Remote Parking Device

Abstract

To provide a remote parking device that can surely determine absence of abnormality in a braking device before executing traveling of an own vehicle by remote parking control.SOLUTION: A remote parking device 10 controls operation of a driving device 21 that applies driving force to an own vehicle 100 and operation of a braking device 22 that applies braking force to the own vehicle, and executes remote parking control that automatically controls the operation of the driving device and of the braking device in response to an instruction from the outside of the own vehicle, so as to park the own vehicle at a designated parking lot 301D. The remote parking device executes braking / driving processing for applying driving force from the driving device to the own vehicle while applying braking force from the braking device to the own vehicle before executing traveling of the own vehicle by the remote parking control, and executes traveling of the own vehicle by the remote parking control when the own vehicle is maintained in a stationary state, until a predetermined time elapses after starting the braking / driving processing.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to a remote parking device. [Background technology]

[0002] A remote parking device is known that performs remote parking control by automatically controlling the driving force and braking force applied to a vehicle in response to commands sent wirelessly from an operating terminal such as a mobile terminal, thereby parking the vehicle in a designated parking space.

[0003] Also, if there is an abnormality in the braking device that applies a braking force to the vehicle, for example, if an obstacle is detected in the path of the vehicle while the remote parking control is being executed and an attempt is made to brake the vehicle, the vehicle cannot be braked sufficiently, which is inconvenient, so there is also known a remote parking device that judges whether or not there is an abnormality in the braking device before executing the running of the vehicle under the remote parking control, and executes the running of the vehicle under the remote parking control only if it is judged that there is no abnormality in the braking device (for example, see Patent Document 1). In such a conventional remote parking device, before executing the running of the vehicle under the remote parking control, it is judged whether or not there is an abnormality in the electrical system that supplies the power required for the operation of the braking device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] German Patent No. 102015209976 Summary of the Invention

[0005] As described above, in the conventional remote parking device, before the vehicle is driven by the remote parking control, it is determined whether or not there is an abnormality in the braking device, but this determination is to determine whether the braking device is abnormal due to some cause, such as an abnormality in the electrical system, among the causes that cause an abnormality in the braking function of the braking device for the vehicle, so even if it is determined that there is no abnormality in the braking function of the braking device, there is a possibility that there is an abnormality in the braking function of the braking device due to another cause. Therefore, before the vehicle is driven by the remote parking control, it is desirable to determine whether there is an abnormality in the braking function of the braking device due to a wider range of causes and to reliably determine that there is no abnormality in the braking capacity of the braking device.

[0006] An object of the present invention is to provide a remote parking device that can reliably determine whether there is an abnormality in the braking function of a braking device before driving the host vehicle under remote parking control.

[0007] The remote parking device according to the present invention controls the operation of a drive device that provides a drive force to the host vehicle for driving the host vehicle and the operation of a brake device that provides a braking force to the host vehicle for braking the host vehicle, and executes a remote parking control that automatically controls the operation of the drive device and the brake device in response to a command from outside the host vehicle to park the host vehicle in a designated parking location. The remote parking device according to the present invention is configured to execute a brake drive process that provides the drive force to the host vehicle from the drive device while providing the braking force to the host vehicle from the brake device before driving the host vehicle by the remote parking control, and to drive the host vehicle by the remote parking control if the host vehicle is maintained in a stopped state for a predetermined time after the start of the brake drive process. Furthermore, the remote parking device according to the present invention is configured to control the operation of a vehicle stop maintaining device that maintains the host vehicle in a stopped state. And, the remote parking device according to the present invention is configured to maintain the host vehicle in a stopped state by the vehicle stop maintaining device if the host vehicle runs without being maintained in a stopped state during the period from the start of the braking drive process until the predetermined time has elapsed.

[0008] According to the remote parking device of the present invention, if the vehicle is kept stopped for a predetermined time even when the brake drive process is executed, the vehicle is driven by the remote parking control. That is, if the vehicle is kept stopped even when the brake drive process is executed, it is determined that there is no abnormality in the braking function of the brake device for the vehicle, and the vehicle is driven by the remote parking control. In this way, according to the remote parking device of the present invention, not only the abnormality of the braking function of the brake device caused by the abnormality of the electrical system required for the operation of the brake device, but also the abnormality of the braking function of the brake device caused by the wear of the brake pads, which is difficult to detect abnormality in itself, and the abnormality of the braking function of the brake device caused by the overloading of the vehicle, can be determined, for example, when the brake device is composed of parts such as brake pads. Therefore, it is possible to reliably determine that there is no abnormality in the braking function of the brake device before driving the vehicle by the remote parking control.

[0010] According to this, if the host vehicle is not maintained in a stopped state before the predetermined time has elapsed when the brake drive process is executed, the host vehicle is maintained in a stopped state. In other words, if the host vehicle is not maintained in a stopped state before the predetermined time has elapsed when the brake drive process is executed, it is determined that there is an abnormality in the braking function of the brake device for the host vehicle, and the host vehicle is maintained in a stopped state. Therefore, it is possible to prevent the host vehicle from being driven by the remote parking control when there is an abnormality in the braking function of the brake device for the host vehicle.

[0011] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a remote parking device according to an embodiment of the present invention and a vehicle (host vehicle) on which the remote parking device is mounted. [Diagram 2]FIG. 2 is a diagram showing a remote driving system including a remote parking device and an operation terminal according to an embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram showing a remote control device according to an embodiment of the present invention and an operation terminal equipped with the remote control device. [Figure 4] FIG. 4 is a diagram showing a scene in which the vehicle is stopped near a parking space. [Diagram 5] FIG. 5 is a diagram showing a target driving route in the remote parking control. [Figure 6] FIG. 6 is a diagram showing a scene in which the vehicle moves forward while turning right due to remote parking control. [Figure 7] FIG. 7 is a diagram showing a scene in which the vehicle moves backward while turning left due to remote parking control. [Figure 8] FIG. 8 is a diagram showing a scene in which the vehicle moves backward straight by remote parking control. [Figure 9] FIG. 9 is a diagram showing a scene in which parking of the vehicle in the designated parking space by remote parking control is completed. [Figure 10] FIG. 10 is a diagram showing a target driving route in the remote leaving control. [Figure 11] FIG. 11 is a diagram showing a scene in which the vehicle moves forward straight under the remote leaving control. [Figure 12] FIG. 12 is a diagram showing a scene in which the vehicle moves forward while making a left turn under the remote leaving control. [Figure 13] FIG. 13 is a diagram showing a state when the vehicle has been completely taken out to the designated leaving location under the remote leaving control. [Figure 14] FIG. 14 is a flowchart showing a routine executed by the remote parking device according to the embodiment of the present invention. [Figure 15] FIG. 15 is a flowchart showing a routine executed by the remote parking device according to the embodiment of the present invention. [Figure 16] FIG. 16 is a flowchart showing a routine executed by the remote parking device according to the embodiment of the present invention. [Figure 17] FIG. 17 is a flowchart showing a routine executed by the remote parking device according to the embodiment of the present invention. [Figure 18] FIG. 18 is a flowchart showing a routine executed by the remote parking device according to the embodiment of the present invention. [Figure 19] FIG. 19 is a flowchart showing a routine executed by the remote parking device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, a remote parking device according to an embodiment of the present invention will be described with reference to the drawings. As shown in Fig. 1, a remote parking device 10 according to an embodiment of the present invention is mounted on a vehicle (host vehicle) 100.

[0014] The remote parking device 10 is a device that executes remote driving control including remote parking control that parks the vehicle 100 in a designated parking location by automatically driving the vehicle 100 in response to a command (command signal) wirelessly transmitted from outside the vehicle 100 and automatically stopping the vehicle 100 at the designated location (designated parking location). Note that, as will be described in detail later, in this example, the remote driving control includes, in addition to remote parking control (remote entrance control), remote exit control that automatically drives the vehicle 100 parked in the parking location out of the parking location and automatically stops the vehicle 100 at a designated location (designated exit location) to exit the vehicle 100 from the parking location.

[0015] Also, as shown in FIG. 2, in this example, the remote parking device 10 receives a command (command signal) wirelessly transmitted to the outside from an operation terminal 200 such as a mobile phone, and performs remote driving control including remote parking control in response to the received command.

[0016] As shown in Fig. 1, the remote parking device 10 includes a vehicle ECU 90. The vehicle ECU 90 includes a microcomputer as a main component. The vehicle ECU 90 includes a CPU (vehicle CPU 91), a ROM, a RAM, a non-volatile memory, an interface, and the like. The vehicle CPU 91 is configured to realize various functions by executing instructions (programs, routines) stored in the ROM. In particular, the vehicle ECU 90 stores programs for executing remote parking control and remote leaving control.

[0017] <Vehicle driving device> The host vehicle 100 is equipped with a vehicle driving device 20. The vehicle driving device 20 is a device that drives, brakes, and steers the host vehicle 100, and in this example, includes a drive device 21, a braking device 22, a steering device 23, and a transmission device 24.

[0018] <Drive unit> The drive device 21 is a device that outputs a driving force provided to the host vehicle 100 to make the host vehicle 100 run, and is, for example, an internal combustion engine and / or a motor. The drive device 21 is electrically connected to the vehicle ECU 90. The vehicle ECU 90 can control the driving force output from the drive device 21 by controlling the operation of the drive device 21.

[0019] <Brake device> The braking device 22 is a device that outputs a braking force applied to the host vehicle 100 in order to brake the host vehicle 100, and is, for example, a hydraulic brake device. The braking device 22 is electrically connected to the vehicle ECU 90. The vehicle ECU 90 can control the braking force output from the braking device 22 by controlling the operation of the braking device 22.

[0020] <Steering system> The steering device 23 is a device that outputs a steering force applied to the host vehicle 100 in order to steer the host vehicle 100, and is, for example, a power steering device. The steering device 23 is electrically connected to the vehicle ECU 90. The vehicle ECU 90 can control the steering force output from the steering device 23 by controlling the operation of the steering device 23.

[0021] <Transmission device> The transmission device 24 is a device that switches whether or not the driving force output from the drive device 21 is transmitted to the driving wheels of the host vehicle 100, and switches whether the driving force is transmitted to the driving wheels so as to move the host vehicle 100 forward or to the driving wheels so as to move the host vehicle 100 backward. Furthermore, the transmission device 24 is also a device that holds the host vehicle 100 in a stopped state by locking the gear so as not to rotate by engaging a claw-shaped part (parking lock pole) on the gear of the transmission device 24. Therefore, the transmission device 24 also functions as a stop holding device that holds the host vehicle 100 in a stopped state.

[0022] The transmission device 24 operates in one of the following states: a state in which the driving force is transmitted to the drive wheels to move the vehicle 100 forward (drive range state SD), a state in which the driving force is transmitted to the drive wheels to move the vehicle 100 backward (rearrangement state SR), a state in which the driving force is not transmitted to the drive wheels of the vehicle 100 (neutral range state SN), and a state in which the vehicle 100 is kept stopped (parking range state SP).

[0023] The transmission device 24 is electrically connected to the vehicle ECU 90. The vehicle ECU 90 can set the transmission device 24 to any one of a drive range state SD, a rearrange state SR, a neutral range state SN, and a parking range state SP by controlling the operation of the transmission device 24.

[0024] <Stopping holding device> The host vehicle 100 is also equipped with a vehicle stop maintaining device 30. The vehicle stop maintaining device 30 is a device that maintains the host vehicle 100 in a stopped state, and in this example, is a parking brake device 31. The parking brake device 31 may be an electric parking brake device or a manual parking brake device. The parking brake device 31 is a device that maintains the host vehicle 100 in a stopped state by applying a braking force to the wheels of the host vehicle 100 that is stopped. In particular, the parking brake device 31 is a device that maintains the host vehicle 100 in a stopped state by applying a braking force to the wheels by pressing brake pads against brake discs provided on the wheels of the host vehicle 100 that is stopped. In this example, the parking brake device 31 is an electric parking brake device, and is therefore electrically connected to the vehicle ECU 90. The vehicle ECU 90 can maintain the host vehicle 100 in a stopped state by operating the parking brake device 31.

[0025] <Sensors, etc.> Furthermore, the vehicle 100 is equipped with an accelerator pedal 41, an accelerator pedal operation amount sensor 42, a brake pedal 43, a brake pedal operation amount sensor 44, a steering wheel 45, a steering shaft 46, a steering angle sensor 47, a steering torque sensor 48, a shift lever 51, a shift sensor 52, a vehicle speed detection device 60, a surrounding information detection device 70, and a vehicle receiving / transmitting device 80.

[0026] <Accelerator pedal operation amount sensor> Accelerator pedal operation amount sensor 42 is a sensor that detects the amount of operation of accelerator pedal 41. Accelerator pedal operation amount sensor 42 is electrically connected to vehicle ECU 90. Accelerator pedal operation amount sensor 42 transmits information on the detected amount of operation of accelerator pedal 41 to vehicle ECU 90. Based on that information, vehicle ECU 90 obtains the amount of operation of accelerator pedal 41 as accelerator pedal operation amount AP.

[0027] Except when executing remote parking control or remote leaving control, which will be described later, the vehicle ECU 90 calculates and obtains a required driving force (required driving torque) based on the accelerator pedal operation amount AP and the traveling speed (host vehicle speed) of the host vehicle 100. The vehicle ECU 90 controls the operation of the drive unit 21 so that the required driving force is output. Furthermore, when executing remote parking control or remote leaving control, which will be described later, the vehicle ECU 90 determines the driving force required to drive the host vehicle 100 as desired by the remote parking control or remote leaving control, and controls the operation of the drive unit 21 so that the driving force is output.

[0028] <Brake pedal operation amount sensor> The brake pedal operation amount sensor 44 is a sensor that detects the operation amount of the brake pedal 43. The brake pedal operation amount sensor 44 is electrically connected to the vehicle ECU 90. The brake pedal operation amount sensor 44 transmits information on the detected operation amount of the brake pedal 43 to the vehicle ECU 90. The vehicle ECU 90 obtains the operation amount of the brake pedal 43 as a brake pedal operation amount BP based on the information.

[0029] The vehicle ECU 90 acquires a required braking force (required braking torque) by calculation from the brake pedal operation amount BP, except when executing remote parking control or remote leaving control, which will be described later. The vehicle ECU 90 controls the operation of the braking device 22 so that the required braking force is output. When executing remote parking control or remote leaving control, which will be described later, the vehicle ECU 90 determines a braking force required to brake the host vehicle 100 as desired by the remote parking control or remote leaving control, and controls the operation of the braking device 22 so that the braking force is output.

[0030] <Steering angle sensor> The steering angle sensor 47 is a sensor that detects the rotation angle of the steering shaft 46 with respect to the neutral position, and is electrically connected to the vehicle ECU 90. The steering angle sensor 47 transmits information on the detected rotation angle of the steering shaft 46 to the vehicle ECU 90. The vehicle ECU 90 obtains the rotation angle of the steering shaft 46 as the steering angle θ based on the information.

[0031] <Steering torque sensor> The steering torque sensor 48 is a sensor that detects the torque input to the steering shaft 46 by the driver DR of the vehicle 100 via the steering wheel 45, and is electrically connected to the vehicle ECU 90. The steering torque sensor 48 transmits information on the detected torque to the vehicle ECU 90. The vehicle ECU 90 acquires the torque input to the steering shaft 46 by the driver DR via the steering wheel 45 (driver input torque) based on the information.

[0032] Except when executing remote parking control or remote leaving control, which will be described later, the vehicle ECU 90 obtains a required steering force (required steering torque) based on the steering angle θ, the driver input torque, and the traveling speed (host vehicle speed) of the host vehicle 100, and controls the operation of the steering device 23 so that the required steering torque is output from the steering device 23. Furthermore, when executing remote parking control or remote leaving control, which will be described later, the vehicle ECU 90 determines a steering force required to drive the host vehicle 100 as desired by the remote parking control or remote leaving control, and controls the operation of the steering device 23 so that the steering force is output.

[0033] <Shift sensor> The shift sensor 52 is a device that detects the setting position of the shift lever 51. The shift lever 51 is a device that is operated by the driver DR of the vehicle 100, and the setting positions of the shift lever 51 that the driver DR can set are a forward position (drive range D), a reverse position (rearrange R), a neutral position (neutral range N), and a parking position (parking range P). The shift sensor 52 is electrically connected to the vehicle ECU 90. The shift sensor 52 transmits a signal indicating the detected setting position of the shift lever 51 to the vehicle ECU 90.

[0034] When the shift lever 51 is set to drive range D, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is drive range D to the vehicle ECU 90. Upon receiving the signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the drive range state SD.

[0035] Furthermore, when the shift lever 51 is set to rearrange R, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is rearrange R to the vehicle ECU 90. Upon receiving this signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the rearrange state SR.

[0036] Furthermore, when the shift lever 51 is set to the neutral range N, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the neutral range N to the vehicle ECU 90. Upon receiving this signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the neutral range state SN.

[0037] Furthermore, when the shift lever 51 is set to the parking range P, the shift sensor 52 transmits a signal indicating that the set position of the shift lever 51 is the parking range P to the vehicle ECU 90. Upon receiving this signal, the vehicle ECU 90 controls the operation of the transmission device 24 so that the transmission device 24 is in the parking range state SP.

[0038] <Vehicle speed detection device> The vehicle speed detection device 60 is a device that detects the traveling speed of the host vehicle 100, and is, for example, a wheel speed sensor. The vehicle speed detection device 60 is electrically connected to the vehicle ECU 90. The vehicle speed detection device 60 transmits information on the detected traveling speed of the host vehicle 100 to the vehicle ECU 90. The vehicle ECU 90 acquires the traveling speed of the host vehicle 100 (host vehicle speed V) based on the information.

[0039] <Peripheral information detection device> The surrounding information detection device 70 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 71 and an image sensor 72.

[0040] <Radio wave sensor> The radio wave sensor 71 is a sensor that detects information about an object present in the vicinity of the vehicle 100 using radio waves, and is, for example, at least one of a radar sensor (such as a millimeter wave radar), a sonic sensor such as an ultrasonic sensor (clearance sonar), and an optical sensor such as a laser radar (LiDAR). The radio wave sensor 71 is electrically connected to the vehicle ECU 90. The radio wave sensor 71 transmits radio waves and receives radio waves (reflected waves) reflected by an object. The radio wave sensor 71 transmits information related to the transmitted radio waves and the received radio waves (reflected waves) to the vehicle ECU 90. In other words, the radio wave sensor 71 detects an object present in the vicinity of the vehicle 100 and transmits information related to the detected object to the vehicle ECU 90. The vehicle ECU 90 can obtain information (periphery detection information IS) related to an object present in the vicinity of the vehicle 100 based on the information (radio wave information IR). Objects detected using the radio wave sensor 71 are, for example, vehicles, walls, bicycles, people, and the like.

[0041] <Image sensor> The image sensor 72 is a sensor, such as a camera, that captures an image of the periphery of the host vehicle 100. The image sensor 72 is electrically connected to the vehicle ECU 90. The image sensor 72 captures an image of the periphery of the host vehicle 100 and transmits information related to the captured image to the vehicle ECU 90. The vehicle ECU 90 can acquire information (periphery detection information IS) related to the periphery of the host vehicle 100 based on the information (camera image information IC).

[0042] <Vehicle Transmitting and Receiving Device> The vehicle transmitting / receiving device 80 is a device that receives wireless signals coming from outside the vehicle 100 and transmits wireless signals to the outside of the vehicle 100. The vehicle transmitting / receiving device 80 is electrically connected to the vehicle ECU 90. The vehicle ECU 90 can transmit various signals to the outside of the vehicle 100 via the vehicle transmitting / receiving device 80. In addition, the vehicle ECU 90 can receive various signals via the vehicle transmitting / receiving device 80 that are wirelessly transmitted by a terminal ECU 290 (described later) to the outside of the operation terminal 200 via a terminal transmitting / receiving device 280.

[0043] <Operation terminal> In this example, the operation terminal 200 is a so-called smartphone, which is a telephone device that can be carried by a person, but it may be any terminal that is separate from the vehicle 100 and can be taken outside the vehicle 100 by the user of the vehicle 100, for example, a so-called smart key that can be carried by a person or a terminal dedicated to remote parking.

[0044] 3, the operation terminal 200 is equipped with a remote control device 210. The remote control device 210 includes a terminal ECU 290.

[0045] ECU is an abbreviation for electronic control unit. The terminal ECU 290 includes a microcomputer as a main part. The terminal ECU 290 includes a CPU (terminal CPU 291), a ROM, a RAM, a non-volatile memory, an interface, and the like. The terminal CPU 291 is configured to realize various functions by executing instructions (programs, routines) stored in the ROM. In particular, the terminal ECU 290 is installed with remote driving application software (remote driving app) for causing the ECU (vehicle ECU 90) of the host vehicle 100 to perform remote driving control, which will be described later.

[0046] The operation terminal 200 also includes a display 220 and a terminal transmitting / receiving device 280 .

[0047] Display 220 is a device that displays various images. Display 220 is designed so that a specific physical property changes when an object touches display 220. In particular, in this example, display 220 is designed so that a specific physical property changes when a person's finger touches display 220.

[0048] The display 220 is electrically connected to the terminal ECU 290. The terminal ECU 290 can display various images on the display 220. Furthermore, the terminal ECU 290 can detect a change in a specific physical property of the display 220 when an object comes into contact with the display 220, and can identify the portion of the display 220 (the position on the display 220) that the object has come into contact with based on the detected change.

[0049] In addition, since terminal ECU 290 can identify the part of display 220 that has been touched by an object based on a change in a specific physical property of display 220, display 220 is a device that provides information for identifying the part that has been touched by an object (contact information providing device). In this example, the contact information providing device is display 220, but is not limited to this, and may be any device that can provide information for identifying the part that has been touched by an object, for example, a device that does not have a function for displaying an image but can provide information for identifying the part that has been touched by an object.

[0050] The terminal transceiver device 280 is a device that receives a wireless signal coming from outside the operation terminal 200 and transmits a wireless signal to the outside of the operation terminal 200. The terminal transceiver device 280 is electrically connected to the terminal ECU 290. The terminal ECU 290 can wirelessly transmit various signals to the outside of the operation terminal 200 via the terminal transceiver device 280. In addition, the terminal ECU 290 can receive various signals wirelessly transmitted to the outside of the vehicle 100 via the vehicle transceiver device 80 by the ECU (vehicle ECU 90) of the vehicle 100 via the terminal transceiver device 280.

[0051] <Overview of the operation of the remote parking device> Next, we will explain the outline of the operation of the remote parking device 10. As mentioned above, the remote parking device 10 is configured to execute remote parking control and remote leaving control. First, we will explain the remote parking control.

[0052] When a predetermined touch operation for starting the remote driving application is applied to the display 220 of the operation terminal 200, the terminal ECU 290 starts the remote driving application and displays a predetermined image on the display 220. In this example, the touch operation is an operation (contact operation) in which the user of the operation terminal 200 touches the display 220 with his / her finger.

[0053] Furthermore, when a predetermined touch operation for starting the remote driving application is performed on the display 220, the terminal ECU 290 wirelessly transmits an application start signal to the outside. The application start signal is a signal representing information such as an ID for identifying the operation terminal 200.

[0054] When the vehicle ECU 90 receives the application start signal, the vehicle ECU 90 executes a terminal authentication process to determine whether the operation terminal 200 indicated by the application start signal is a registered operation terminal. The registered operation terminal is an operation terminal registered in the vehicle ECU 90 as an operation terminal that causes the vehicle ECU 90 to perform remote driving control.

[0055] Since the operation terminal 200 is a registered operation terminal, the vehicle ECU 90 determines through the terminal authentication process that the operation terminal 200 is a registered operation terminal. In this case, the vehicle ECU 90 thereafter executes remote driving control in response to various signals wirelessly transmitted from the operation terminal 200 to the outside.

[0056] <Remote parking control> Furthermore, when a predetermined touch operation for requesting execution of remote parking control is performed on the display 220 while the remote driving application is running, the terminal ECU 290 wirelessly transmits a remote parking request signal to the outside. The remote parking request signal is a signal that requests the vehicle ECU 90 to execute remote parking control.

[0057] When the vehicle ECU 90 receives the remote parking request signal, it executes a braking function check process to determine whether or not there is an abnormality in the braking function of the braking device 22 for the host vehicle 100. When the vehicle ECU 90 starts the braking function check process, it executes a braking drive process to control the operation of the braking device 22 so that a braking force is applied from the braking device 22 to the host vehicle 100, and to control the operation of the drive device 21 and the transmission device 24 so that a driving force is applied from the drive device 21 to the host vehicle 100.

[0058] Then, when the vehicle ECU 90 starts the braking drive process, it determines whether or not the host vehicle 100 is maintained in a stopped state. In this example, the vehicle ECU 90 determines whether or not the host vehicle 100 is maintained in a stopped state based on the host vehicle speed V. When the host vehicle speed V is zero, the vehicle ECU 90 determines that the host vehicle 100 is maintained in a stopped state, and when the host vehicle speed V becomes greater than zero, the vehicle ECU 90 determines that the host vehicle 100 is not maintained in a stopped state.

[0059] If the vehicle ECU 90 determines that the vehicle 100 is not maintained in a stopped state before the time (elapsed time T) that has elapsed since the start of the braking drive processing reaches a predetermined time Tth, it determines that there is an abnormality in the braking function of the braking device 22 for the vehicle 100.

[0060] When the vehicle ECU 90 determines that there is an abnormality in the braking function of the brake device 22 for the host vehicle 100, it executes a stopped state maintaining process and then stops the remote parking control. In this example, the stopped state maintaining process is a process of maintaining the host vehicle 100 in a stopped state by operating the parking brake device 31, or maintaining the host vehicle 100 in a stopped state by controlling the operation of the transmission device 24 so that the transmission device 24 is in the parking range state SP. When the vehicle ECU 90 stops the remote parking control, it may wirelessly transmit a signal indicating that the remote parking control has been stopped to the outside of the host vehicle 100. In this case, the terminal ECU 290 may receive the signal and display an image indicating that the remote parking control has been stopped on the display 220 in response to the signal.

[0061] On the other hand, if the vehicle ECU 90 continues to determine that the vehicle 100 is maintained in a stopped state until the time (elapsed time T) that has elapsed since the start of the braking drive processing reaches a predetermined time Tth, it determines that there is no abnormality in the braking function of the braking device 22 for the vehicle 100.

[0062] The vehicle ECU 90 starts a target travel path setting process when it is determined that there is no abnormality in the braking function of the braking device 22 for the host vehicle 100. The target travel path setting process in the remote parking control is executed as follows.

[0063] 4, when the vehicle ECU 90 starts the target driving route setting process in a case where the parking space 301 in which the vehicle 100 is to be parked is on the left side of the vehicle 100, the vehicle ECU 90 recognizes, based on the periphery detection information IS, the parking space 301 in which the vehicle 100 is to be parked, objects such as a wall 303 and adjacent parked vehicles 300 in the periphery of the vehicle 100, and the partition lines 302 provided on the ground in the periphery. In this example, the adjacent parked vehicles 300 are other vehicles parked in parking spaces to the right or left of the parking space 301 in which the vehicle 100 is to be parked.

[0064] The vehicle ECU 90 sets the recognized parking space 301 as the designated parking location 301D, and sets the driving route of the vehicle 100 for parking the vehicle 100 at the designated parking location 301D based on the designated parking location 301D, objects, and partition lines 302, etc., as shown in Figure 5, as the target driving route Rtgt.

[0065] When the vehicle ECU 90 sets the target travel route Rtgt, the vehicle ECU 90 starts the parking travel process. When the vehicle ECU 90 starts the parking travel process, the vehicle ECU 90 controls the operation of the vehicle travel device 20 to travel the host vehicle 100 along the target travel route Rtgt while receiving a travel permission signal from the terminal ECU 290. Specifically, the vehicle ECU 90 first moves the host vehicle 100 forward while turning right, as shown in FIG. 6, and stops the host vehicle 100 when the host vehicle 100 has advanced a predetermined distance. Next, the vehicle ECU 90 steers the host vehicle 100 so that the steering angle θ becomes zero when the front-rear direction of the host vehicle 100 becomes parallel to the longitudinal direction of the designated parking spot 301D, by making the host vehicle 100 reverse while turning left, as shown in FIG. 7. After that, the vehicle ECU 90 moves the host vehicle 100 backward in a straight line, as shown in FIG. 8.

[0066] It should be noted that while the user is performing a predetermined touch operation on the display 220, the terminal ECU 290 wirelessly transmits a travel permission signal to the outside.

[0067] Then, as shown in FIG. 9, when parking of the vehicle 100 in the designated parking location 301D is completed, the vehicle ECU 90 activates the parking brake device 31 to hold the vehicle 100 in a stopped state, and ends the remote parking control.

[0068] When the user removes his / her finger from the display 220 of the operation terminal 200, the terminal ECU 290 stops transmitting the travel permission signal to the outside. As a result, the vehicle ECU 90 stops receiving the travel permission signal. When the vehicle ECU 90 stops receiving the travel permission signal, the vehicle ECU 90 controls the operation of the braking device 22 to temporarily stop the host vehicle 100.

[0069] <Remote shipping control> In addition, when a predetermined touch operation for requesting execution of the remote leaving control is performed on the display 220 while the remote traveling application is running, the terminal ECU 290 wirelessly transmits a remote leaving request signal to the outside. The remote leaving request signal is a signal that requests the terminal ECU 290 to execute the remote leaving control.

[0070] When the vehicle ECU 90 receives the remote leaving request signal, it executes the braking function confirmation process described above.

[0071] If, as a result of executing the braking function confirmation process, the vehicle ECU 90 determines that there is an abnormality in the braking function of the braking device 22 for the vehicle 100, it executes the stopped state maintenance process described above and then cancels the remote leaving control.

[0072] On the other hand, the vehicle ECU 90 starts a target travel route setting process when it is determined that there is no abnormality in the braking function of the braking device 22 for the host vehicle 100. The target travel route setting process in the remote leaving-factor control is executed as follows.

[0073] For example, when the vehicle ECU 90 starts the target driving path setting process when the vehicle 100 is parked in a parking space 301 as shown in FIG. 10, the vehicle ECU 90 recognizes objects such as a wall 303 and an adjacent parked vehicle 300 around the vehicle 100 based on the surrounding detection information IS.

[0074] The vehicle ECU 90 sets, based on the recognized object or the like, a travel route of the host vehicle 100 for causing the host vehicle 100 to leave the designated leaving location 305D as a target travel route Rtgt.

[0075] When the vehicle ECU 90 sets the target driving route Rtgt, the vehicle ECU 90 starts the leaving-parking driving process. When the vehicle ECU 90 starts the leaving-parking driving process, the vehicle ECU 90 controls the operation of the vehicle driving device 20 to drive the host vehicle 100 along the target driving route Rtgt while receiving a driving permission signal from the terminal ECU 290. Specifically, the vehicle ECU 90 first drives the host vehicle 100 forward straight as shown in FIG. 11. Next, the vehicle ECU 90 drives the host vehicle 100 forward while turning left as shown in FIG. 12, gradually reducing the steering angle θ, and steers the host vehicle 100 so that the steering angle θ becomes zero when the front-rear direction of the host vehicle 100 becomes parallel to the lateral direction of the parking space 301.

[0076] Then, as shown in FIG. 13, when the host vehicle 100 has completed leaving the designated leaving location 305D, the vehicle ECU 90 holds the host vehicle 100 in a stopped state using the parking brake device 31, and ends the remote leaving control.

[0077] The above is an outline of the operation of the remote parking device 10.

[0078] According to the remote parking device 10, when the host vehicle 100 is maintained in a stopped state for a predetermined time Tth even when the brake drive process is executed, the host vehicle 100 is driven by the remote parking control. That is, when the host vehicle 100 is maintained in a stopped state even when the brake drive process is executed, it is determined that there is no abnormality in the braking function of the brake device 22 for the host vehicle 100, and the host vehicle 100 is driven by the remote parking control. In this way, according to the remote parking device 10, not only the abnormality of the braking function of the brake device 22 caused by the abnormality of the electrical system required for the operation of the brake device 22, but also the abnormality of the braking function of the brake device 22 caused by the wear of the brake pads, which is difficult to detect abnormality of itself, and the abnormality of the braking function of the brake device 22 caused by the overloading of the host vehicle 100, can be determined, for example, when the brake device 22 is composed of parts such as brake pads. Therefore, it is possible to reliably determine that there is no abnormality in the braking function of the brake device 22 before the host vehicle 100 is driven by the remote parking control.

[0079] Similarly, according to the remote parking device 10, if the vehicle 100 is maintained in a stopped state for a predetermined time Tth even when the braking drive process is executed, the vehicle 100 is driven by the remote leaving control. Therefore, it can be reliably determined that there is no abnormality in the braking function of the braking device 22 before the vehicle 100 is driven by the remote leaving control.

[0080] <Specific operation of the remote parking device> Next, a specific operation of the remote parking device 10 will be described. The vehicle CPU 91 of the vehicle ECU 90 of the remote parking device 10 executes the routine shown in FIG. 14 at a predetermined calculation cycle. Therefore, at a predetermined timing, the process starts from step 1400 in FIG. 14, and proceeds to step 1405 to determine whether the value of the remote parking request flag Xpark is "1". The remote parking request flag Xpark is a flag indicating whether the execution of remote parking control has been requested, and if the execution of remote parking control has been requested, the value is set to "1", and if the execution of remote parking control has not been requested, the value is set to "0".

[0081] If the vehicle CPU 91 determines "Yes" in step 1405, the process proceeds to step 1410 and executes the routine shown in Fig. 15. Therefore, when the vehicle CPU 91 advances the process to step 1410, it starts the process from step 1500 in Fig. 15, advances the process to step 1505, and determines whether the value of the terminal authentication completion flag Xid_com is "0". The terminal authentication completion flag Xid_com is a flag that indicates whether a determination has been completed as to whether the operating terminal that has transmitted a signal requesting execution of remote parking control is a registered operating terminal (i.e., authentication of the operating terminal), and if authentication of the operating terminal has been completed, the value is set to "1", and if authentication of the operating terminal has not been completed, the value is set to "0".

[0082] If the vehicle CPU 91 determines "Yes" in step 1505, the process proceeds to step 1510, where it executes terminal authentication processing. Next, the vehicle CPU 91 proceeds to step 1515, where it sets the value of the terminal authentication completion flag Xid_com to "1." After that, the vehicle CPU 91 proceeds to step 1415 in FIG. 14 via step 1595.

[0083] On the other hand, if the vehicle CPU 91 determines "No" in step 1505, the process proceeds directly to step 1415 in FIG.

[0084] When the vehicle CPU 91 advances the process to step 1415 in FIG. 14, it determines whether or not the operation terminal that has transmitted the signal requesting the execution of remote parking control is a registered operation terminal.

[0085] If the vehicle CPU 91 determines "Yes" in step 1415, it advances the process to step 1420 and executes the routine shown in Fig. 16. Therefore, when the vehicle CPU 91 advances the process to step 1420, it starts the process from step 1600 in Fig. 16, advances the process to step 1605, and determines whether the value of the braking function check completion flag Xmal_com is "0". The braking function check completion flag Xmal_com is a flag that indicates whether the determination of whether there is an abnormality in the braking function of the braking device 22 for the host vehicle 100 (braking function check) has been completed, and if the braking function check has been completed, the value is set to "1", and if the braking function check has not been completed, the value is set to "0".

[0086] If the vehicle CPU 91 determines "Yes" in step 1605, the process proceeds to step 1610, where it executes braking / driving processing. Next, the vehicle CPU 91 proceeds to step 1615, where it determines whether the host vehicle 100 is maintained in a stopped state.

[0087] If the vehicle CPU 91 determines "Yes" in step 1615, it proceeds to step 1620 and determines whether the time that has elapsed since the start of the braking / driving process (elapsed time T) is equal to or greater than a predetermined time Tth.

[0088] If the vehicle CPU 91 determines "Yes" in step 1620, the process proceeds to step 1625, where the vehicle CPU 91 sets the value of the braking function abnormality flag Xmal to "0." The braking function abnormality flag Xmal is a flag that indicates whether or not there is an abnormality in the braking function of the braking device 22 for the host vehicle 100, and if there is an abnormality in the braking function of the braking device 22 for the host vehicle 100, the value is set to "1," and if there is no abnormality in the braking function of the braking device 22 for the host vehicle 100, the value is set to "0."

[0089] Next, the vehicle CPU 91 advances the process to step 1630, and sets the value of the braking function confirmation completion flag Xmal_com to 1. Next, the vehicle CPU 91 advances the process to step 1425 in FIG.

[0090] On the other hand, if the vehicle CPU 91 determines "No" in step 1620, the process proceeds directly to step 1425 in FIG.

[0091] 14 via step 1695.

[0092] 14. Also, if the vehicle CPU 91 determines "No" in step 1605, it advances the process directly to step 1425 in FIG.

[0093] When the vehicle CPU 91 advances the process to step 1425 in FIG. 14, it determines whether the value of the braking function confirmation completion flag Xmal_com is "1" or not.

[0094] If the vehicle CPU 91 determines "Yes" in step 1425, the process proceeds to step 1430, where it determines whether the value of the braking function abnormality flag Xmal is "0".

[0095] When the vehicle CPU 91 determines "Yes" in step 1430, the process proceeds to step 1435, and executes the routine shown in Fig. 17. Therefore, when the vehicle CPU 91 advances the process to step 1435, the process starts from step 1700 in Fig. 17, and advances the process to step 1705, and determines whether the value of the target driving route setting completion flag Xroute_com is "0". The target driving route setting completion flag Xroute_com is a flag indicating whether the setting of the target driving route Rtgt in the remote parking control has been completed, and if the setting of the target driving route Rtgt in the remote parking control has been completed, the value is set to "1", and if the setting of the target driving route Rtgt in the remote parking control has not been completed, the value is set to "0".

[0096] If the vehicle CPU 91 determines "Yes" in step 1705, the process proceeds to step 1710, where it executes a target driving route setting process to set the target driving route Rtgt.

[0097] On the other hand, if the vehicle CPU 91 determines “No” in step 1705 , it advances the process directly to step 1715 .

[0098] The vehicle CPU 91 executes the parking and driving process when the process proceeds to step 1715. Next, the vehicle CPU 91 proceeds to step 1720 and determines whether parking of the host vehicle 100 in the designated parking location 301D has been completed.

[0099] If the vehicle CPU 91 determines "Yes" in step 1720, the process proceeds to step 1725, and ends the remote parking control. Next, the vehicle CPU 91 proceeds to step 1730, and sets the values ​​of the remote parking request flag Xpark, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target driving route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0." Next, the vehicle CPU 91 proceeds to step 1495 in FIG. 14 via step 1795, and temporarily ends this routine.

[0100] On the other hand, if the vehicle CPU 91 determines "No" in step 1720, the process proceeds directly to step 1495 in Fig. 14 via step 1795, and ends this routine for the time being. In this case, the parking and driving process continues.

[0101] Also, if the vehicle CPU 91 determines "No" in step 1430 of Fig. 14, the process proceeds to step 1440 and executes a stopped state maintenance process. Next, the vehicle CPU 91 proceeds to step 1445 and stops the remote parking control. Next, the vehicle CPU 91 proceeds to step 1450 and sets the values ​​of the remote parking request flag Xpark, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target driving route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". Next, the vehicle CPU 91 proceeds to step 1495 and temporarily ends this routine.

[0102] Moreover, if the vehicle CPU 91 determines "No" in step 1405, step 1415, or step 1425, it advances the process to step 1495 and temporarily ends this routine.

[0103] Furthermore, the vehicle CPU 91 is configured to execute the routine shown in Fig. 18 at a predetermined calculation cycle. Therefore, at a predetermined timing, the process starts from step 1800 in Fig. 18, and proceeds to step 1805 to determine whether the value of the remote leaving request flag Xout is "1". The remote leaving request flag Xout is a flag indicating whether the execution of remote leaving control has been requested, and if the execution of remote leaving control has been requested, the value is set to "1", and if the execution of remote leaving control has not been requested, the value is set to "0".

[0104] If the vehicle CPU 91 determines "Yes" in step 1805, it advances the process to step 1810 and executes the routine shown in Fig. 15 described above. In this case, the vehicle CPU 91 determines whether the value of the terminal authentication completion flag Xid_com is "0" in step 1505. In this case, the terminal authentication completion flag Xid_com is a flag indicating whether a determination has been completed as to whether the operation terminal that transmitted the signal requesting the execution of remote leaving-depot control is a registered operation terminal (i.e., authentication of the operation terminal), and if authentication of the operation terminal has been completed, the value is set to "1", and if authentication of the operation terminal has not been completed, the value is set to "0".

[0105] After executing the process of step 1810, the vehicle CPU 91 advances the process to step 1815 and determines whether or not the operation terminal that has transmitted the signal requesting the execution of remote leaving-garage control is a registered operation terminal.

[0106] If the vehicle CPU 91 determines "Yes" in step 1815, the process proceeds to step 1820, and executes the routine shown in FIG. 16 described above.

[0107] After executing the process of step 1820, the vehicle CPU 91 proceeds to step 1825 and determines whether the value of the braking function confirmation completion flag Xmal_com is "1".

[0108] If the vehicle CPU 91 determines "Yes" in step 1825, the process proceeds to step 1830, where it determines whether the value of the braking function abnormality flag Xmal is "0".

[0109] When the vehicle CPU 91 judges "Yes" in step 1830, the process proceeds to step 1835 and executes the routine shown in FIG. 19. Therefore, when the vehicle CPU 91 advances the process to step 1835, the process starts from step 1900 in FIG. 19, and the process proceeds to step 1905 to judge whether the value of the target driving route setting completion flag Xroute_com is "0". In this case, the target driving route setting completion flag Xroute_com is a flag indicating whether the setting of the target driving route Rtgt in the remote leaving control has been completed, and when the setting of the target driving route Rtgt in the remote leaving control has been completed, the value is set to "1", and when the setting of the target driving route Rtgt in the remote leaving control has not been completed, the value is set to "0".

[0110] If the vehicle CPU 91 determines "Yes" in step 1905, the process proceeds to step 1910, where it executes a target driving route setting process to set the target driving route Rtgt.

[0111] On the other hand, if the vehicle CPU 91 determines “No” in step 1905 , it advances the process directly to step 1915 .

[0112] The vehicle CPU 91 executes the leaving driving process when the process proceeds to step 1915. Next, the vehicle CPU 91 proceeds to step 1920 and determines whether leaving of the host vehicle 100 to the designated leaving location 305D has been completed.

[0113] If the vehicle CPU 91 determines "Yes" in step 1920, the process proceeds to step 1925, and ends the remote leaving control. Next, the vehicle CPU 91 proceeds to step 1930, and sets the values ​​of the remote leaving request flag Xout, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target driving route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". Next, the vehicle CPU 91 proceeds to step 1895 in FIG. 18 via step 1995, and temporarily ends this routine.

[0114] On the other hand, if the vehicle CPU 91 determines "No" in step 1920, the process proceeds directly to step 1895 in Fig. 18 via step 1995, and this routine ends for the time being. In this case, the leaving vehicle travel process continues.

[0115] Also, if the vehicle CPU 91 judges "No" in step 1830 of FIG. 18, the process proceeds to step 1840 and executes a stopped state maintenance process. Next, the vehicle CPU 91 proceeds to step 1845 and cancels the remote leaving control. Next, the vehicle CPU 91 proceeds to step 1850 and sets the values ​​of the remote leaving request flag Xout, the braking function confirmation completion flag Xmal_com, the braking function abnormality flag Xmal, the target driving route setting completion flag Xroute_com, and the terminal authentication completion flag Xid_com to "0". Next, the vehicle CPU 91 proceeds to step 1895 and temporarily ends this routine.

[0116] Moreover, if the vehicle CPU 91 determines "No" in step 1805, step 1815, or step 1825, it advances the process to step 1895 and temporarily ends this routine.

[0117] The above is the specific operation of the remote parking device 10.

[0118] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0119] 10... remote parking device, 20... vehicle driving device, 21... drive device, 22... braking device, 23... steering device, 24... transmission device, 30... vehicle stop maintaining device, 31... parking brake device, 70... surrounding information detection device, 80... vehicle receiving / transmitting device, 90... vehicle ECU, 200... operation terminal, 301D... designated parking space

Claims

[Claim 1] A remote parking device that controls the operation of a drive device that provides a drive force for driving a host vehicle and the operation of a brake device that provides a braking force for braking the host vehicle, and that performs remote parking control to park the host vehicle in a designated parking location by automatically controlling the operation of the drive device and the brake device in response to a command from outside the host vehicle, a braking drive process is executed in which, before the host vehicle is caused to travel by the remote parking control, the braking force is applied to the host vehicle from the braking device while the drive force is applied to the host vehicle from the drive device, and when the host vehicle is maintained in a stopped state until a predetermined time has elapsed since the start of the braking drive process, the host vehicle is caused to travel by the remote parking control. In the remote parking device, The vehicle stop control device is configured to control an operation of a vehicle stop maintaining device that maintains the vehicle in a stopped state, When the host vehicle runs without being maintained in a stopped state during the period from when the braking / driving process is started until the predetermined time has elapsed, the host vehicle is maintained in a stopped state by the vehicle stop maintaining device. Remote parking device.

Images