Remote Parking Device

Abstract

To provide a remote parking device that can execute traveling of an own vehicle by remote parking control upon surely determining that braking performance of a braking device does not deteriorate.SOLUTION: A remote parking device 10 executes remote parking control that automatically controls driving force applied to an own vehicle 100 from a driving device 21 and braking force applied to the own vehicle from a braking device 22 in response to an instruction from the outside of the own vehicle, so as to park the own vehicle at a designated parking lot. The remote parking device, when a temperature of outside air around the own vehicle is above or equal to a predetermined temperature to determine cancellation, executes traveling of the own vehicle by the remote parking control. but, when the temperature of outside air around the own vehicle is lower than the predetermined temperature to determine cancellation, does not execute traveling of the own vehicle by the remote parking control.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] For example, when the outside air temperature is very low, the braking device may not be able to exhibit the desired braking performance. In particular, when the braking device is a hydraulic braking device, when the outside air temperature is very low, the viscosity of the hydraulic oil that operates the braking device increases, and the braking device may not be able to exhibit the desired braking performance. In this way, when the outside air temperature is very low, the braking performance of the braking device for the host vehicle may be reduced. If the remote parking control is executed when the braking performance of the braking device is reduced, even if an attempt is made to brake the host vehicle while the remote parking control is being executed, the host vehicle may not be braked as desired, which is not preferable.

[0006] An object of the present invention is to provide a remote parking device that can reliably determine that there is no deterioration in the braking performance of the braking device and then drive the vehicle using remote parking control.

[0007] The remote parking device of the present invention executes remote parking control for parking the host vehicle in a designated parking location by automatically controlling the driving force applied to the host vehicle from the driving device and the braking force applied to the host vehicle from the braking device in response to a command from outside the host vehicle. The remote parking device of the present invention is configured to drive the host vehicle by the remote parking control when the outside air temperature around the host vehicle is equal to or higher than a predetermined stop judgment temperature, and not to drive the host vehicle by the remote parking control when the outside air temperature around the host vehicle is lower than the predetermined stop judgment temperature. Furthermore, the remote parking device of the present invention is configured to set an upper limit value of the driving speed of the vehicle when the vehicle is driven by the remote parking control to a standard speed when the outside air temperature around the vehicle is equal to or higher than a predetermined limit vehicle speed switching temperature which is higher than the predetermined stop judgment temperature, and to set an upper limit value of the driving speed of the vehicle when the vehicle is driven by the remote parking control to a speed lower than the standard speed when the outside air temperature around the vehicle is equal to or higher than the predetermined stop judgment temperature and lower than the predetermined limit vehicle speed switching temperature, and to drive the vehicle so that the driving speed of the vehicle is maintained below the upper limit value when the vehicle is driven by the remote parking control.

[0008] According to the remote parking device of the present invention, when the temperature of the outside air around the vehicle is lower than a predetermined stop judgment temperature, the remote parking control is stopped, and the remote parking control is performed only when the temperature of the outside air around the vehicle is equal to or higher than the predetermined stop judgment temperature. Therefore, it is possible to reliably determine that there is no deterioration in the braking performance of the braking device before driving the vehicle under the remote parking control.

[0010] also,Even if the temperature of the outside air around the vehicle is not very low, but is relatively low, there is a possibility that the braking device will not be able to exhibit the desired braking performance. According to the remote parking device of the present invention, when the temperature of the outside air around the vehicle is equal to or higher than the predetermined stop judgment temperature but lower than the predetermined vehicle speed limit switching temperature, the upper limit value of the vehicle's running speed in the remote parking control is set to a speed lower than the standard speed, and then the remote parking control is performed. Therefore, even if the braking performance of the braking device has decreased, the running speed of the vehicle during the remote parking control is maintained at a relatively low speed, so that the vehicle can be sufficiently braked when the braking device is used to brake the vehicle.

[0011] A remote parking device according to another aspect of the present invention also executes remote parking control to park the host vehicle in a designated parking location by automatically controlling the driving force applied to the host vehicle from the driving device and the braking force applied to the host vehicle from the braking device in response to a command from outside the host vehicle. The remote parking device according to the present invention is configured to drive the host vehicle by the remote parking control when the outside air temperature around the host vehicle is equal to or higher than a predetermined stop judgment temperature, and not to drive the host vehicle by the remote parking control when the outside air temperature around the host vehicle is lower than the predetermined stop judgment temperature. and The remote parking device according to the present invention may be configured to control the operation of a vehicle stop maintaining device that maintains the vehicle in a stopped state. In this case, the remote parking device according to the present invention is configured to maintain the vehicle in a stopped state by the vehicle stop maintaining device when the outside air temperature around the vehicle is lower than the predetermined stop determination temperature. Is .

[0012] According to this, when the temperature of the outside air around the host vehicle is very low, the host vehicle is kept stopped. That is, when the temperature of the outside air around the host vehicle is very low, it is determined that the braking performance of the braking device for the host vehicle is reduced, and the host vehicle is kept stopped. Therefore, it is possible to prevent the host vehicle from moving by the remote parking control when the braking performance of the braking device for the host vehicle is reduced.

[0013] 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]

[0014] [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. [Figure 20] FIG. 20 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

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] <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.

[0020] <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.

[0021] <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.

[0022] <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.

[0023] <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.

[0024] 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).

[0025] 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.

[0026] <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.

[0027] <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, an outside air temperature sensor 49, 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.

[0028] <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.

[0029] 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.

[0030] <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.

[0031] 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.

[0032] <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.

[0033] <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.

[0034] 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.

[0035] <Outside air temperature sensor> The outside air temperature sensor 49 is a sensor that detects the temperature of the outside air around the host vehicle 100. The outside air temperature sensor 49 is electrically connected to the vehicle ECU 90. The outside air temperature sensor 49 transmits information on the detected outside air temperature to the vehicle ECU 90. The vehicle ECU 90 acquires the temperature of the outside air around the host vehicle 100 as the outside air temperature Tair based on the information.

[0036] <Shift sensor> The shift sensor 52 is a sensor 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] <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.

[0042] <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.

[0043] <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.

[0044] <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).

[0045] <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.

[0046] <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.

[0047] 3, the operation terminal 200 is equipped with a remote control device 210. The remote control device 210 includes a terminal ECU 290.

[0048] 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.

[0049] The operation terminal 200 also includes a display 220 and a terminal transmitting / receiving device 280 .

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] <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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] <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.

[0060] When the vehicle ECU 90 receives the remote parking request signal, the vehicle ECU 90 executes a braking performance confirmation process to determine whether or not there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100. When the vehicle ECU 90 starts the braking performance confirmation process, the vehicle ECU 90 determines whether or not the outside air temperature Tair is lower than a predetermined temperature (predetermined cancel determination temperature Tcancel).

[0061] When the vehicle ECU 90 determines that the outside air temperature Tair is lower than the predetermined cancellation judgment temperature Tcancel, it determines that there is a decrease in the braking performance of the braking device 22 for the host vehicle 100. In other words, when the outside air temperature Tair is lower than the predetermined cancellation judgment temperature Tcancel, the vehicle ECU 90 determines that there is a possibility that the braking performance of the braking device 22 for the host vehicle 100 is significantly decreased.

[0062] When the vehicle ECU 90 determines that the braking performance of the brake device 22 for the host vehicle 100 has deteriorated, the vehicle ECU 90 executes a stopped state maintaining process and then halts 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 halts the remote parking control, the vehicle ECU 90 may wirelessly transmit a signal indicating that the remote parking control has been halted 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 halted on the display 220 in response to the signal.

[0063] On the other hand, when the vehicle ECU 90 determines that the outside air temperature Tair is equal to or higher than the predetermined cancel determination temperature Tcancel, the vehicle ECU 90 determines that there is no deterioration in the braking performance of the braking device 22 for the host vehicle 100.

[0064] When the vehicle ECU 90 determines that there is no deterioration in the braking performance of the braking device 22 for the vehicle 100, the vehicle ECU 90 executes a vehicle speed limit setting process. When the vehicle ECU 90 starts the vehicle speed limit setting process, the vehicle ECU 90 determines whether the outside air temperature Tair is lower than a predetermined temperature (predetermined vehicle speed limit switching temperature Tlimit). The predetermined vehicle speed limit switching temperature Tlimit is set to a temperature higher than the above-mentioned predetermined cancel determination temperature Tcancel.

[0065] When the vehicle ECU 90 determines that the outside air temperature Tair is equal to or higher than the predetermined limit vehicle speed switching temperature Tlimit, it sets the upper limit value of the host vehicle speed V (limit vehicle speed Vlimit) when the host vehicle 100 is driven by remote parking control to the standard vehicle speed Vbase. That is, when the outside air temperature Tair is equal to or higher than the predetermined limit vehicle speed switching temperature Tlimit, the vehicle ECU 90 determines that there is almost no deterioration in the braking performance of the braking device 22 for the host vehicle 100, and sets the upper limit value of the host vehicle speed V (limit vehicle speed Vlimit) when the host vehicle 100 is driven by remote parking control to the standard vehicle speed Vbase.

[0066] On the other hand, when the vehicle ECU 90 determines that the outside air temperature Tair is lower than the predetermined limit vehicle speed switching temperature Tlimit, it sets the upper limit value (limit vehicle speed Vlimit) of the host vehicle speed V when the host vehicle 100 is driven by the remote parking control to the low vehicle speed Vlow. That is, when the outside air temperature Tair is equal to or higher than the predetermined cancel determination temperature Tcancel but lower than the predetermined limit vehicle speed switching temperature Tlimit, the vehicle ECU 90 determines that the braking performance of the braking device 22 for the host vehicle 100 is not greatly degraded but may be degraded to some extent, and sets the upper limit value (limit vehicle speed Vlimit) of the host vehicle speed V when the host vehicle 100 is driven by the remote parking control to the low vehicle speed Vlow. The low vehicle speed Vlow is set to a speed lower than the standard vehicle speed Vbase.

[0067] When the vehicle ECU 90 sets the vehicle speed limit Vlimit, the vehicle ECU 90 starts a target driving route setting process. The target driving route setting process in the remote parking control is executed as follows.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] In this example, while the vehicle 100 is traveling using the remote parking control, the vehicle ECU 90 controls the driving force output from the driving device 21 and the braking force output from the braking device 22 so that the vehicle speed V is equal to or less than the limit vehicle speed Vlimit set as described above.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] <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.

[0076] When the vehicle ECU 90 receives the remote leaving request signal, it executes the braking performance confirmation process described above.

[0077] If, as a result of executing the braking performance confirmation process, the vehicle ECU 90 determines that there is a deterioration in the braking performance 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.

[0078] On the other hand, when the vehicle ECU 90 determines that there is no deterioration in the braking performance of the braking device 22 for the host vehicle 100, it executes the above-mentioned vehicle speed limit setting process. The vehicle speed limit Vlimit that is set at this time is the upper limit value of the host vehicle speed V when the host vehicle 100 is made to travel by the remote leaving control.

[0079] After executing the vehicle speed limit setting process, the vehicle ECU 90 starts a target driving route setting process. The target driving route setting process in the remote leaving control is executed as follows.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] In this example, while the vehicle 100 is traveling under the remote leaving control, the vehicle ECU 90 controls the driving force output from the driving device 21 and the braking force output from the braking device 22 so that the vehicle speed V is equal to or less than the limit vehicle speed Vlimit set as described above.

[0084] 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.

[0085] The above is an outline of the operation of the remote parking device 10.

[0086] As described above, the remote parking device 10 determines whether there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100 based on the outside air temperature Tair, and if it determines that there is a deterioration in the braking performance of the braking device 22, it is configured to stop the remote parking control and the remote leaving control. However, if the braking device 22 is composed of parts such as brake pads, it may be configured to determine whether there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100 based on the amount of wear on the brake pads, or to determine whether there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100 based on the load on the host vehicle 100, or to determine whether there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100 based on the friction coefficient of the road surface on which the host vehicle 100 is traveling, and to stop the remote parking control and the remote leaving control if it is determined that there is a deterioration in the braking performance of the braking device 22.

[0087] Similarly, the remote parking device 10 determines whether the braking performance of the braking device 22 for the vehicle 100 has not significantly decreased, but may have decreased to some extent, based on the outside air temperature Tair. If it is determined that the braking performance of the braking device 22 has decreased to some extent, the remote parking device 10 sets the low vehicle speed Vlow as the limit vehicle speed Vlimit. However, if the braking device 22 is composed of parts such as brake pads, the remote parking device 10 determines whether the braking performance of the braking device 22 for the vehicle 100 has decreased to some extent, based on the amount of wear on the brake pads. Alternatively, based on the load on the vehicle 100, it may be determined whether or not the braking performance of the braking device 22 for the vehicle 100 is likely to have decreased to some extent, or based on the friction coefficient of the road surface on which the vehicle 100 is traveling, it may be determined whether or not the braking performance of the braking device 22 for the vehicle 100 is likely to have decreased to some extent, and if it is determined that the braking performance of the braking device 22 is likely to have decreased to some extent, the low vehicle speed Vlow may be set as the limit vehicle speed Vlimit.

[0088] <Effects> If the outside air temperature is very low, the braking device 22 may not be able to exhibit the desired braking performance. In particular, if the braking device 22 is a hydraulic brake device, if the outside air temperature is very low, the viscosity of the hydraulic oil that operates the braking device 22 increases, and the braking device 22 may not be able to exhibit the desired braking performance. If the outside air temperature is very low in this way, the braking performance of the braking device 22 for the host vehicle 100 may be reduced. If the remote parking control or the remote leaving control is executed when the braking performance of the braking device 22 is reduced, even if the host vehicle 100 is braked during the execution of the remote parking control or the remote leaving control, the host vehicle 100 may not be braked as desired, which is not preferable.

[0089] According to the remote parking device 10, when the outside air temperature Tair is lower than the predetermined cancellation judgment temperature Tcancel, the remote parking control and the remote leaving control are canceled, and the remote parking control and the remote leaving control are performed only when the outside air temperature Tair is equal to or higher than the predetermined cancellation judgment temperature Tcancel. Therefore, it is possible to reliably determine that the braking performance of the braking device 22 is not degraded, and then to run the vehicle 100 by the remote parking control and the remote leaving control.

[0090] Furthermore, even if the outside air temperature is not very low, if it is relatively low, there is a possibility that the braking device 22 will not be able to provide the desired braking performance.

[0091] According to the remote parking device 10, when the outside air temperature Tair is equal to or higher than the predetermined cancel judgment temperature Tcancel but lower than the predetermined limited vehicle speed switching temperature Tlimit, the limited vehicle speed Vlimit that limits the host vehicle speed V in the remote parking control and the remote leaving control is set to the low vehicle speed Vlow, and then the remote parking control and the remote leaving control are performed. Therefore, even if the braking performance of the braking device 22 has deteriorated, the host vehicle speed V during the execution of the remote parking control and the remote leaving control is maintained at a relatively low speed, so that the host vehicle 100 can be sufficiently braked when the host vehicle 100 is to be braked by the braking device 22.

[0092] <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".

[0093] 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".

[0094] 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.

[0095] On the other hand, if the vehicle CPU 91 determines "No" in step 1505, the process proceeds directly to step 1415 in FIG.

[0096] 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.

[0097] 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 performance confirmation completion flag Xb_com is "0". The braking performance confirmation completion flag Xb_com is a flag that indicates whether the determination of whether there is a deterioration in the braking performance of the braking device 22 for the host vehicle 100 (braking performance confirmation) has been completed, and if the braking performance confirmation has been completed, the value is set to "1", and if the braking performance confirmation has not been completed, the value is set to "0".

[0098] If the vehicle CPU 91 determines "Yes" in step 1605, the process proceeds to step 1610, where it determines whether the outside air temperature Tair is abnormal to the predetermined cancel determination temperature Tcancel.

[0099] If the vehicle CPU 91 determines "Yes" in step 1610, the process proceeds to step 1615, where the vehicle CPU 91 sets the value of the braking performance degradation flag Xb_low to "0." The braking performance degradation flag Xb_low is a flag that indicates whether or not there is a degradation in the braking performance of the braking device 22 for the host vehicle 100, and if there is a degradation in the braking performance of the braking device 22 for the host vehicle 100, the value is set to "1," and if there is no degradation in the braking performance of the braking device 22 for the host vehicle 100, the value is set to "0."

[0100] Next, the vehicle CPU 91 advances the process to step 1620, and sets the value of the braking performance confirmation completion flag Xb_com to 1. Next, the vehicle CPU 91 advances the process to step 1425 in FIG.

[0101] On the other hand, if the vehicle CPU 91 determines "No" in step 1610, the process proceeds to step 1625, where it sets the value of the braking performance degradation flag Xb_low to "1." Next, the vehicle CPU 91 proceeds to step 1630, where it sets the value of the braking performance confirmation completion flag Xb_com to "1." Next, the vehicle CPU 91 proceeds to step 1425 in FIG. 14 via step 1695.

[0102] 14. Also, if the vehicle CPU 91 determines "No" in step 1605, it advances the process directly to step 1425 in FIG.

[0103] When the vehicle CPU 91 advances the process to step 1425 in FIG. 14, it determines whether the value of the braking performance confirmation completion flag Xb_com is "1" or not.

[0104] 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 performance degradation flag Xb_low is "0".

[0105] When the vehicle CPU 91 determines "Yes" in step 1430, the process proceeds to step 1432, where it executes the routine shown in Fig. 17. Therefore, when the vehicle ECU 90 advances the process to step 1432, it starts the process from step 1700 in Fig. 17, advances the process to step 1705, and determines whether the outside air temperature Tair is equal to or higher than the predetermined limit vehicle speed switching temperature Tlimit.

[0106] If the vehicle CPU 91 determines "Yes" in step 1705, the process proceeds to step 1710, where it sets the standard vehicle speed Vbase as the limit vehicle speed Vlimit. Next, the vehicle CPU 91 proceeds to step 1435 in FIG.

[0107] 14. On the other hand, if the vehicle CPU 91 determines "No" in step 1705, the process proceeds to step 1715, where it sets the low vehicle speed Vlow as the limit vehicle speed Vlimit. Next, the vehicle CPU 91 proceeds to step 1435 in FIG.

[0108] When the vehicle CPU 91 advances the process to step 1435 in Fig. 14, it executes the routine shown in Fig. 18. Therefore, when the vehicle CPU 91 advances the process to step 1435, it starts the process from step 1800 in Fig. 18, advances the process to step 1805, 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".

[0109] If the vehicle CPU 91 determines "Yes" in step 1805, the process proceeds to step 1810, where it executes a target driving route setting process to set the target driving route Rtgt.

[0110] On the other hand, if the vehicle CPU 91 determines “No” in step 1805 , it advances the process directly to step 1815 .

[0111] The vehicle CPU 91 executes the parking and driving process when the process proceeds to step 1815. Next, the vehicle CPU 91 proceeds to step 1820 and determines whether parking of the host vehicle 100 in the designated parking location 301D has been completed.

[0112] If the vehicle CPU 91 determines "Yes" in step 1820, the process proceeds to step 1825, and ends the remote parking control. Next, the vehicle CPU 91 proceeds to step 1830, and sets the values ​​of the remote parking request flag Xpark, the braking performance confirmation completion flag Xb_com, the braking performance degradation flag Xb_low, 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 1895, and temporarily ends this routine.

[0113] On the other hand, if the vehicle CPU 91 determines "No" in step 1820, the process proceeds directly to step 1495 in Fig. 14 via step 1895, and ends this routine for the time being. In this case, the parking and driving process continues.

[0114] 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 performance confirmation completion flag Xb_com, the braking performance degradation flag Xb_low, 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.

[0115] 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.

[0116] Furthermore, the vehicle CPU 91 is configured to execute the routine shown in Fig. 19 at a predetermined calculation cycle. Therefore, at a predetermined timing, the process starts from step 1900 in Fig. 19, and proceeds to step 1905 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".

[0117] If the vehicle CPU 91 determines "Yes" in step 1905, it advances the process to step 1910 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 execution of remote leaving-garage 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".

[0118] After executing the process of step 1910, the vehicle CPU 91 advances the process to step 1915 and determines whether the operation terminal that has transmitted the signal requesting the execution of remote leaving-garage control is a registered operation terminal.

[0119] If the vehicle CPU 91 determines "Yes" in step 1915, the process proceeds to step 1920, and executes the routine shown in FIG. 16 described above.

[0120] After executing the process of step 1920, the vehicle CPU 91 proceeds to step 1925, where it determines whether the value of the braking performance confirmation completion flag Xb_com is "1".

[0121] If the vehicle CPU 91 determines "Yes" in step 1925, the process proceeds to step 1930, where it determines whether the value of the braking performance degradation flag Xb_low is "0".

[0122] If the vehicle CPU 91 determines "Yes" in step 1930, the process proceeds to step 1932, and the above-mentioned routine of FIG. 17 is executed.

[0123] After executing the routine of FIG. 17, the vehicle CPU 91 advances the process to step 1935 and executes the routine shown in FIG. 20. Therefore, when the vehicle CPU 91 advances the process to step 1935, it starts the process from step 2000 of FIG. 20, advances the process to step 2005, and determines 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 if the setting of the target driving route Rtgt in the remote leaving control has been completed, the value is set to "1", and if the setting of the target driving route Rtgt in the remote leaving control has not been completed, the value is set to "0".

[0124] If the vehicle CPU 91 determines "Yes" in step 2005, the process proceeds to step 2010, where it executes a target driving route setting process to set the target driving route Rtgt.

[0125] On the other hand, if the vehicle CPU 91 determines “No” in step 2005 , it advances the process directly to step 2015 .

[0126] The vehicle CPU 91 executes the leaving driving process when the process proceeds to step 2015. Next, the vehicle CPU 91 proceeds to step 2020 and determines whether or not leaving of the host vehicle 100 to the designated leaving location 305D has been completed.

[0127] If the vehicle CPU 91 determines "Yes" in step 2020, the process proceeds to step 2025, and ends the remote leaving control. Next, the vehicle CPU 91 proceeds to step 2030, and sets the values ​​of the remote leaving request flag Xout, the braking performance confirmation completion flag Xb_com, the braking performance deterioration flag Xb_low, 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 1995 in FIG. 19 via step 2095, and temporarily ends this routine.

[0128] On the other hand, if the vehicle CPU 91 determines "No" in step 2020, the process proceeds directly to step 1995 in Fig. 19 via step 2095, and ends this routine for the time being. In this case, the leaving vehicle travel process continues.

[0129] Also, if the vehicle CPU 91 judges "No" in step 1930 of FIG. 19, the process proceeds to step 1940 and executes a stopped state maintenance process. Next, the vehicle CPU 91 proceeds to step 1945 and cancels the remote leaving control. Next, the vehicle CPU 91 proceeds to step 1950 and sets the values ​​of the remote leaving request flag Xout, the braking performance confirmation completion flag Xb_com, the braking performance degradation flag Xb_low, 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 1995 and temporarily ends this routine.

[0130] Moreover, if the vehicle CPU 91 determines "No" in step 1905, step 1915, or step 1925, the vehicle CPU 91 advances the process to step 1995 and temporarily ends this routine.

[0131] The above is the specific operation of the remote parking device 10.

[0132] 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]

[0133] 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, 49... outside air temperature sensor, 70... surrounding information detection device, 80... vehicle receiving / transmitting device, 90... vehicle ECU, 200... operation terminal, 301D... designated parking space

Claims

1. A remote parking device that performs remote parking control to park the vehicle in a designated parking location by automatically controlling a driving force applied to the vehicle from a driving device and a braking force applied to the vehicle from a braking device in response to a command from outside the vehicle, When the temperature of the outside air around the vehicle is equal to or higher than a predetermined stop determination temperature, the vehicle is driven by the remote parking control. When the temperature of the outside air around the vehicle is lower than the predetermined stop determination temperature, the vehicle is not driven by the remote parking control. It is configured as follows: In the remote parking device, When the temperature of the outside air around the vehicle is equal to or higher than a predetermined vehicle speed limit switching temperature that is higher than the predetermined stop judgment temperature, an upper limit value of the traveling speed of the vehicle when the vehicle is traveling by the remote parking control is set to a standard speed; When an outside air temperature around the vehicle is equal to or higher than the predetermined stop determination temperature and is lower than the predetermined vehicle speed limit switching temperature, an upper limit value of the traveling speed of the vehicle when the vehicle is traveling by the remote parking control is set to a speed lower than the standard speed, When the host vehicle is caused to travel under the remote parking control, the host vehicle is caused to travel so that the travel speed of the host vehicle is maintained at or below the upper limit value. It is configured as follows: Remote parking device.

2. A remote parking device that performs remote parking control to park the host vehicle in a designated parking location by automatically controlling a driving force applied to the host vehicle from a driving device and a braking force applied to the host vehicle from a braking device in response to a command from outside the host vehicle, When the temperature of the outside air around the vehicle is equal to or higher than a predetermined stop determination temperature, the vehicle is driven by the remote parking control. When the temperature of the outside air around the vehicle is lower than the predetermined stop determination temperature, the vehicle is not driven by the remote parking control. It is configured as follows: 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 an outside air temperature around the vehicle is lower than the predetermined stop determination temperature, the vehicle stop maintaining device maintains the vehicle in a stopped state. Remote parking device.

Images