Control device, control method, and control program

Abstract

To provide a control device, control method, and control program that can appropriately limit movement control of a movable body from the outside.SOLUTION: A control device of a vehicle 10 includes: a communication unit 24 that communicates with an information terminal 60 that can be carried by a user of a vehicle 10; a movement control unit 55 that performs movement control of the vehicle 10 on the basis of an instruction from the information terminal 60; a positional relation determination unit 56 which determines the relative positional relation between information terminal 60 and the vehicle 10; and a reception control unit 57 that restricts the acceptance of the instruction of movement control by the information terminal 60 when the positional relation satisfies a predetermined condition.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. To achieve this, we are focusing on research and development into driver assistance technologies to further improve road safety and convenience.

[0003] Conventionally, a remote parking system is known that remotely controls a vehicle to park the vehicle in a designated parking space or to withdraw the vehicle from the parking space. Also, a vehicle is known that includes a main power supply device (secondary battery) that supplies power to the vehicle's electrical components during normal vehicle driving or vehicle parking control, and an auxiliary power supply (capacitor) that supplies power to a safety device that slows down / stops the vehicle when the main power supply device fails. Patent Document 1 describes a vehicle control device that supplies power from a second power supply device to a braking device and a shift switching device when an abnormality occurs in a first power supply device while parking assistance control is being executed, monitors the amount of charge stored in the second power supply device, and controls the braking device and the shift switching device to stop the vehicle when the amount of charge becomes smaller than a predetermined value. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2022-041514 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a remote parking control of a vehicle is being performed, the location of the user relative to the vehicle and the user instructing the control varies depending on the user. In addition, as long as remote communication with the vehicle is possible, the location of the user instructing the control is not particularly limited. Therefore, for example, a case may occur where the user executes a control instruction for the vehicle in a situation where the user cannot fully recognize the environment around the vehicle. In addition, in a vehicle equipped with a second power supply device (capacitor), a case may occur where the user continues to instruct the vehicle to control the vehicle regardless of the charge storage state of the second power supply device. However, Patent Document 1 does not describe the location of the user instructing the vehicle to control the vehicle relative to the vehicle or the communication state with the vehicle. Therefore, there is room for improvement in the remote parking control of the vehicle in the positional relationship between the vehicle and the user.

[0006] The present invention aims to provide a control device, a control method, and a control program capable of appropriately restricting external control of the movement of a moving object, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention relates to A control device for a moving object, a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object; setting a predetermined condition according to a surrounding environment of the moving object regarding the difficulty of visually recognizing the moving object; The positional relationship is The above and a reception control unit that limits reception of the instruction for the mobility control by the information terminal when a predetermined condition is satisfied. It is a control device. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control device for a moving object, a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object; a reception control unit that limits reception of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; A charge control unit that controls charging of a power supply device for the movement control, the reception control unit causes the information terminal to display a fourth display image for starting the moving object; the charging control unit starts the moving object and starts the charging control based on a user's instruction on the fourth display image; The reception control unit After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, displaying a fifth display image representing the progress state on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. It is a control device. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control device for a moving object, a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object, including a relative positional relationship between the information terminal and a movement destination of the movement control; and a reception control unit that limits reception of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition. It is a control device.

[0008] The present invention relates to A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving object; setting a predetermined condition according to a surrounding environment of the moving object regarding the difficulty of visually recognizing the moving object; The positional relationship is The above restricting acceptance of the instruction for the mobility control by the information terminal when a predetermined condition is satisfied; It is a control method. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, and a charge control unit that controls charging of a power supply device for the movement control, comprising: A processor of the control device displaying, on the information terminal, a fourth display image for starting the moving object; starting the moving object and starting the charging control based on a user's instruction on the fourth display image; restricting acceptance of an instruction for the movement control by the information terminal when a relative positional relationship between the information terminal and the moving body satisfies a predetermined condition; After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, displaying a fifth display image representing the progress state on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. It is a control method. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving body, including a relative positional relationship between the information terminal and a movement destination of the movement control; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; It is a control method.

[0009] The present invention relates to A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving object; setting a predetermined condition according to a surrounding environment of the moving object regarding the difficulty of visually recognizing the moving object; The positional relationship is The above restricting acceptance of the instruction for the mobility control by the information terminal when a predetermined condition is satisfied; This is a control program for executing the processing. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control program for a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, and a charge control unit that controls charging of a power supply device for the movement control, A processor of the control device displaying, on the information terminal, a fourth display image for starting the moving object; starting the moving object and starting the charging control based on a user's instruction on the fourth display image; restricting acceptance of an instruction for the movement control by the information terminal when a relative positional relationship between the information terminal and the moving body satisfies a predetermined condition; After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, displaying a fifth display image representing the progress state on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. This is a control program for executing the processing. The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: A control program for a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, A processor of the control device determining a relative positional relationship between the information terminal and the moving body, including a relative positional relationship between the information terminal and a movement destination of the movement control; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; This is a control program for executing the processing. Effect of the Invention

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that are capable of appropriately restricting external movement control of a moving object. [Brief description of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle whose movement is controlled by a control device of the present embodiment. [Diagram 2] FIG. 2 is a top view of the vehicle shown in FIG. [Diagram 3] 2 is a block diagram showing an internal configuration of the vehicle shown in FIG. 1. [Figure 4] FIG. 2 is a diagram illustrating an example of a hardware configuration of an information terminal. [Diagram 5] FIG. 1 is a diagram showing an example of a state in which movement of a vehicle is controlled using an information terminal from outside the vehicle. [Figure 6] 10 is a flowchart showing a process of controlling leaving the garage by a calculation unit when a vehicle automatically leaves the garage. [Figure 7] 7 is a flowchart showing the delivery control of the calculation unit following the process of FIG. 6. [Figure 8] FIG. 4 is a sequence diagram showing a first operation example of the control system. [Figure 9] FIG. 11 is a sequence diagram showing a second operation example of the control system. [Figure 10] 13 is a reception screen displayed on the information terminal during processing of a communication connection between the vehicle and the information terminal during automatic vehicle departure from the garage. [Figure 11] 13 is a reception screen that is displayed on the information terminal when a communication connection between the vehicle and the information terminal is completed. [Figure 12] 13 is a reception screen displayed on an information terminal when an ignition ON command is received. [Figure 13] This is the reception screen that is displayed on the information terminal when the ignition ON button is pressed. [Figure 14] This is the reception screen that is displayed on the information terminal when the ignition ON button is pressed and the vehicle starts. [Figure 15]13 is a reception screen displayed on the information terminal when the reception of a vehicle action plan begins. [Figure 16] 13 is a reception screen displayed on the information terminal when a vehicle action plan is received. [Figure 17] 13 is a charging standby screen displayed on an information terminal when waiting for charging of a sub-power source. [Figure 18] 13 is a reception screen displayed on the information terminal when receiving an instruction to execute mobility control from a user. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described with reference to the accompanying drawings. The drawings are to be viewed in the direction of the reference symbols. In this specification and the like, for the sake of simplicity and clarity, the front / rear, left / right, and up / down directions are described according to the direction as seen by the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the up as U, and the down as D.

[0013] <Vehicle 10 whose movement is controlled by the control device of the present invention> Fig. 1 is a side view of a vehicle 10 whose movement is controlled by a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of a moving body of the present invention.

[0014] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, 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 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. 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. Both the front wheels and the rear wheels may be steerable wheels, or one of them may be steerable wheels.

[0015] The vehicle 10 further includes side mirrors 11L, 11R. The side mirrors 11L, 11R are mirrors (rear-view mirrors) provided on the outside of the front doors of the vehicle 10 to allow the driver to check the rear and rear sides. The side mirrors 11L, 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around the rotation shaft.

[0016] The vehicle 10 further includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is a digital camera provided in front of the vehicle 10 and captures an image in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures an image in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures an image in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures an image in the right side of the vehicle 10.

[0017] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Fig. 1. As shown in Fig. 3, the vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further has a driving force control system 26, a braking force control system 28, and a power source 30.

[0018] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a, 34b, a vehicle speed sensor 36, and an operation detection unit 38. The sensor group 16 may also include a radar.

[0019] The front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., peripheral images) for recognizing the outside world of the vehicle 10. The peripheral images captured by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image may be referred to as a lateral image.

[0020] 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 diagonally forward left and rear left 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.

[0021] The wheel sensors 34a, 34b detect the rotation angle of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured by angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the rotation angle and rotation speed of the wheels. The travel distance of the vehicle 10 is calculated based on the rotation angle of the wheels. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0022] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0023] 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 ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (select lever or selector).

[0024] The navigation device 18 detects the current position of the vehicle 10 using, for example, a Global Positioning System (GPS), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that includes a map information database.

[0025] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0026] The touch panel 42 is configured to input various commands to the control ECU 20. For example, the user can input commands related to the movement support of the vehicle 10 via the touch panel 42. The movement support includes parking support and exit support for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control contents of the control ECU 20. For example, the touch panel 42 displays a screen related to the movement support of the vehicle 10. Specifically, the touch panel 42 displays a parking support button for requesting parking support for the vehicle 10 and an exit support button for requesting exit support. The parking support buttons include an automatic parking button for requesting parking by automatic steering of the control ECU 20 and an auxiliary parking button for requesting assistance when parking by the driver's operation. The exit support buttons include an automatic exit button for requesting exit by automatic steering of the control ECU 20 and an auxiliary exit button for requesting assistance when exiting by the driver's operation. Note that components other than the touch panel 42, such as a smartphone or a tablet terminal, may be used as the input device or the display device.

[0027] The power source 30 includes a main power source 141 and a sub-power source 142. The main power source 141 is a power source (secondary power source) that supplies power to electronic devices equipped on the vehicle 10 during normal driving of the vehicle 10 and when the vehicle 10 is parked or leaves a garage. The sub-power source 142 is a power source (auxiliary power source) that supplies power to a VSA (Vehicle Stability Assist) and an EPB (Electric Parking Brake) that decelerate or stop the vehicle 10 when the main power source 141 fails. The sub-power source 142 is used to activate a fail-safe by the operation of the VSA and the EPB. The main power source 141 is, for example, a lithium ion battery, a nickel metal hydride battery, a lead storage battery, or the like. The sub-power source 142 is, for example, a capacitor (electric double layer capacitor), or the like. The power source 30 is connected to the control ECU 20. The sub-power source 142 is a power source device of the present invention.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The calculation unit 52 also inputs and outputs signals between each unit connected to the control ECU 20 via the input / output unit 50. The control ECU 20 or the calculation unit 52, or a combination of these with the communication unit 24, is an example of a control device of the present invention.

[0029] The calculation unit 52 has a movement control unit 55 that controls the movement of the vehicle 10, a positional relationship determination unit 56 that determines the positional relationship between the vehicle 10 and an information terminal portable by the user, a reception control unit 57 that limits the reception of instructions for movement control, and a charging control unit 58 that controls charging of the sub-power source 142.

[0030] The movement control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is automatically performed under the control of the movement control unit 55. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is automatically performed. In addition, the movement control unit 55 performs auxiliary parking assistance and auxiliary leaving assistance when the driver operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10.

[0031] For example, the movement control unit 55 performs movement control to move the vehicle 10 based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R, and the parking space designated by the user. The movement control includes parking control to automatically park the vehicle 10 in a specified parking space, and leaving control to automatically leave the vehicle 10 from the specified parking space to a target moving position. The movement control unit 55 performs the parking control and leaving control according to an instruction signal input from the outside via the input / output unit 50. The input from the outside includes input by wireless communication from an information terminal or the like carried by the user of the vehicle 10. The movement control unit 55 also transmits information related to the parking control and leaving control to an external information terminal via the input / output unit 50.

[0032] In addition, the movement control unit 55 registers a predetermined parking space designated by the user as a designated parking space in the storage unit 54. The movement control unit 55 registers feature points related to the designated parking space in the storage unit 54 based on the recognition data of the outside world of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The movement control unit 55 controls automatic parking to park the vehicle 10 in the designated parking space and automatic withdrawal to withdraw the vehicle 10 from the designated parking space based on the recognition data of the outside world of the vehicle 10 and the feature points of the designated parking space designated by the user.

[0033] The positional relationship determination unit 56 determines the relative positional relationship between the information terminal carried by the user and the vehicle 10. The positional relationship between the information terminal carried by the user and the vehicle 10 includes, for example, a positional relationship between the information terminal and the vehicle 10 at a distance (a predetermined value or more) between them, and a positional relationship in which an obstruction that prevents communication between the information terminal and the vehicle 10 is sandwiched between them. An obstruction is, for example, an object that blocks the view from the position of the information terminal to the vehicle 10. However, transparent objects such as acrylic panels and fences may be excluded from the obstruction. Whether or not an obstruction is sandwiched between the information terminal and the vehicle 10 may be determined, for example, by using a camera of the vehicle 10 and determining whether or not the camera can see through to the position of the information terminal. The position of the information terminal may be specified, for example, by determining whether or not the information terminal is an information terminal that can communicate by positioning using BLE (Bluetooth Low Energy (registered trademark)). Also, whether or not an obstruction is sandwiched between the information terminal and the vehicle 10 may be determined, for example, based on the distance from the vehicle 10 to the information terminal and the radio wave intensity between them relative to that distance. In addition, the presence or absence of an obstruction may be determined by analyzing an image captured by a camera to calculate the degree of obstruction in the direction (angle of view) of the information terminal, or by calculating the degree of obstruction based on a spatial sensor, and comparing the degree of obstruction with a threshold value.

[0034] The relative positional relationship may include not only the positional relationship between the current position of the vehicle 10 and the information terminal carried by the user, but also the positional relationship between the position of the destination of the vehicle 10 after the movement of the vehicle 10 is controlled and the information terminal carried by the user. For example, the relative positional relationship may include whether or not the destination position of the vehicle 10 is visible to the user carrying the information terminal.

[0035] The reception control unit 57 restricts the reception of movement control instructions by the information terminal when the positional relationship between the information terminal carried by the user and the vehicle 10 satisfies a predetermined condition. A movement control instruction is an operation of the information terminal for selecting or determining the exit direction of the vehicle 10 in order to automatically exit the vehicle 10 from a predetermined parking space to a target movement position. Restricting the reception of movement control instructions means controlling the information terminal so as to restrict the reception of instructions. For example, restricting the reception of instructions includes not displaying the reception screen on the terminal screen of the information terminal, graying out the reception screen, not accepting (not responding to) operations even if the reception screen is touched, and the like.

[0036] When the positional relationship between the information terminal carried by the user and the vehicle 10 does not satisfy a predetermined condition, for example, when the distance between them is shorter than a predetermined value or when there is no obstruction between them, the reception control unit 57 displays a first display image for accepting a movement control instruction on the information terminal of the user. On the other hand, when the positional relationship between the information terminal carried by the user and the vehicle 10 satisfies a predetermined condition, for example, when the distance between them is greater than a predetermined value or when there is an obstruction between them, the reception control unit 57 restricts the display of the first display image on the information terminal of the user. The first display image is, for example, an image for accepting an action plan for movement control. The action plan for movement control includes, for example, designating the direction in which the vehicle 10 is to be moved (direction of leaving the depot).

[0037] When the positional relationship between the information terminal carried by the user and the vehicle 10 satisfies a predetermined condition, the reception control unit 57 issues a notification urging the user to move the position where the user is. For example, the reception control unit 57 causes the information terminal to display a second display image that urges the user to move so as to eliminate the state in which the positional relationship satisfies the predetermined condition. The state in which the predetermined condition is satisfied includes, for example, elimination by the user carrying the information terminal approaching the vehicle 10, elimination by moving to a position that avoids obstructions, and the like. The second display image may be message information such as, for example, "Please approach the vehicle", "Please move to a place where the vehicle can be seen", "The restriction will be lifted if you avoid obstructions", or "The restriction will be lifted if you approach the vehicle". In addition, the reception control unit 57 may, for example, output the above message by voice from the information terminal, or may notify the user by voice output from the vehicle 10.

[0038] After restricting the reception of movement control instructions by the information terminal, the reception control unit 57 lifts the restriction on reception when the positional relationship between the information terminal carried by the user and the vehicle 10 no longer satisfies a predetermined condition, for example, when the distance between them becomes shorter than a predetermined value or when there is no longer an obstruction between them. Lifting the restriction means causing the information terminal of the user to display a first display image for receiving movement control instructions.

[0039] The reception control unit 57 sets a predetermined condition for the positional relationship between the information terminal carried by the user and the vehicle 10 according to the surrounding environment of the vehicle 10. The surrounding environment includes, for example, the weather, brightness, or regional differences around the vehicle 10. The regional difference is, for example, the difference between a city with poor visibility due to many obstacles and a rural area with good visibility. Setting a predetermined condition according to the surrounding environment means, for example, setting a wider range of predetermined conditions as the environment makes it more difficult to visually recognize the vehicle 10. For example, the reception control unit 57 restricts the reception of a movement control instruction when the distance between the information terminal and the vehicle 10 is closer as the environment makes it more difficult to visually recognize the vehicle 10. Also, the reception control unit 57 restricts the reception of a movement control instruction at a lower degree of obscuration as the environment makes it more difficult to visually recognize the vehicle 10.

[0040] After receiving an instruction for movement control by the information terminal, the reception control unit 57 causes the information terminal to display a third display image for starting movement control. The third display image may be, for example, an image for continuously swiping the terminal screen of the information terminal or an image for rotating and swiping in a predetermined rotation direction.

[0041] Also, for example, the reception control unit 57 displays on the terminal screen of the information terminal a fourth display image for starting the vehicle 10. The fourth display image is, for example, an image of "ignition ON button" or text information such as "press the power button."

[0042] When vehicle 10 starts based on a user's instruction on the fourth display image, charging control unit 58 starts charging control of sub-power source 142 for controlling the movement of vehicle 10.

[0043] When the positional relationship between the information terminal carried by the user and the vehicle 10 does not satisfy a predetermined condition after the start of the charging control of the sub-power source 142, the reception control unit 57 displays a first display image for receiving an instruction for the movement control on the terminal screen of the information terminal. The instruction for the movement control includes, for example, a designation of a direction in which the vehicle 10 is to be moved. When the progress state of the charging control of the sub-power source 142 has not reached a predetermined state after the reception control unit 57 receives an instruction for the movement control based on the user's instruction for the first display image, the reception control unit 57 displays a fifth display image representing the progress state of the charging control on the terminal screen of the information terminal. Furthermore, when the progress state of the sub-power source 142 has reached a predetermined state after the reception control unit 57 receives an instruction for the movement control based on the user's instruction for the first display image, the reception control unit 57 does not display the fifth display image on the terminal screen of the information terminal, or displays the fifth display image on the terminal screen of the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. After the progress state of the charging control of the sub-power source 142 has reached a predetermined state, the reception control unit 57 causes a third display image for receiving an instruction for controlling the movement of the vehicle 10 to be displayed on the terminal screen of the information terminal.

[0044] The progress status includes at least one of the progress rate of the charging control, the time until the charging control is completed, the charge amount of the sub-power source 142, and the charging rate of the sub-power source 142. The fifth display image may be, for example, an image indicating the time until the charging control is completed, such as "Preparing for remote leaving the garage, will take up to xx seconds", or an image of a progress bar indicating the charging progress status. The progress bar may indicate the current progress status, for example, starting from the progress status at the start of the charging control of the sub-power source 142. The progress bar may also indicate the current progress status, for example, starting from the progress status at the start of the display of the fifth display image.

[0045] The progress status is the ratio of the current elapsed time to the time required for charging control of the sub-power source 142. For example, if the time required for charging control (time until charging is completed) is 10 seconds, the progress bar indicating the progress status is displayed to extend (progress) at a constant speed during those 10 seconds. Note that the time required for charging control may be constant, for example, 20 seconds, or may be predicted taking into consideration the remaining charge, the ambient temperature, and the degree of deterioration. The starting point of the progress bar may be the progress status at the start of charging control as described above, or may be the progress status at the start of displaying the fifth display image.

[0046] When there is an abnormality in at least one of the sub-power source 142 and the charging control to the sub-power source 142, the movement control unit 55 restricts the movement control of the vehicle 10. For example, when the charging control of the sub-power source 142 takes 20 seconds or more, or when the sub-power source 142 is not charged to 80% or more, the movement control unit 55 determines that the battery has deteriorated and restricts the movement control of the vehicle 10. Restrictions on the movement control include, for example, not allowing the vehicle 10 to be remotely parked in the first place, shortening the driving distance and driving range of the vehicle 10 in remote parking, and slowing down the movement speed of the vehicle 10 in remote parking. When the battery of the sub-power source 142 is completely failed, the ignition may be turned off and the user may be notified of the fact. Note that even when the battery of the sub-power source 142 is completely failed, the movement control may be executed if the user permits it.

[0047] 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 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.

[0048] 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 (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0049] The communication unit 24 enables wireless communication with another communication device 120. The other communication device 120 is a base station, a communication device of another vehicle, or an information terminal such as a smartphone or tablet terminal that is portable by the user of the vehicle 10. For example, the communication unit 24 includes a UWB (Ultra Wide Band: registered trademark) interface for performing UWB communication with the information terminal. The information terminal will be described later.

[0050] The driving force control system 26 is equipped with 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).

[0051] 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 a user's operation of a brake pedal (not shown).

[0052] <Hardware configuration of information terminal> Fig. 4 is a diagram showing an example of a hardware configuration of the information terminal 60. The hardware of the information terminal 60 can be realized, for example, by an information processing device 80 shown in Fig. 4. The information processing device 80 includes a processor 81, a memory 82, a communication interface 83, and a user interface 84. The processor 81, the memory 82, the communication interface 83, and the user interface 84 are connected by, for example, a bus 85.

[0053] The processor 81 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information processing device 80. The processor 81 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 81 may also be realized by combining a plurality of digital circuits.

[0054] The memory 82 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 81.

[0055] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, a flash memory, etc. The auxiliary memory stores various programs that operate the information processing device 80. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 81.

[0056] The auxiliary memory may also include a portable memory that is removable from the information processing device 80. Portable memories include memory cards such as a Universal Serial Bus (USB) flash drive or a Secure Digital (SD) memory card, and an external hard disk drive.

[0057] The communication interface 83 is a communication interface that performs wireless communication with the outside of the information processing device 80 (for example, the communication unit 24 of the vehicle 10). For example, the communication interface 83 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 83 is controlled by the processor 81.

[0058] The user interface 84 includes, for example, an input device that accepts operation input from the user, an output device that outputs information to the user, and the like. The input device can be realized, for example, by a touch panel, etc. The output device can be realized, for example, by a display, a speaker, etc. The user interface 84 is controlled by the processor 81.

[0059] The processor 81 performs movement control to instruct the movement of the vehicle 10. For example, the processor 81 performs movement control of the vehicle 10 based on a specific operation of the user on the terminal screen of the information terminal 60. The movement control includes, for example, parking control to automatically park the vehicle 10 in a predetermined parking space, and leaving control to automatically leave the vehicle 10 from the predetermined parking space to a target moving position. The specific operation includes, for example, a slide operation to move the vehicle 10, a tap operation to reserve the parking and leaving plan, and the like. The slide operation includes a continuous position instruction operation (for example, a swipe operation), a rotation instruction operation in a predetermined rotation direction (for example, a rotation swipe operation), and the like. In addition, the processor 81 generates a guidance image that prompts the user to perform an instruction operation on the terminal screen of the information terminal 60, and performs control to display the generated guidance image on the terminal screen.

[0060] Specifically, the processor 81 displays a fourth display image for starting the vehicle 10 on the terminal screen of the information terminal 60. The processor 81 causes the calculation unit 52 of the vehicle 10 to start the vehicle 10 and start charging control of the sub-power source 142 based on the user's operation on the fourth display image. In addition, the processor 81 displays a first display image for receiving an instruction for movement control of the vehicle 10 on the terminal screen of the information terminal 60 in association with the start of the vehicle 10. The processor 81 receives an action plan (the direction of leaving the vehicle 10) for the movement control of the vehicle 10 based on the user's operation on the first display image. In addition, the processor 81 displays a second display image for encouraging the user to move on the terminal screen of the information terminal 60 so as to eliminate a state in which the positional relationship between the information terminal 60 carried by the user and the vehicle 10 satisfies a predetermined condition. In addition, the processor 81 displays a third display image for starting movement control on the terminal screen of the information terminal 60 after receiving the instruction for movement control. Furthermore, after accepting an instruction for movement control, processor 81 causes the fifth display image to be displayed on the terminal screen of information terminal 60 in accordance with the progress of charging control of sub-power source 142.

[0061] The processor 81 transmits to the vehicle 10 a parking instruction for automatically parking the vehicle 10 and an exit instruction for automatically exiting the vehicle 10, based on a specific operation on the third display image displayed on the terminal screen of the information terminal 60. An application capable of controlling the movement of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10 is installed in the information terminal 60.

[0062] <Control by Information Terminal 60> 5 is a diagram showing an example of a state in which a user M of the vehicle 10, using an information terminal 60 carried by the user M, is controlling a movement instruction to automatically exit the vehicle 10 from a parking space P, outside the vehicle 10. The control of the movement instruction includes, for example, control of an exit instruction to automatically exit the vehicle 10 from the parking space P, and control of a parking instruction to automatically park the vehicle 10 in the parking space P. The example shown in FIG. 5 shows a state in which an exit instruction for the vehicle 10 is controlled.

[0063] When a terminal screen 61 configured as a touch panel is touched, the information terminal 60 transmits an instruction signal to the vehicle 10 via wireless communication to instruct the vehicle 10 to automatically leave the garage. For example, UWB, BLE, NFC (Near Field Communication: registered trademark), etc. are used for wireless communication with the vehicle 10. The vehicle 10 receives the instruction signal from the information terminal 60 via the communication unit 24. The movement control unit 55 of the vehicle 10 performs leaving control to automatically leave the garage in accordance with the received instruction signal.

[0064] <Movement control of vehicle 10 by calculation unit 52> Next, the movement control of the vehicle 10 by the computing unit 52 of the vehicle 10 will be described with reference to FIGS.

[0065] Fig. 6 is a flowchart showing the leaving control of the calculation unit 52 when the vehicle 10 automatically leaves the parking lot. Fig. 7 is a flowchart showing the leaving control of the calculation unit 52 following the processing of Fig. 6. The leaving control of this example is executed, for example, in a situation as shown in Fig. 5 where the user M is using the information terminal 60 to automatically leave the vehicle 10 from the parking space P.

[0066] First, the calculation unit 52 determines whether the vehicle 10 is in a state of being wirelessly connected for communication with the information terminal 60 (step S11). The communication connection is enabled when the information terminal 60 transmits a connection request to the vehicle 10.

[0067] In step S11, if communication is not established with the information terminal 60 (step S11: No), the calculation unit 52 repeats the process of step S11 and waits until communication is established. In step S11, if communication is established with the information terminal 60 (step S11: Yes), the calculation unit 52 transmits a display instruction to the information terminal 60 to display an ignition ON instruction reception screen for turning on the ignition of the vehicle 10 on the terminal screen 61 of the information terminal 60 (step S12). The ignition ON instruction reception screen is an example of a fourth display image of the present invention. An example of the ignition ON instruction reception screen is the screen shown in FIG. 12. The reception control unit 57 of the calculation unit 52 executes the process of step S12.

[0068] Next, the calculation unit 52 determines whether or not an ignition ON instruction for turning on the ignition of the vehicle 10 has been received from the information terminal 60 (step S13).

[0069] In step S13, if an ignition ON command has not been received (step S13: No), the calculation unit 52 repeats the process of step S13 until an ignition ON command is received. In step S13, if an ignition ON command has been received (step S13: Yes), the calculation unit 52 turns on the ignition of the vehicle 10 (step S14).

[0070] Next, the calculation unit 52 starts charge control for charging the battery of the sub-power supply 142 of the vehicle 10 (step S15). It is the charge control unit 58 of the calculation unit 52 that executes the process of step S15.

[0071] Next, the calculation unit 52 determines whether or not the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 satisfies a predetermined condition (step S16). As described above, the positional relationship that satisfies the predetermined condition is a positional relationship in which the distance between the information terminal 60 and the vehicle 10 is equal to or greater than a predetermined value, a positional relationship in which there is an obstacle between the information terminal 60 and the vehicle 10 that prevents communication between them, etc. The processing of step S16 is executed by the positional relationship determination unit 56 of the calculation unit 52.

[0072] In step S16, if the positional relationship satisfies a predetermined condition, for example, if the distance between the information terminal 60 and the vehicle 10 is equal to or greater than a predetermined value (step S16: Yes), the calculation unit 52 transmits a display instruction to the information terminal 60 to display a notification screen on the terminal screen 61 of the information terminal 60, which prompts the user M to move in order to resolve the state in which the predetermined condition is satisfied (step S17). As described above, the notification screen prompting the user to move is a screen on which message information such as "Please move closer to the vehicle" or "Please move to a place where the vehicle can be seen" is displayed. The notification screen prompting the user to move is an example of a second display image of the present invention. The process of step S17 is executed by the reception control unit 57 of the calculation unit 52.

[0073] Next, the calculation unit 52 judges again whether or not the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 satisfies the predetermined condition (step S18).

[0074] In step S18, if the positional relationship satisfies the predetermined condition (step S18: Yes), the calculation unit 52 repeats the process of step S18. As a result, the calculation unit 52 restricts the progress of the movement control. In step S18, if the positional relationship no longer satisfies the predetermined condition (the predetermined condition is resolved) (step S18: No), the process proceeds to FIG. 7, and the calculation unit 52 transmits a display instruction to the information terminal 60 to display an action plan reception screen for allowing the user M to input the action plan (leaving direction) of the vehicle 10 on the terminal screen 61 of the information terminal 60 (step S19). As a result, the calculation unit 52 releases the restriction on the progress of the movement control. The action plan reception screen is an example of the first display image of the present invention. As an example of the action plan reception screen, a screen shown in FIG. 15 can be given. It is the reception control unit 57 of the calculation unit 52 that executes the process of step S19.

[0075] On the other hand, if the positional relationship does not satisfy the specified condition in step S16 (step S16: No), the calculation unit 52 proceeds directly to step S19 and sends a display instruction to the information terminal 60 to display the action plan reception screen on the terminal screen 61 of the information terminal 60.

[0076] Next, the calculation unit 52 determines whether or not the action plan for the vehicle 10 has been received from the information terminal 60 to which the display instruction was sent in step S19 (step S20).

[0077] In step S20, if an action plan has not been received (step S20: No), calculation unit 52 repeats the process of step S20 until an action plan is received. In step S20, if an action plan has been received (step S20: Yes), calculation unit 52 determines whether or not the charging control of sub-power source 142 started in step S15 has been completed (step S21).

[0078] In step S21, if the charging control of the sub-power source 142 is not completed (step S21: No), the calculation unit 52 transmits a display instruction to the information terminal 60 to display a charging waiting screen on the terminal screen 61 of the information terminal 60 for making the user M wait for the charging of the sub-power source 142 to be completed (step S22). The charging waiting screen is an example of a fifth display image of the present invention. An example of the charging waiting screen is the screen shown in FIG. 17. The process of step S22 is executed by the reception control unit 57 of the calculation unit 52.

[0079] Next, calculation unit 52 determines again whether or not the charging control of sub-power supply 142 has been completed (step S23).

[0080] In step S23, if the charging control of the sub-power source 142 is not completed (step S23: No), the calculation unit 52 repeats the process of step S23 until the charging control is completed. In step S23, if the charging control of the sub-power source 142 is completed (step S23: Yes), the calculation unit 52 transmits a display instruction to the information terminal 60 to display a movement control execution instruction reception screen on the terminal screen 61 of the information terminal 60 for instructing the user M to execute movement control of the vehicle 10 (step S24). The movement control execution instruction reception screen is an example of a third display image of the present invention. An example of the movement control execution instruction reception screen is a screen shown in FIG. 18. The reception control unit 57 of the calculation unit 52 executes the process of step S24.

[0081] On the other hand, if it is determined in step S21 that the charging control of the sub-power source 142 has been completed (step S21: Yes), the calculation unit 52 also proceeds to step S24 and transmits to the information terminal 60 an instruction to display a screen for accepting an instruction to execute movement control.

[0082] Next, the calculation unit 52 determines whether or not a movement control execution instruction has been received from the information terminal 60 to which the display instruction was transmitted in step S24 (step S25).

[0083] In step S25, if the movement control execution instruction has not been received (step S25: No), the calculation unit 52 repeats the process of step S25 until the movement control execution instruction is received. In step S25, if the movement control execution instruction has been received (step S25: Yes), the calculation unit 52 starts movement control of the vehicle 10 based on the movement control execution instruction (step S26).

[0084] As described above, the control device (the calculation unit 52) ​​of the vehicle 10 determines the relative positional relationship between the information terminal 60 and the vehicle 10, and when the positional relationship satisfies a predetermined condition, for example, when the user M carrying the information terminal 60 is located at a position distant from the vehicle 10 by a predetermined distance or more, or when an obstruction exists between the user M and the vehicle 10, the control device restricts the reception of an instruction from the information terminal 60 when the movement of the vehicle 10 is controlled by the information terminal 60. This makes it possible to prevent a situation in which the movement of the vehicle 10 is controlled based on an instruction from the information terminal 60 of the user M in a situation in which the user M cannot sufficiently check the safety of the environment around the moving body because the distance to the vehicle 10 is far or an obstruction exists between the vehicle 10 and the user M. This makes it possible to appropriately restrict the movement control of the vehicle 10 from outside the vehicle 10.

[0085] In addition, when the relative positional relationship between the information terminal 60 and the vehicle 10 satisfies a predetermined condition, the calculation unit 52 causes the information terminal 60 to display a display image that prompts the user M to move so as to eliminate the state that satisfies the predetermined condition, for example, message information such as "please approach the vehicle". This makes it possible to prevent a situation in which the movement control of the vehicle 10 is performed even though the safety of the surrounding environment of the moving body cannot be sufficiently confirmed. In addition, the calculation unit 52 can cause the user M to recognize why the acceptance of instructions from the information terminal 60 is restricted. In addition, when the relative positional relationship between the information terminal 60 and the vehicle 10 no longer satisfies the predetermined condition after restricting the acceptance of instructions from the information terminal 60, the calculation unit 52 releases the restriction on the acceptance. This makes it possible to appropriately restrict the movement control of the vehicle 10 from outside the vehicle 10. In addition, it is possible to eliminate the user's anxiety about not being able to accept instructions from the information terminal 60.

[0086] <Control system operation> Next, an operation example of the control system S (see Fig. 5) consisting of the vehicle 10 that controls automatic leaving and the information terminal 60 that controls the leaving instruction will be described with reference to Fig. 8 and Fig. 9. This operation example is executed in a situation where the user M is trying to automatically leave the vehicle 10 from the parking space P using the information terminal 60, as shown in Fig. 5.

[0087] [First operation example] Fig. 8 is a sequence diagram showing a first operation example of the control system S. The information terminal 60 starts an application for automatic leaving the garage and transmits a communication connection request to the vehicle 10. When the vehicle 10 receives the communication connection request from the information terminal 60, the vehicle 10 and the information terminal 60 are connected and become communicable (step S31). At this time, examples of the screens displayed on the terminal screen 61 of the information terminal 60 include reception screens shown in Figs. 10 and 11.

[0088] Next, the vehicle 10 transmits a display instruction to the information terminal 60 to display, on the terminal screen 61 of the information terminal 60, a screen for accepting an ignition ON instruction for turning on the ignition of the vehicle 10 (step S32).

[0089] Next, the information terminal 60 displays an ignition ON instruction acceptance screen on the terminal screen 61 in accordance with the display instruction received from the vehicle 10, and accepts the ignition ON instruction from the user M on the acceptance screen (step S33). Examples of the ignition ON instruction acceptance screen include the screens shown in Figs. 12 to 14.

[0090] Next, when the information terminal 60 receives the ON instruction from the user M, it transmits an ignition ON instruction to turn on the ignition to the vehicle 10 (step S34).

[0091] Next, when the vehicle 10 receives the ignition ON instruction from the information terminal 60, the vehicle 10 turns on the ignition of the vehicle 10 (step S35).

[0092] Next, the vehicle 10 starts charging control for charging the battery of the sub-power supply 142 of the vehicle 10 (step S36).

[0093] Next, the vehicle 10 determines whether or not the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 satisfies a predetermined condition (step S37). As described above, the positional relationship that satisfies the predetermined condition is a positional relationship in which the distance between the information terminal 60 and the vehicle 10 is equal to or greater than a predetermined value, a positional relationship in which there is an obstacle between the information terminal 60 and the vehicle 10 that prevents communication between them, and the like.

[0094] Next, when the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 satisfies a predetermined condition, the vehicle 10 transmits a display instruction to the information terminal 60 to display on the terminal screen 61 of the information terminal 60 a notification screen encouraging the user M to move in order to resolve the state in which the predetermined condition is satisfied (step S38). When the positional relationship between the information terminal 60 and the vehicle 10 satisfies a predetermined condition, the vehicle 10 restricts the acceptance of an instruction for automatic leaving from the information terminal 60.

[0095] Next, the information terminal 60 displays a notification screen encouraging the user to move on the terminal screen 61 in accordance with the display instruction received from the vehicle 10 (step S39). As described above, the notification screen encouraging the user to move is a screen containing message information such as "Please move closer to the vehicle" or "Please move to a place where the vehicle can be seen."

[0096] Next, the vehicle 10 judges again whether or not the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 satisfies the predetermined condition (step S40).

[0097] Next, when the positional relationship between the information terminal 60 carried by the user M and the vehicle 10 no longer satisfies a predetermined condition (the predetermined condition is resolved), the vehicle 10 transmits a display instruction to the information terminal 60 to display an action plan reception screen on the terminal screen 61 of the information terminal 60 to allow the user M to input an action plan for the vehicle 10 (step S41). The vehicle 10 lifts the restriction on receiving instructions for automatic leaving from the information terminal 60.

[0098] Next, the information terminal 60 displays an action plan reception screen on the terminal screen 61 in accordance with the display instruction received from the vehicle 10, and receives an instruction for the action plan from the user M on the reception screen (step S42). An example of the action plan reception screen is the screen shown in Fig. 15, and an example of the screen on which the instruction for the action plan is received is the screen shown in Fig. 16.

[0099] Next, when the information terminal 60 receives an instruction for an action plan from the user M, the information terminal 60 transmits the action plan to the vehicle 10 (step S43).

[0100] Next, when the vehicle 10 receives the action plan from the information terminal 60, it determines whether the charging control of the sub-power source 142 that was started in step S36 has been completed, and if the charging of the sub-power source 142 has not yet been completed, it sends a display instruction to the information terminal 60 to display a charging waiting screen on the terminal screen 61 of the information terminal 60 to allow the user M to wait for charging (step S44).

[0101] Next, the information terminal 60 displays a charge waiting screen on the terminal screen 61 in accordance with the display instruction received from the vehicle 10 (step S45). An example of the charge waiting screen is the screen shown in FIG.

[0102] Next, after waiting for a predetermined period of time for charging, when the charging of the sub-power source 142 that began in step S36 is completed, the vehicle 10 transmits a display instruction to the information terminal 60 to display on the terminal screen 61 of the information terminal 60 a screen for accepting instructions to execute movement control of the vehicle 10 (step S46).

[0103] Next, the information terminal 60 displays a mobile control execution instruction acceptance screen on the terminal screen 61 in accordance with the display instruction received from the vehicle 10, and accepts the mobile control execution instruction from the user M on the acceptance screen (step S47). An example of the mobile control execution instruction acceptance screen is the screen shown in FIG.

[0104] Next, when the information terminal 60 receives a movement control execution instruction from the user M, the information terminal 60 transmits the movement control execution instruction to the vehicle 10 for executing movement control (step S48).

[0105] Next, the vehicle 10 starts movement control for automatically withdrawing the vehicle 10 from the parking lot in accordance with the movement control execution instruction received from the information terminal 60 (step S49).

[0106] [Second operation example] Fig. 9 is a sequence diagram showing a second operation example of the control system S. The second operation example is an operation example in which the departure control of the vehicle 10 is performed by the communicatively connected vehicle 10 and information terminal 60, similar to the first operation example described in Fig. 8. However, the second operation example differs from the first operation example in that, whereas in the first operation example, charging of the sub-power source 142 has not yet been completed when an action plan is transmitted from the information terminal 60 to the vehicle 10, the second operation example has completed charging of the sub-power source 142 when the action plan is transmitted.

[0107] As shown in Fig. 9, in this second operation example, each process from step S51 to step S63 is the same as each process from step S31 to step S43 in the first operation example described in Fig. 8. Therefore, the description of steps S51 to S63 will be omitted.

[0108] Next, when vehicle 10 receives the action plan from information terminal 60 in step S63, it determines whether or not the charging control of sub-power source 142 started in step S56 has been completed, and if charging of sub-power source 142 has been completed, it transmits a display instruction to information terminal 60 to display a movement control execution instruction acceptance screen for executing movement control of vehicle 10 on the terminal screen 61 of information terminal 60 (step S64). In other words, if charging of sub-power source 142 has already been completed when vehicle 10 receives the action plan from information terminal 60, it does not display a charge waiting screen for waiting for charging on the terminal screen 61 of information terminal 60.

[0109] Note that the processes from step S65 to step S67 are similar to the processes from step S47 to step S49 described with reference to Fig. 8. Therefore, the description of steps S65 to S67 will be omitted.

[0110] As described above, according to the first and second operation examples of the control system S, the relative positional relationship between the information terminal 60 and the vehicle 10 is determined, and if the positional relationship satisfies a predetermined condition, the transmission of a movement control instruction from the information terminal 60 to the vehicle 10 is restricted, and a notification is issued to prompt the user M to move so as to eliminate the state in which the predetermined condition is satisfied. For this reason, for example, when the distance to the vehicle 10 is long or when there is an obstruction between the vehicle 10 and the vehicle 10, in a situation in which the user M cannot sufficiently check the safety of the environment around the moving body, it is possible to prevent a situation in which the movement control of the vehicle 10 is performed based on an instruction from the information terminal 60 of the user M. In addition, it is possible to make the user M carrying the information terminal 60 recognize why the acceptance of instructions from the information terminal 60 is restricted. This makes it possible to appropriately restrict the movement control of the vehicle 10 from outside the vehicle 10.

[0111] Furthermore, according to the first operation example of the control system S, if the relative positional relationship between the information terminal 60 and the vehicle 10 does not satisfy a predetermined condition, charging control of the sub-power source 142 is performed even while instructions for the action plan for the vehicle 10 are being received from the user M, and if charging of the sub-power source 142 is incomplete after the instructions for the action plan are received, a charging wait screen is displayed on the information terminal 60. Therefore, since the charging wait screen is not displayed on the information terminal 60 while instructions for the action plan related to the automatic departure of the vehicle 10 from the user M are being issued, the user M can feel that the time waiting for charging control of the sub-power source 142 is short.

[0112] Furthermore, according to a second operation example of the control system S, if the relative positional relationship between the information terminal 60 and the vehicle 10 does not satisfy a predetermined condition, charging control of the sub-power source 142 is performed even while instructions for the action plan of the vehicle 10 are being accepted from the user M, and if charging of the sub-power source 142 is completed after the instructions for the action plan are accepted, the charging wait screen is not displayed on the information terminal 60. This makes it possible to reduce the annoyance felt by the user M when the charging wait screen is displayed on the information terminal 60.

[0113] <Example of image displayed on information terminal> 10 to 18 are diagrams showing examples of images displayed on the terminal screen 61 of the information terminal 60 when the vehicle 10 automatically leaves the garage.

[0114] 10 shows a reception screen 62 displayed on the terminal screen 61 of the information terminal 60 during processing of a communication connection between the vehicle 10 and the information terminal 60 during automatic leaving of the vehicle 10. The processor 81 displays the reception screen 62 on the terminal screen 61 when, for example, an application for automatic leaving is started. The processor 81 displays on the reception screen 62 a connection message 62a, such as "Connecting to vehicle", indicating that the information terminal 60 is in the process of connecting to the vehicle 10, and a stop button 62b for stopping this connection process.

[0115] Fig. 11 shows a reception screen 62 that is displayed on the terminal screen 61 of the information terminal 60 when the communication connection between the vehicle 10 and the information terminal 60 is completed. The processor 81 displays a connection completion message 62c, such as "Connection with the vehicle has been completed," on the reception screen 62, indicating that the connection process between the information terminal 60 and the vehicle 10 has been completed. The reception screen 62 in Figs. 10 and 11 is, for example, a screen that is displayed in step S31 in Fig. 8 or step S51 in Fig. 9.

[0116] 12 shows a reception screen 63 displayed on the terminal screen 61 of the information terminal 60 when an ignition ON instruction is received. The processor 81 displays an ignition ON button 63a and a start message 63b on the reception screen 63, which prompts the user to start the vehicle 10, such as "The vehicle will be started to leave the garage. Please press the POWER button."

[0117] 13 and 14 show a reception screen 63 displayed on the terminal screen 61 of the information terminal 60 when the ignition ON button 63a is pressed. As shown in FIG. 13, the processor 81 displays a start-up message 63c, such as "Starting the vehicle," and a start-up mark 63d on the reception screen 63, which indicate that the vehicle 10 is being started. Also, as shown in FIG. 14, the processor 81 displays a start-up completion message 63e, such as "Started," on the reception screen 63, which indicates that the vehicle 10 has been started. The reception screens 63 in FIG. 12 to FIG. 14 are screens displayed, for example, in step S33 in FIG. 8 or step S53 in FIG. 9.

[0118] 15 and 16 are a reception screen 64 displayed on the terminal screen 61 of the information terminal 60 when the action plan of the vehicle 10 is accepted. As shown in FIG. 15, the processor 81 displays, on the reception screen 64, a direction selection message 64a such as "Please select the direction of exit" that prompts the user to select the direction in which the vehicle 10 will leave the garage, and exit direction arrows 64b to 64e indicating the direction in which the vehicle 10 will leave the garage when the acceptance of the action plan is started. Also, as shown in FIG. 16, the processor 81 displays, on the reception screen 64, a direction confirmation message 64f such as "Leave forward" that indicates the direction of exit selected by the user M, and a selected direction of exit arrow 64g indicating the direction of exit, when the action plan is accepted. Furthermore, the processor 81 displays, on the reception screen 64, an OK button 64h for deciding the direction of exit and a reselection button 64i for reselecting the direction of exit. The reception screen 64 in FIG. 15 and FIG. 16 is, for example, a screen displayed in step S42 in FIG. 8 or step S62 in FIG. 9.

[0119] 17 shows a charging wait screen 65 displayed on the terminal screen 61 of the information terminal 60 when the sub-power source 142 is waiting to be charged. The processor 81 displays, on the charging wait screen 65, a charging wait message 65a notifying the user that the sub-power source 142 is waiting to be charged, for example, "Preparing for remote leaving the garage, this will take up to 20 seconds," and a progress bar 65b indicating the progress of charging. The charging wait message 65a shown in FIG. 17 indicates that there are 20 seconds left until the charging control of the sub-power source 142 is completed. The progress bar 65b indicates that the charging progress rate of the sub-power source 142 is currently 60%. The charging wait screen 65 in FIG. 17 is, for example, a screen displayed in step S45 in FIG. 8.

[0120] FIG. 18 is a reception screen 66 displayed on the terminal screen 61 of the information terminal 60 when receiving an instruction to execute movement control by the user M. The processor 81 displays, on the reception screen 66, a movement icon 66a that moves by following the touch position of the user M by a rotational swipe operation, for example. The processor 81 also displays a guidance message 66b for executing the automatic leaving of the vehicle 10 or stopping the automatic leaving of the vehicle 10, such as "Leave the vehicle by rotating swipe" or "Remove your finger to stop." The processor 81 also displays an execution state image 66c showing the execution state of the leaving control for the vehicle 10 (the state of the vehicle moving) above the area where the movement icon 66a is displayed. Furthermore, the processor 81 displays, on the right side of the execution state image 66c, a caution message 66d that calls the attention of the user M who performs the instruction operation, saying "Please check your surroundings directly," and a stop button 66e for stopping the control of the automatic leaving. The reception screen 66 in Fig. 18 is, for example, a screen displayed in step S47 in Fig. 8 or step S65 in Fig. 9. When the processor 81 receives a specific operation such as a continuous swipe operation by the user M on the reception screen 66 or a rotational swipe operation in a predetermined rotation direction, the processor 81 transmits a movement control execution instruction to the vehicle 10.

[0121] The control method described in the above embodiment can be realized by executing a prepared control program on a computer. The control program is recorded in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-transient storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0122] Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications and improvements are possible as appropriate.

[0123] For example, in the above embodiment, the moving body is a vehicle (four-wheeled automobile), but the present invention is not limited to this. For example, the moving body may be a two-wheeled vehicle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move by the power of the drive source.

[0124] This specification also 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.

[0125] (1) A control device (a computing unit 52) ​​for a moving body (a vehicle 10), A communication unit (communication unit 24) that communicates with an information terminal portable by a user of the mobile body; A movement control unit (movement control unit 55) that controls the movement of the moving object based on an instruction from the information terminal; A positional relationship determination unit (positional relationship determination unit 56) that determines a relative positional relationship between the information terminal and the moving body; and a reception control unit (reception control unit 57) that limits reception of the movement control instruction by the information terminal when the positional relationship satisfies a predetermined condition. Control device.

[0126] According to (1), by determining the relative positional relationship between the information terminal and the moving body, and if that positional relationship satisfies a predetermined condition, it is possible to restrict the acceptance of instructions from the information terminal when the information terminal controls the movement of the moving body, thereby making it possible to appropriately restrict the movement control of the moving body from outside the moving body.

[0127] (2) The control device according to (1), the predetermined condition includes that a distance between the information terminal and the moving object is equal to or greater than a predetermined value; Control device.

[0128] According to (2), when a user carrying an information terminal is located at a position that is a predetermined distance or more away from a moving object, it is possible to restrict the reception of a movement control instruction from the information terminal, thereby preventing a situation in which the movement of the moving object is controlled even though the user has not sufficiently confirmed the safety of the surrounding environment of the moving object.

[0129] (3) The control device according to (1) or (2), The predetermined condition includes a positional relationship in which the information terminal and the moving object are in such a way that an obstruction is sandwiched between them. Control device.

[0130] According to (3), when there is an obstacle between a user carrying an information terminal and a moving object, it is possible to restrict the reception of a movement control instruction from the information terminal, thereby preventing a situation in which the movement of the moving object is controlled even though the user is unable to fully confirm the safety of the surrounding environment of the moving object due to the obstacle.

[0131] (4) A control device according to any one of (1) to (3), The reception control unit When the positional relationship does not satisfy the predetermined condition, a first display image (a screen for accepting an action plan) for accepting an instruction for the movement control is displayed on the information terminal; When the positional relationship satisfies the predetermined condition, the display of the first display image on the information terminal is restricted. Control device.

[0132] According to (4), when the relative positional relationship between the information terminal and the moving body satisfies a specified condition, the display of the display image for accepting movement control instructions on the information terminal is restricted, thereby preventing a situation in which movement control of the moving body is performed despite the fact that the safety of the environment around the moving body has not been sufficiently confirmed.

[0133] (5) A control device according to any one of (1) to (4), When the positional relationship satisfies the predetermined condition, the reception control unit issues a notification to prompt the user to move. Control device.

[0134] According to (5), by sending a notification urging the user to move when the relative positional relationship between the information terminal and the moving body satisfies a specified condition, it is possible to prevent a situation in which the movement of the moving body is controlled even though the safety of the environment around the moving body has not been sufficiently confirmed.

[0135] (6) The control device according to (5), The notification includes displaying, on the information terminal, a second display image that prompts the user to move so as to eliminate the state in which the positional relationship satisfies the predetermined condition. Control device.

[0136] According to (6), when the relative positional relationship between the information terminal and the moving body satisfies a predetermined condition, a display image that prompts the user to move so as to eliminate the state where the predetermined condition is satisfied can be displayed on the information terminal. This can prevent a situation in which the movement of the moving body is controlled even though the safety of the surrounding environment of the moving body has not been sufficiently confirmed. In addition, the user can be made aware of why the acceptance of instructions from the information terminal was restricted.

[0137] (7) A control device according to any one of (1) to (6), and when the positional relationship no longer satisfies the predetermined condition after restricting the acceptance, the acceptance control unit releases the restriction on the acceptance. Control device.

[0138] According to (7), if the relative positional relationship between the information terminal and the moving body does not satisfy a predetermined condition after restricting the reception of instructions from the information terminal, the restriction on reception is lifted, so that it is possible to appropriately restrict the movement control of the moving body from outside the moving body. Also, it is possible to eliminate the user's anxiety about not being able to accept instructions from the information terminal.

[0139] (8) A control device according to any one of (1) to (7), The reception control unit sets the predetermined condition depending on a surrounding environment of the moving object. Control device.

[0140] According to (8), since the predetermined conditions are set according to the surrounding environment of the moving body, it is possible to appropriately restrict the movement control of the moving body from outside the moving body.

[0141] (9) A control device according to any one of (1) to (8), the reception control unit, after receiving the instruction for the movement control, causes the information terminal to display a third display image (a reception screen for an instruction for carrying out the movement control) for starting the movement control; Control device.

[0142] According to (9), by displaying on the information terminal a display image for starting movement control after a movement control instruction is accepted, it is possible to smoothly execute user operations in movement control of the moving body, and also to appropriately restrict movement control of the moving body from outside the moving body.

[0143] (10) A control device according to any one of (1) to (9), Further, a charging control unit (charging control unit 58) that controls charging of a power supply device for the movement control is provided. the reception control unit causes the information terminal to display a fourth display image (an ignition ON instruction reception screen) for starting the moving object; the charging control unit starts the moving object and starts the charging control based on a user's instruction on the fourth display image; The reception control unit After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, a fifth display image (a charging waiting screen) showing the progress state is displayed on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. Control device.

[0144] According to (10), when the relative positional relationship between the information terminal and the moving body does not satisfy a predetermined condition when the moving body starts in response to a user's instruction, charging control of the power supply device is performed even while the instruction for movement control is received from the user, and a display image showing the progress of the charging control is displayed after the instruction for movement control is received. This makes the user feel that the time to wait for the charging control of the power supply device is short. In addition, when the progress of the charging control of the power supply device reaches a predetermined state after the instruction for movement control is received from the user, the display image showing the progress is not displayed, thereby reducing the inconvenience for the user.

[0145] (11) The control device according to (10), The progress state includes at least one of a progress rate of the charging control, a time until the charging control is completed, a charge amount of the power supply device, and a charge rate of the power supply device. Control device.

[0146] According to (11), these items are preferable as the charging progress status to be notified to the user.

[0147] (12) The control device according to (10) or (11), The movement control unit limits the movement control when an abnormality occurs in at least one of the power supply device and the charging control. Control device.

[0148] According to (12), it is preferable to set restrictions on the movement of the mobile object when an abnormality occurs in the power supply device or charging control.

[0149] (13) A control device according to any one of (10) to (12), The power supply device is a sub-power supply for slowing down or stopping the moving body when a main power supply of the moving body fails. Control device.

[0150] According to (13), since charging control of the sub-power source is required when the moving object starts moving, it is preferable to display the charge waiting display at an appropriate timing when necessary.

[0151] (14) A control device according to any one of (1) to (13), The positional relationship includes a relative positional relationship between the information terminal and a destination of the movement control. Control device.

[0152] According to (14), it is preferable to control the acceptance of a movement control instruction by the information terminal when the positional relationship between the information terminal and a moving object whose movement is controlled as a movement destination satisfies a predetermined condition.

[0153] (15) A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving object, and a movement control unit that controls the movement of the moving object based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving object; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; Control methods.

[0154] According to (15), by determining the relative positional relationship between the information terminal and the moving body, and if the positional relationship satisfies a predetermined condition, it is possible to restrict the acceptance of instructions from the information terminal when the movement control of the moving body is performed by the information terminal, thereby making it possible to appropriately restrict the movement control of the moving body from outside the moving body.

[0155] (16) A control method for a control device including a communication unit that communicates with an information terminal portable by a user of a moving object, and a movement control unit that controls the movement of the moving object based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving object; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; A control program for executing processing.

[0156] According to (16), by determining the relative positional relationship between the information terminal and the moving body, and if the positional relationship satisfies a predetermined condition, it is possible to restrict the acceptance of instructions from the information terminal when the movement control of the moving body is performed by the information terminal, thereby making it possible to appropriately restrict the movement control of the moving body from outside the moving body. [Explanation of symbols]

[0157] 10 Vehicles (moving objects) 24 Communications Department 52 Calculation unit (control device) 55 Movement control section 56 Positional relationship determination unit 57 Reception control section 60 Information terminal

Claims

1. A control device for a moving object, a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object; a reception control unit that sets a predetermined condition according to a surrounding environment of the moving body regarding the difficulty of visually recognizing the moving body, and restricts reception of the movement control instruction by the information terminal when the positional relationship satisfies the predetermined condition, Control device.

2. The control device according to claim 1 , the predetermined condition includes that a distance between the information terminal and the moving object is equal to or greater than a predetermined value; Control device.

3. The control device according to claim 1 , The predetermined condition includes a positional relationship in which the information terminal and the moving object are in such a way that an obstruction is sandwiched between them. Control device.

4. The control device according to claim 1 , The reception control unit when the positional relationship does not satisfy the predetermined condition, displaying a first display image for receiving an instruction for the movement control on the information terminal; When the positional relationship satisfies the predetermined condition, a display of the first display image on the information terminal is restricted. Control device.

5. The control device according to claim 1 , When the positional relationship satisfies the predetermined condition, the reception control unit issues a notification to prompt the user to move. Control device.

6. The control device according to claim 5, the notification includes displaying, on the information terminal, a second display image that prompts the user to move so as to eliminate the state in which the positional relationship satisfies the predetermined condition. Control device.

7. The control device according to claim 1 , and when the positional relationship no longer satisfies the predetermined condition after restricting the acceptance, the acceptance control unit releases the restriction on the acceptance. Control device.

8. A control device as claimed in claim 1, the reception control unit, after receiving the instruction for the movement control, causes the information terminal to display a third display image for starting the movement control; Control device.

9. A control device for a moving object, comprising: a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object; a reception control unit that limits reception of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; A charge control unit that controls charging of a power supply device for the movement control, the reception control unit causes the information terminal to display a fourth display image for starting the moving object; the charging control unit starts the moving object and starts the charging control based on a user's instruction on the fourth display image; The reception control unit After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, a fifth display image representing the progress state is displayed on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. Control device.

10. The control device according to claim 9, The progress state includes at least one of a progress rate of the charging control, a time until the charging control is completed, a charge amount of the power supply device, and a charge rate of the power supply device. Control device.

11. The control device according to claim 9, The movement control unit limits the movement control when an abnormality occurs in at least one of the power supply device and the charging control. Control device.

12. The control device according to claim 9, The power supply device is a sub-power supply for slowing down or stopping the moving body when a main power supply of the moving body fails. Control device.

13. A control device for a moving object, comprising: a communication unit for communicating with an information terminal portable by a user of the mobile body; a movement control unit that controls the movement of the moving object based on an instruction from the information terminal; a positional relationship determination unit that determines a relative positional relationship between the information terminal and the moving object, including a relative positional relationship between the information terminal and a destination of the movement control; and a reception control unit that limits reception of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition. Control device.

14. A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the mobile object; setting a predetermined condition according to a surrounding environment of the moving body regarding the difficulty of visually recognizing the moving body, and restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies the predetermined condition; Control methods.

15. A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, and a charging control unit that controls charging of a power supply device for the movement control, comprising: A processor of the control device displaying, on the information terminal, a fourth display image for starting the moving body; starting the moving object and starting the charging control based on a user's instruction on the fourth display image; restricting acceptance of an instruction for the movement control by the information terminal when a relative positional relationship between the information terminal and the moving body satisfies a predetermined condition; After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, a fifth display image representing the progress state is displayed on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. Control methods.

16. A control method using a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, comprising: A processor of the control device determining a relative positional relationship between the information terminal and the moving body, including a relative positional relationship between the information terminal and a movement destination of the movement control; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; Control methods.

17. A control program for a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, A processor of the control device determining a relative positional relationship between the information terminal and the moving object; setting a predetermined condition according to a surrounding environment of the moving body regarding the difficulty of visually recognizing the moving body, and restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies the predetermined condition; A control program for executing processing.

18. A control program for a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, and a charging control unit that controls charging of a power supply device for the movement control, A processor of the control device displaying, on the information terminal, a fourth display image for starting the moving object; starting the moving object and starting the charging control based on a user's instruction on the fourth display image; restricting acceptance of an instruction for the movement control by the information terminal when a relative positional relationship between the information terminal and the moving body satisfies a predetermined condition; After the charging control is started, if the positional relationship does not satisfy the predetermined condition, a first display image for receiving an instruction for the movement control is displayed on the information terminal, and the instruction for the movement control is received based on a user's instruction on the first display image. when the progress state of the charging control has not reached a predetermined state, a fifth display image representing the progress state is displayed on the information terminal; When the progress state has reached the predetermined state, the fifth display image is not displayed on the information terminal, or the fifth display image is displayed on the information terminal in a less noticeable manner than when the progress state has not reached the predetermined state. A control program for executing processing.

19. A control program for a control device including a communication unit that communicates with an information terminal portable by a user of a moving body, and a movement control unit that controls the movement of the moving body based on an instruction from the information terminal, A processor of the control device determining a relative positional relationship between the information terminal and the moving body, including a relative positional relationship between the information terminal and a movement destination of the movement control; restricting acceptance of an instruction for the movement control by the information terminal when the positional relationship satisfies a predetermined condition; A control program for executing processing.

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