving object moves to the candidate position indicated by the selected candidate position image.

[0108] (9) A control device according to any one of (1) to (8), The display device; The external sensor; Equipped with Move to the target position by automatic steering. Mobile body.

[0109] According to (9), when multiple candidate location images are displayed overlapping each other, the user can switch the candidate location image to be selected by performing an operation on an effective operation area provided to include the multiple candidate location images. This makes it easy for the user to select a desired candidate location image even when multiple candidate location images are displayed overlapping each other. [Explanation of symbols]

[0110] 10 Vehicles (moving objects) 16 Sensor group (external sensors) 20 Control device 42 Touch panel (display device) 70 Display control section 74 Operation determination unit (reception unit) 90 Parking locations (candidate locations) 92 Target parking position (target position) ED operation effective area GF1 candidate location image GP parking pattern image PS1 overhead view PS2 directional image

Claims

1. A control device for controlling a display device mounted on a moving body that moves by automatic steering to a target position designated by a user, The control device includes: a display control unit that displays, when a candidate position that is a candidate for the target position is detected based on a detection result of an external sensor provided in the moving object, a candidate position image indicating the candidate position on the display device; a reception unit that receives an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images when the plurality of candidate position images are displayed on the display device; Equipped with the reception unit, when an operation is performed on an operation effective area on a display screen while the plurality of candidate position images are displayed overlapping each other and one of the plurality of candidate position images is selected, changes the candidate position image to be selected to another of the plurality of candidate position images, the operation effective area is an area including the plurality of candidate position images, the operation effective area being a rectangular area including the plurality of candidate position images, the upper end, the lower end, the right end, and the left end of the operation effective area respectively coincide with the upper end, the lower end, the right end, and the left end of the plurality of candidate position images; Control device.

2. The control device according to claim 1 , the reception unit sequentially changes a candidate position image to be selected from among the plurality of candidate position images every time an operation is performed on the operation effective area. Control device.

3. The control device according to claim 1 or 2, when an operation is performed on the operation valid area, the reception unit changes a candidate position image to be selected to another candidate position image that is closest to the operation position among the plurality of candidate position images. Control device.

4. The control device according to any one of claims 1 to 3, The display control unit is A bird's-eye image of the moving object is displayed, displaying the candidate position image indicating the candidate position detected on one of the left and right sides of the moving body in an area on the one side of the moving body in the overhead image; displaying the candidate position image indicating the candidate position detected on the other side of the moving body, in an area on the other side of the moving body in the overhead image; the operation effective area for receiving an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images displayed in the area on the one side is provided in the area on the one side, the operation effective area for receiving an operation of selecting a candidate position image indicating a candidate position to be set as the target position from among the plurality of candidate position images displayed in the area on the other side is provided in the area on the other side; Control device.

5. The control device according to any one of claims 1 to 4, when any one of the candidate location images is selected from the plurality of candidate location images, the display control unit displays the selected candidate location image in a manner distinguished from candidate location images other than the selected candidate location image. Control device.

6. The control device according to any one of claims 1 to 5, when any one of the candidate position images is selected from the plurality of candidate position images, the display control unit displays, on the display device, a movement pattern in which the moving object moves to the candidate position indicated by the selected candidate position image. Control device.

7. A control device according to any one of claims 1 to 6; The display device; The external sensor; Equipped with Move to the target position by automatic steering. Mobile body.

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