Vehicle Control Systems

Abstract

To provide a technique capable of reducing a possibility that a driver feels troublesome, as compared to the conventional system when starting remote parking support control.SOLUTION: A vehicle control system can execute parking support control (remote parking support control) in response to operation on an application in a portable device 110. In a case where, when the application is started, the state of a driving source of a vehicle is a first state as a state of being able to generate driving force, the portable device automatically displays a first screen as a screen for starting the parking support control according to a parking mode. In a case where, when the application is started, the state of the driving source is a second state as a state of being unable to generate driving force, the portable device automatically displays a second screen as a screen for starting the parking support control according to a parking-space exit mode.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control system. [Background technology]

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

[0003] The system proposed in Patent Document 1 (hereinafter referred to as the "conventional system") can execute parking assist control when the driver gets out of the vehicle. This type of control is also referred to as "remote parking assist control." When the driver gets out of the vehicle, he operates a mobile terminal. The mobile terminal displays a mode selection screen. The mode selection screen is a screen for selecting either the parking mode or the leaving mode. The parking mode is a mode for parking the vehicle. The leaving mode is a mode for leaving the parked vehicle (moving it to the driving path). When the driver selects either the parking mode or the leaving mode, the mobile terminal displays an operation start waiting screen. When the driver operates a start button on the operation start waiting screen, a signal for instructing the start of parking assist control is transmitted to the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2016-074285 A Summary of the Invention

[0005] In the conventional system, the driver must select either the parking mode or the leaving mode on the mode selection screen. Since it takes time to select the mode, the driver finds it cumbersome.

[0006] One object of the present invention is to provide a technology that can reduce the possibility that the driver will feel bothered when starting remote parking assist control, as compared to conventional systems.

[0007] In one or more embodiments, the vehicle control system includes: A portable device (110) operated by a user, the portable device having a predetermined application installed thereon; a vehicle control device (100) mounted on a vehicle (VA), the vehicle control device executing parking assistance control for moving the vehicle from a current position of the vehicle to a target position in response to an operation on the application; Equipped with. The vehicle control device is configured to determine, as an assistance mode, either a parking mode, which is a mode for parking the vehicle, or an exit mode, which is a mode for exiting the vehicle, and to execute the parking assistance control in accordance with the determined assistance mode. When the application is launched, the mobile device When the state of the drive source of the vehicle is a first state in which a drive force can be generated, a first screen (301) which is a screen for starting the parking assist control in the parking mode is automatically displayed; When the state of the drive source is a second state in which the drive source cannot generate a drive force, a second screen (302) for starting the parking assist control in the leaving mode is automatically displayed. It is structured as follows.

[0008] According to the above configuration, the driver does not need to select either the parking mode or the leaving mode on the application. The operation on the application is simpler than that of the conventional system, so the possibility that the driver feels confused can be reduced.

[0009] In one or more embodiments, the vehicle includes a switch (24) that changes from an off state to an on state when the user begins operating the vehicle and that changes from the on state to the off state when the user ends operating the vehicle. When the switch is in the on state, the state of the driving source becomes the first state. When the switch is in the off state, the state of the driving source is in the second state. When the switch is in the on state, the vehicle control device The parking mode is determined as the assistance mode (step 204); The determined assistance mode is notified to the portable device (step 208). It is structured as follows. When the switch is in the off state, the vehicle control device The leaving mode is determined as the assistance mode (step 204); The determined assistance mode is notified to the portable device (step 208). It is structured as follows. The portable device is configured to display the first screen or the second screen in accordance with the assistance mode notified from the vehicle control device (step 209).

[0010] According to the above configuration, the vehicle control system can determine the assistance mode according to the state of the switch, and automatically display the first screen or the second screen according to the determined assistance mode.

[0011] In the above description, in order to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are enclosed in parentheses with respect to the configuration of the invention corresponding to the embodiments. However, each component of the present invention is not limited to the embodiments defined by the names and / or symbols. [Brief description of the drawings]

[0012] [Figure 1]1 is a schematic configuration diagram of a vehicle control system according to an embodiment of the present invention. [Diagram 2] FIG. 4 is a sequence diagram of the vehicle control device (parking assist ECU) and the portable device. [Diagram 3] 1 is an example of a start screen (first screen) displayed on a portable device. [Figure 4] 13 is an example of a start screen (second screen) displayed on the portable device. [Diagram 5] 13 is an example of an operation screen displayed on a portable device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] <Configuration> As shown in FIG. 1, the vehicle control system according to this embodiment includes a vehicle control device 100 mounted on (applied to) a vehicle VA, and a portable device 110.

[0014] The vehicle control device 100 includes a parking assist ECU 10, an engine ECU 20, a brake ECU 30, a Shift-by-Wire (SBW) ECU 40, and an electric power steering ECU (hereinafter referred to as an EPS ECU) 50. These ECUs are connected to each other via a Controller Area Network (CAN) 90 so as to be able to transmit and receive data to and from each other.

[0015] 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. The CPU realizes various functions by executing instructions (routines, programs) stored in the ROM. For example, the parking assistance ECU 10 is equipped with a microcomputer including a CPU 10a, ROM 10b, RAM 10c, and an interface (I / F) 10d.

[0016] The engine ECU 20 is connected to an engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of a throttle valve of an internal combustion engine 22. The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21. The torque generated by the internal combustion engine 22 is transmitted to the driving wheels via a transmission 23 and a driving force transmission mechanism. Therefore, the engine ECU 20 can control the driving force of the vehicle VA by controlling the engine actuator 21.

[0017] The state of the internal combustion engine 22 is changed in response to the operation of an engine start switch 24. The engine start switch 24 may be referred to as an "ignition switch (IG switch)" or a "vehicle start switch." Hereinafter, the engine start switch 24 will be simply referred to as the "switch 24."

[0018] The switch 24 is a switch that is operated by a driver (user) when the driver starts or ends driving the vehicle VA. Each time the switch 24 is pressed, the state of the switch 24 alternates between an on state and an off state. When starting to drive the vehicle VA, the state of the switch 24 is changed by the driver from an off state to an on state. Furthermore, when ending driving the vehicle VA, the state of the switch 24 is changed by the driver from an on state to an off state.

[0019] When the switch 24 is in the on state, the internal combustion engine 22 starts up. This causes the drive source of the vehicle VA (here, the internal combustion engine 22) to enter a state in which it can generate drive force (hereinafter referred to as the "first state"). On the other hand, when the switch 24 is in the off state, the internal combustion engine 22 stops. This causes the drive source of the vehicle VA to enter a state in which it cannot generate drive force (hereinafter referred to as the "second state").

[0020] If the vehicle VA is a hybrid vehicle, the engine ECU 20 can control the driving force generated by either or both of the "internal combustion engine and the electric motor" as the driving source. Furthermore, if the vehicle VA is an electric vehicle, the engine ECU 20 can control the driving force generated by the electric motor as the driving source.

[0021] If the vehicle VA is a hybrid vehicle or an electric vehicle, when the switch 24 is turned on, the wiring connecting the battery and the electric motor mounted on the vehicle is changed from a disconnected state to a connected state. This places the drive source of the vehicle VA (e.g., the electric motor) in a first state. On the other hand, when the switch 24 is turned off, the wiring is changed from a connected state to a disconnected state. This places the drive source of the vehicle VA in a second state.

[0022] The brake ECU 30 is connected to a brake actuator 31. The brake actuator 31 includes a known hydraulic circuit. The hydraulic circuit includes a reservoir, an oil pump, various valve devices, and the like. The brake actuator 31 adjusts the hydraulic pressure (i.e., braking pressure) supplied to the wheel cylinder 32 in response to an instruction from the brake ECU 30. The frictional braking force generated on the wheel changes in response to the braking pressure. Therefore, the brake ECU 30 can control the braking force of the vehicle VA by controlling the brake actuator 31.

[0023] The SBW ECU 40 is connected to an SBW actuator 41. The SBW ECU 40 controls the SBW actuator 41 based on the position of a shift lever (not shown). The SBW actuator 41 controls a shift switching mechanism 42 in response to an instruction from the SBW ECU 40 to switch the shift position of the transmission 23 to one of a plurality of shift positions.

[0024] In this example, the shift positions include at least a parking position in which no driving force is transmitted to the drive wheels and the vehicle VA is mechanically locked in a stopped position, a neutral position in which no driving force is transmitted to the drive wheels and the vehicle VA is not mechanically locked in a stopped position, a forward position in which a driving force is transmitted to the drive wheels to move the vehicle VA forward, and a reverse position in which a driving force is transmitted to the drive wheels to move the vehicle VA backward.

[0025] The EPS·ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is incorporated in a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the wheels by rotating the steering wheel SW. The steering mechanism 52 includes a steering wheel SW, a steering shaft US connected to the steering wheel SW, and a steering gear mechanism (not shown). The EPS·ECU 50 detects the steering torque input to the steering wheel SW by the driver using a steering torque sensor (not shown) provided on the steering shaft US, and drives the assist motor 51 based on this steering torque. The EPS·ECU 50 applies a steering torque (steering assist torque) to the steering mechanism 52 by driving the assist motor 51, thereby assisting the steering operation of the driver.

[0026] In addition, when the EPS·ECU 50 receives a steering command from the parking assist ECU 10 while executing parking assist control described below, the EPS·ECU 50 drives the assist motor 51 based on the steering torque specified by the steering command. This steering torque is different from the above-mentioned steering assist torque and represents a torque applied to the steering mechanism 52 by the steering command from the parking assist ECU 10 without requiring the driver to perform a steering operation. This torque changes the rudder angle of the steered wheels of the vehicle (i.e., the steering angle).

[0027] The parking assist ECU 10 is connected to a surrounding sensor 60. The surrounding sensor 60 is configured to acquire vehicle surrounding information. The vehicle surrounding information includes information about objects present around the vehicle and information about dividing lines on the road surface around the vehicle. The objects include, for example, moving objects such as automobiles, pedestrians, and bicycles, and fixed objects such as guardrails and fences. For example, the surrounding sensor 60 includes a plurality of ultrasonic sensors 61 and a plurality of cameras 62.

[0028] The ultrasonic sensor 61 transmits ultrasonic waves in a pulsed manner to a predetermined range around the vehicle VA and receives the reflected waves reflected by an object. The ultrasonic sensor 61 can detect the "reflection point, which is the point on the object where the transmitted ultrasonic wave is reflected," the "distance between the ultrasonic sensor and the object," and the like, based on the time from transmission to reception of the ultrasonic wave.

[0029] The camera 62 is a digital camera incorporating an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The camera 62 acquires image data of the surroundings of the vehicle VA (including the positions and shapes of objects and the positions and shapes of demarcation lines) and outputs the image data to the parking assistance ECU 10.

[0030] The parking assistance ECU 10 receives vehicle surroundings information from the surroundings sensor 60 every time a predetermined time elapses. Based on the vehicle surroundings information, the parking assistance ECU 10 detects an "area where no objects exist" that is an area around the vehicle VA. If the area where no objects exist has a size and shape that allows the vehicle VA to park (or leave) with ease, the parking assistance ECU 10 determines the area as a "parking possible area (or leaving possible area)".

[0031] Furthermore, the parking assistance ECU 10 is connected to a communication unit 70. The communication unit 70 includes an "antenna unit and a communication processing unit" (not shown). The communication unit 70 is configured to be able to transmit and receive information to and from the portable device 110 through wireless communication. The portable device 110 is a portable terminal operated by the driver, and is, for example, a smartphone. The portable device 110 may be another device (for example, a tablet terminal) as long as it is carried by the driver. The portable device 110 includes a CPU, a ROM, a RAM, an interface, and the like.

[0032] An application for parking assist control (hereinafter referred to as the "parking application") is installed in the portable device 110. The parking assist control is a well-known control that automatically moves the vehicle VA to a target area set according to the surrounding conditions of the vehicle VA. When the driver performs a predetermined operation on the parking application, the portable device 110 transmits a signal (hereinafter referred to as the "start signal") instructing the start of parking assist control to the communication unit 70. When the parking assist ECU 10 receives the start signal from the portable device 110 via the communication unit 70, it starts the parking assist control.

[0033] <Parking Assist Control Details> The parking assist ECU 10 executes parking assist control according to an assist mode. The assist modes include a parking mode and an exit mode. The parking mode is a mode for parking the vehicle VA. The exit mode is a mode for causing the parked vehicle VA to exit (move to a driving path).

[0034] The parking mode may include a parallel parking mode and a perpendicular parking mode. The parallel parking mode is a mode for parking the vehicle VA parallel. Parallel parking is synonymous with parking the vehicle VA perpendicular to the traveling direction of the road. The parallel parking mode is a mode for parking the vehicle VA parallel. Parallel parking is synonymous with parking the vehicle VA so that the vehicle VA is parallel to the traveling direction of the road.

[0035] When the parking mode is determined as the assistance mode, the parking assistance ECU 10 determines the area that the vehicle body of the vehicle VA would occupy if the vehicle VA were parked in the parking area as a "target area." Furthermore, the parking assistance ECU 10 sets the position of the vehicle VA when the vehicle VA is parked in the target area as a target position. The target position here is the position to which the center position of the vehicle VA should reach in a plan view.

[0036] The parking assistance ECU 10 calculates a movement path for moving the vehicle VA from the current position to the target position. The movement path is a path along which the vehicle VA can move from the current position to the target position while keeping a predetermined distance or more between the body of the vehicle VA and objects (other vehicles, curbs, guardrails, etc.). The parking assistance ECU 10 calculates the movement path according to one of various known calculation methods (for example, the method proposed in JP 2015-3565 A).

[0037] When the movement route is determined, the parking assist ECU 10 determines movement assistance information for moving the vehicle VA along the movement route. The movement assistance information includes the movement direction of the vehicle VA (specifically, the shift position of the transmission 23), the steering angle pattern, and the speed pattern.

[0038] The parking assist ECU 10 transmits a shift control command to the SBW·ECU 40 via the CAN 90 in accordance with the determined shift position. When the SBW·ECU 40 receives a shift control command from the parking assist ECU 10, it drives the SBW actuator 41 to change the shift position of the transmission 23 to a position specified by the shift control command (i.e., executes shift control).

[0039] The steering angle pattern is data that associates the position of the vehicle VA on the travel route with the steering angle of the steering wheels, and represents the change in steering angle when the vehicle VA travels along the travel route. The parking assist ECU 10 transmits a steering command (including a target steering angle) to the EPS·ECU 50 via the CAN 90 in accordance with the steering angle pattern. When the EPS·ECU 50 receives a steering command from the parking assist ECU 10, it drives the assist motor 51 based on the steering torque specified by the steering command to make the actual steering angle coincide with the target steering angle (i.e., it executes steering angle control).

[0040] The speed pattern is data that associates the position of the vehicle VA on the travel route with the target speed of the vehicle VA, and represents the change in the speed of the vehicle VA when the vehicle VA travels along the travel route. The parking assist ECU 10 transmits a driving force control command to the engine ECU 20 via the CAN 90 in accordance with the speed pattern. When the engine ECU 20 receives a driving force control command from the parking assist ECU 10, the engine ECU 20 controls the engine actuator 21 in response to the driving force control command (i.e., executes driving force control). Furthermore, the parking assist ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 in accordance with the speed pattern. When the brake ECU 30 receives a braking force control command from the parking assist ECU 10, the brake ECU 30 controls the brake actuator 31 in response to the braking force control command (i.e., executes braking force control).

[0041] Even when the leaving mode is determined as the assistance mode, the parking assistance ECU 10 executes the same parking assistance control. That is, the parking assistance ECU 10 determines a target area within the leaving possible area, and sets a target position, which is the position of the vehicle VA when leaving is completed, within the target area. The parking assistance ECU 10 calculates a movement route for moving the vehicle VA from the current position to the target position. The parking assistance ECU 10 determines movement assistance information for moving the vehicle along the movement route. The parking assistance ECU 10 executes shift control, steering angle control, driving force control, and braking force control according to the movement assistance information.

[0042] As described above, the parking assist ECU 10 is capable of executing parking assist control (remote parking assist control) for moving the vehicle VA from the current position to a target position when the driver has got out of the vehicle VA.

[0043] (Overview of operation) As described above, in the conventional system, the driver must select either the parking mode or the leaving mode on the mode selection screen. Since it takes time to select the mode, the driver finds it cumbersome.

[0044] Therefore, the vehicle control system in this embodiment automatically determines the assistance mode to be either the parking mode or the pulling out mode depending on the state of the switch 24 (i.e., the state of the drive source). Then, the vehicle control system displays a screen corresponding to the determined assistance mode on the parking application.

[0045] When the driver is parking the vehicle VA, the driver usually gets off the vehicle VA with the switch 24 in the on state and operates the portable device 110. Therefore, if the driver activates a parking application on the portable device 110 in a situation where the switch 24 is in the on state (i.e., the driving source of the vehicle VA is in the first state), it is highly likely that the driver is trying to park the vehicle VA. Therefore, when the switch 24 is in the on state (i.e., the driving source of the vehicle VA is in the first state), the vehicle control system determines the parking mode as the assistance mode. The vehicle control system automatically displays a screen for the parking mode ("first screen" described below) on the parking application.

[0046] In contrast, when the driver is trying to cause the vehicle VA to leave the parking lot, the vehicle VA is in a parked state, and the driving source of the vehicle VA is in the second state. Therefore, when the driver activates the parking application on the mobile device 110 in a situation where the state of the switch 24 is in the off state (i.e., the driving source of the vehicle VA is in the second state), it is highly likely that the driver is trying to cause the parked vehicle VA to leave the parking lot (to move it to a driving path). Therefore, when the state of the switch 24 is in the off state (i.e., the driving source of the vehicle VA is in the second state), the vehicle control system determines the leaving mode as the assistance mode. The vehicle control system automatically displays a screen for the leaving mode (the "second screen" described below) on the parking application.

[0047] With this configuration, the driver does not need to select either the parking mode or the exit mode on the parking application. The operation on the parking application is simpler than that of the conventional system, so the driver is less likely to feel bothered. Furthermore, the time required to start the remote parking assistance control is shorter than that of the conventional system.

[0048] <Example of operation> The operation of the vehicle control device 100 (specifically, the parking assist ECU 10) and the portable device 110 will be specifically described with reference to FIG.

[0049] The driver starts a parking application on the portable device 110 (step 201). After the parking application is started, a wireless connection is established between the portable device 110 and the communication unit 70. As a result, the parking assistance ECU 10 and the portable device 110 start communication via the communication unit 70 (step 202).

[0050] When communication between the parking assist ECU 10 and the portable device 110 is started, the parking assist ECU 10 first acquires the state of the switch 24 (step 203). Then, the parking assist ECU 10 determines the assistance mode (step 204).

[0051] Specifically, when the switch 24 is in the on state (i.e., the drive source is in the first state), the parking assistance ECU 10 determines the parking mode as the assistance mode. When the switch 24 is in the off state (i.e., the drive source is in the second state), the parking assistance ECU 10 determines the pulling out mode as the assistance mode.

[0052] Next, the parking assist ECU 10 judges whether the switch 24 is in the OFF state (step 205). If the switch 24 is in the OFF state, the parking assist ECU 10 changes the state of the switch 24 from the OFF state to the ON state (step 206). This puts the drive source of the vehicle VA in the first state. After that, the parking assist ECU 10 proceeds to the next process (step 207).

[0053] On the other hand, if the switch 24 is not in the OFF state, the parking assist ECU 10 skips the process of step 206 and proceeds to the next process (step 207).

[0054] The parking assist ECU 10 determines the movement assistance information (step 207). Specifically, the parking assist ECU 10 determines a target area and sets a target position within the target area. Then, the parking assist ECU 10 calculates a movement route for moving the vehicle VA from the current position to the target position. The parking assist ECU 10 determines the movement assistance information for moving the vehicle VA along the movement route.

[0055] The parking assist ECU 10 transmits the parking assist information to the portable device 110 via the communication unit 70 (step 208). The parking assist information includes various information. Specifically, the parking assist information includes information on the assist mode, an overhead image generated based on the image data, and movement assist information. The information on the assist mode is information indicating either the parking mode or the leaving mode. The overhead image is an image of a predetermined range of an area centered on the vehicle VA as viewed from directly above.

[0056] Mobile device 110 displays a start screen on its own display unit (touch panel display) based on the parking assistance information (step 209).

[0057] Specifically, when the information on the assistance mode included in the parking assistance information indicates the parking mode, the portable device 110 displays a first screen 301 shown in FIG. 3 on the display unit 110a as a start screen. The first screen 301 is a screen for starting parking assistance control in the parking mode. The first screen 301 includes a confirmation screen 311a and a start button 312. The confirmation screen 311a is an image in which a target area and a movement route are plotted (superimposed) on an overhead image. Therefore, the driver can check where the vehicle VA will be parked by looking at the confirmation screen 311a.

[0058] On the other hand, when the information on the assistance mode included in the parking assistance information indicates the leaving mode, the mobile device 110 displays the second screen 302 shown in FIG. 4 on the display unit 110a as a start screen. The second screen 302 is a screen for starting the parking assistance control in the leaving mode. The second screen 302 includes a confirmation screen 311b and a start button 312. As described above, the confirmation screen 311b is an image in which the target area and the movement route are plotted on an overhead image. Therefore, the driver can check to which area of ​​the driving road the vehicle VA will be moved by looking at the confirmation screen 311b.

[0059] When the driver wishes to start the parking assist control, the driver touches the start button 312. When the start button 312 is touched for a predetermined time threshold Tm or longer, the portable device 110 determines that a start operation for the parking assist control has been performed, and transmits a start signal to the parking assist ECU 10 (step 210).

[0060] When the parking assist ECU 10 receives the start signal, it starts the parking assist control. Specifically, the parking assist ECU 10 transmits an overhead image to the mobile device 110 every time a predetermined time dT elapses (step 211). The mobile device 110 displays the operation screen 303 shown in FIG. 5 on the display unit 110a (step 212). The operation screen 303 includes an overhead image 501 and an operation area 502. The mobile device 110 displays the latest overhead image 501 on the operation screen 303 every time a predetermined time dT elapses. In this example, when the driver continues to operate the operation area 502, the parking assist ECU 10 executes the parking assist control. Specifically, when the driver traces the operation area 502 with a finger and the touch position in the operation area 502 is continuously changing, the mobile device 110 continues to transmit an operation signal to the parking assist ECU 10 (step 213). Once the parking assist ECU 10 starts the parking assist control, it continues to execute the parking assist control as long as the operation signal is received (step 214).

[0061] The parking assist ECU 10 determines whether the vehicle VA has reached the target position (step 215). The parking assist ECU 10 repeats the processes of steps 211 to 214 until the vehicle VA reaches the target position. When the vehicle VA reaches the target position, the parking assist ECU 10 stops the vehicle VA and ends the parking assist control (step 216). Then, the parking assist ECU 10 transmits an end signal indicating that the parking assist control has ended to the portable device 110 (step 217). In response to the end signal, the portable device 110 ends the parking application.

[0062] According to the above configuration, when the parking application is started in the portable device 110, the vehicle control device 100 determines the assistance mode according to the state of the switch 24. When the switch 24 is in an on state, the vehicle control device 100 determines the parking mode as the assistance mode, and notifies the portable device 110 of the determined assistance mode. In response to the notification, the portable device 110 automatically displays the first screen 301. On the other hand, when the switch 24 is in an off state, the vehicle control device 100 determines the leaving mode as the assistance mode, and notifies the portable device 110 of the determined assistance mode. In response to the notification, the portable device 110 automatically displays the second screen 302.

[0063] With this configuration, the driver does not need to select either the parking mode or the exit mode on the parking application. The operation on the parking application is simpler than that of the conventional system, so the possibility that the driver feels cumbersome is reduced. Furthermore, the time required to start the parking assistance control is shorter than that of the conventional system.

[0064] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0065] (Variation 1) The start screen is not limited to the above example (first screen 301 and second screen 302). In one example, when there are multiple target areas around the vehicle VA, the start screen may have a function for selecting one of the multiple target areas. In another example, the start screen may not include an overhead image.

[0066] (Variation 2) The timing at which the start screen is displayed is not limited to the above example (immediately after step 208). The start screen may be displayed immediately after step 203. For example, the parking assistance ECU 10 may transmit a signal indicating whether the state of the drive source of the vehicle VA is the first state or the second state to the portable device 110 according to the state of the switch 24 immediately after step 203. In this configuration, when the state of the drive source is the first state, the portable device 110 automatically displays the first screen 301. When the state of the drive source is the second state, the portable device 110 automatically displays the second screen 302. The first screen 301 and the second screen 302 may each be a screen including only the start button 312. When the driver operates the start button 312, the parking assistance ECU 10 executes the process of step 204 and subsequent steps. Therefore, the parking assistance ECU 10 may determine the movement assistance information after the driver operates the start button 312, and start the parking assistance control according to the movement assistance information.

[0067] (Variation 3) The vehicle control device 100 may determine whether the state of the drive source is the first state or the second state based on the state of "components other than the switch 24 (for example, an alternator and an on-board battery, etc.)" mounted on the vehicle VA. [Explanation of symbols]

[0068] 10... parking assist ECU, 20... engine ECU, 30... brake ECU, 40... SBW·ECU, 50... EPS·ECU, 60... surroundings sensor, 70... communication unit, 100... vehicle control device, 110... portable device.

Claims

[Claim 1] A portable device operated by a user, the portable device having a predetermined application installed thereon; a vehicle control device mounted on a vehicle, the vehicle control device executing parking assistance control to move the vehicle from a current position of the vehicle to a target position in response to an operation on the application; Equipped with the vehicle control device is configured to determine, as an assistance mode, one of a parking mode which is a mode for parking the vehicle and an exit mode which is a mode for exiting the vehicle, and to execute the parking assistance control in accordance with the determined assistance mode; When the application is launched, the mobile device When a state of a drive source of the vehicle is a first state in which a drive force can be generated, automatically displaying a first screen which is a screen for starting the parking assist control in the parking mode; When the state of the drive source is a second state in which the drive source cannot generate a drive force, a second screen which is a screen for starting the parking assist control in the pulling out mode is automatically displayed. It was configured as follows: In a vehicle control system, The vehicle is a switch that is changed from an off state to an on state when the user starts driving the vehicle, and that is changed from the on state to the off state when the user ends driving the vehicle; When the switch is in the on state, the state of the driving source is in the first state, When the switch is in the off state, the state of the driving source is in the second state, When the switch is in the on state, the vehicle control device determining the parking mode as the assistance mode; The determined assistance mode is notified to the portable device. It is configured as follows: When the switch is in the off state, the vehicle control device The leaving mode is determined as the assistance mode, The determined assistance mode is notified to the portable device. It is configured as follows: The portable device is configured to display the first screen or the second screen according to the assistance mode notified from the vehicle control device. Vehicle control system.

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