Remote Parking Device

Abstract

To provide a remote parking device improved so as to call attention to an occurrence of an abnormality when the abnormality occurs which hinders normal and safe movement of a vehicle to a parking position, during remote parking.SOLUTION: A remote parking device comprises: a vehicle control ECU that responds to a parking command sent from a user-operated terminal device in a situation where a driver gets off a vehicle, and moves the vehicle to a predetermined parking position by automatic operation or remote control to park the vehicle; and a hazard lamp and a buzzer as a warning device. When the vehicle control ECU determines that an abnormality that hinders movement of the vehicle to the predetermined parking position has occurred (S50), the vehicle control ECU flashes the hazard lamp and sounds the buzzer (S80) until it is determined that a predetermined period of time or more has elapsed since the occurrence of the abnormality or that one of doors has been opened (S170, S180).SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a remote parking device for a vehicle such as an automobile. [Background technology]

[0002] The remote parking device controls remote parking by moving the vehicle to a specified parking position and parking it by automatic driving or remote operation in response to a parking command wirelessly transmitted from a terminal device operated by a user when the driver has got off the vehicle. Therefore, with the remote parking device, the driver can get off the vehicle before moving it to the specified parking position, and the vehicle can be automatically moved to the specified parking position and parked.

[0003] In remote parking, in which a vehicle is driven automatically or remotely to a designated parking position and parked there, the user operating the terminal device may be exposed to danger due to the vehicle moving unmanned.

[0004] For example, the following Patent Document 1 describes a remote parking device that is configured to notify a terminal device of a risk of collision between the user and a surrounding object during remote parking by remote operation. With this type of remote parking device, even if there is a risk of collision between the user and a surrounding object, the user can recognize the risk through a display on the terminal device and take action to avoid the risk. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-196065 A Summary of the Invention

[0006] [Problem to be solved by the invention] In remote parking, the vehicle moves in an unmanned state, so even if an abnormality occurs that hinders the normal and safe movement of the vehicle to the parking position, it is not possible to deal with the abnormality or alert those around. Note that abnormalities include not only abnormalities occurring in the vehicle, such as sensor abnormalities, but also external abnormalities, such as the presence of an obstacle on the movement path, such as another stopped vehicle, that prevents the movement of the vehicle, and the presence of another vehicle parked in the designated parking position.

[0007] Furthermore, even in the remote parking device described in Patent Document 1 above, if an abnormality occurs in the vehicle, the abnormality is not notified to the terminal device, so the user cannot recognize the abnormality through the display on the terminal device and cannot take action to deal with the abnormality or alert those around them.

[0008] The main objective of the present invention is to provide an improved remote parking device that is capable of alerting the driver of an abnormality that may hinder the normal and safe movement of the vehicle to a parking position during remote parking.

[0009] [Means for solving the problems and effects of the invention] According to the present invention, the vehicle control system includes a control unit (vehicle control ECU 10) that moves the vehicle to a predetermined parking position by either automatic driving or remote operation in response to a parking command transmitted from a terminal device (130) operated by a user when the driver gets off the vehicle (110) and parks the vehicle therein, and an alarm device (hazard lamps 51 and a buzzer 52) that issues an alarm to the outside of the vehicle when activated. The control unit is configured to activate an alarm device (S80) when it is determined that an abnormality that will hinder the vehicle from moving to a predetermined parking position has occurred (S50). A remote parking device (100) is provided.

[0010] The control unit When it is determined that an abnormality has occurred (S50), the vehicle starts to decelerate (S90), and the occurrence of the abnormality is notified to the terminal device (130) by wireless transmission (S70). Furthermore, when it is determined that the vehicle has stopped (S130), the fact that the vehicle has stopped and the vehicle's position are notified to the terminal device by wireless transmission (S150, S20). It is configured as do.

[0011] According to the above configuration, when it is determined that an abnormality has occurred that would hinder the normal and safe movement of the vehicle to a predetermined parking position, the alarm device is activated, thereby alerting the driver to the occurrence of an abnormality around the vehicle. Furthermore, according to the above configuration, when it is determined that an abnormality has occurred, the occurrence of the abnormality is notified to the terminal device by wireless transmission, so that the user can recognize that an abnormality has occurred by a display on the terminal device. Furthermore, according to the above configuration, when it is determined that the vehicle has stopped, the fact that the vehicle has stopped and the vehicle's location are wirelessly transmitted to the terminal device, so that the user can recognize that the vehicle has stopped and its location from the display on the terminal device, and can easily reach the vehicle to deal with the abnormality.

[0012] [Mode of the invention] In one aspect of the present invention, the control unit (vehicle control ECU 10) is configured to stop activation of the warning device (S190) when it is determined that a predetermined time has elapsed since it was determined that an abnormality occurred (S170).

[0013] According to the above aspect, when it is determined that a predetermined time has elapsed since it was determined that an abnormality occurred, the activation of the alarm device is stopped, thereby making it possible to prevent the activation of the alarm device from continuing for an unnecessarily long period of time.

[0014] In another aspect of the present invention, the control unit (vehicle control ECU 10) is configured to stop the operation of the alarm device (S190) when it is determined that any door of the vehicle has been opened (S180).

[0015] According to the above aspect, when it is determined that any of the doors of the vehicle is opened, the activation of the alarm device is stopped. It is considered that any of the doors of the vehicle is opened because the driver or another person gets into the vehicle to deal with an abnormality. Therefore, it is possible to prevent the activation of the alarm device from continuing for an unnecessarily long time.

[0018] In still another aspect of the present invention, the warning device is at least one of a hazard lamp and a buzzer.

[0019] According to the above aspect, when it is determined that an abnormality has occurred, at least one of the hazard lamps (51) and the buzzer (52) is activated. Therefore, it is possible to effectively alert the driver of the occurrence of an abnormality around the vehicle without adding a special alarm device.

[0020] In the above description, in order to facilitate understanding of the present invention, the names and / or symbols used in the embodiments described below are added in parentheses to the configurations of the invention corresponding to those embodiments. However, each component of the present invention is not limited to the components of the embodiments corresponding to the names and / or symbols added in parentheses. 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 described below with reference to the drawings. [Brief description of the drawings]

[0021] [Figure 1] 1 is a schematic diagram showing an embodiment of a remote parking device according to the present invention; [Diagram 2] 4 is a flowchart showing a remote parking control routine in the embodiment. [Diagram 3] FIG. 2 is a diagram showing a map of a parking lot and the usage status of each parking location displayed on a display of a terminal device. [Figure 4] 1A to 1C are diagrams showing a map of a parking lot, the usage status of each parking location, and a target route for remote parking, all of which are displayed on the display of a terminal device. [Diagram 5] 1A to 1C are diagrams showing a map of a parking lot, the usage status of each parking location, and vehicle abnormalities displayed on a display of a terminal device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A remote parking device according to an embodiment of the present invention will be described in detail below with reference to the drawings.

[0023] <Configuration> The remote parking device 100 is applied to a vehicle 110. As shown in Fig. 1, the vehicle 110 includes a vehicle control ECU 10, an electric power steering ECU 20, a drive ECU 30, and a brake ECU 40. The vehicle 110 further includes a meter ECU 50, a body ECU 60, and a navigation device 70. The electric power steering ECU is referred to as an EPS·ECU (Electric Power Steering ECU).

[0024] Each ECU is an electronic control unit having a microcomputer as its main component, and is connected to each other via a CAN (Controller Area Network) 120 so that they can transmit and receive information to each other. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, etc. The CPU is adapted to realize various functions by executing instructions (programs, routines) stored in the ROM. Some or all of these ECUs may be integrated into one ECU.

[0025] Various vehicle state sensors 80 that detect the state of the vehicle 110 and various driving operation state sensors 90 that detect the driving operation state are connected to the CAN 120. The vehicle state sensors 80 include a vehicle speed sensor that detects the vehicle speed V of the vehicle, a longitudinal acceleration sensor that detects the acceleration in the longitudinal direction of the vehicle, a lateral acceleration sensor that detects the acceleration in the lateral direction of the vehicle, and a yaw rate sensor that detects the yaw rate of the vehicle.

[0026] The driving operation state sensor 90 includes an accelerator operation amount sensor that detects the amount of operation of the accelerator pedal, a brake operation amount sensor that detects the amount of operation of the brake pedal, a brake switch that detects whether the brake pedal is operated or not, a steering angle sensor that detects the steering angle, a steering torque sensor that detects the steering torque, and a shift position sensor that detects the shift position of the transmission.

[0027] Information detected by the vehicle state sensor 80 and the driving operation state sensor 90 (referred to as sensor information) is transmitted to the CAN 120. Each ECU can appropriately use the sensor information transmitted to the CAN 120. Note that the sensor information may be information of a sensor connected to a specific ECU and transmitted to the CAN 120 from the specific ECU.

[0028] The vehicle control ECU 10 is a central control device that performs remote parking and executes vehicle driving control such as automatic driving control that drives the vehicle without the need for a driver's operation. A transceiver 11 that wirelessly communicates with a terminal device 130, a surrounding sensor 12, a camera sensor 13, and a setting operation device 14 are connected to the vehicle control ECU 10.

[0029] The surrounding sensor 12 is five radar sensors that detect surrounding information in the center front, right front, left front, right rear, and left rear of the vehicle 110. The surrounding information is information that indicates, for example, the presence or absence of three-dimensional objects such as other vehicles, pedestrians, bicycles, and buildings, the distance between the vehicle and the three-dimensional object, the relative speed between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle, and the like, and is supplied to the vehicle control ECU 10 at predetermined time intervals.

[0030] The camera sensor 13 includes a camera unit and a recognition unit that recognizes white lines on roads and parking lots by analyzing image data captured by the camera unit. The camera unit of the camera sensor 13 captures the scenery ahead of the vehicle. The recognition unit of the camera sensor 13 supplies information on the recognized white lines, information on lanes and parking spaces based on the white lines, and information on the relative position of the vehicle with respect to the lanes and parking spaces to the vehicle control ECU 10 at predetermined time intervals.

[0031] The setting operation device 14 is an operation device equipped with a plurality of switches for setting whether or not to perform automatic driving and remote parking. When a remote parking switch (not shown in Fig. 1) is on, the vehicle control ECU 10 cooperates with the terminal device 130 to perform remote parking as described below.

[0032] The EPS·ECU 20 is a control device for an electric power steering device. A drive circuit 21 is connected to the EPS·ECU 20, and the drive circuit 21 is connected to a steering motor 22. The steering motor 22 is incorporated in a steering mechanism (not shown) of the vehicle 110. The EPS·ECU 20 detects the steering torque input by the driver through the steering wheel using a steering torque sensor provided on a steering shaft of the steering mechanism, and controls the supply of electricity to the drive circuit 21 based on the steering torque and vehicle speed to drive the steering motor 22. When the steering motor 22 is driven, a steering assist torque is applied to the steering mechanism, reducing the steering burden on the driver.

[0033] Furthermore, when the EPS·ECU 20 receives a steering command from the vehicle control ECU 10 via the CAN 120, it drives the steering motor 22 with a control amount specified by the steering command to generate a steering torque. This steering torque differs from the above-mentioned steering assist torque, and is a torque applied to the steering mechanism to change the steering angle of the steered wheels without the need for steering operation by the driver. The steered wheels are automatically steered by this torque.

[0034] An engine actuator 31 and a transmission actuator 32 are connected to the drive ECU 30. The engine actuator 31 is an actuator for changing the operating state of the internal combustion engine 33, and the transmission actuator 32 is an actuator for changing the gear ratio and shift position of the transmission 34. The drive ECU 50 controls the engine actuator 31 and the transmission actuator 32 to change the output of the internal combustion engine 33 and the gear ratio and shift position of the transmission 34, thereby controlling the driving force (acceleration) and forward and backward travel of the vehicle 110. The transmission 34 may be either a gear-type automatic transmission or a continuously variable transmission.

[0035] In the embodiment, the vehicle 110 is equipped with an internal combustion engine 33 and a transmission 34, but the remote parking device of the present invention may be applied to a so-called hybrid vehicle (HV) equipped with an internal combustion engine and a motor as a driving force source, or a so-called electric vehicle (EV) equipped with only a motor as a driving force source without an internal combustion engine. The remote parking device of the present invention may also be applied to a so-called plug-in hybrid vehicle (PHV) that runs using power output from at least one of a first motor generator and a second motor generator as a driving force and can charge a battery from an external power source. Furthermore, the remote parking device of the present invention may be applied to a so-called fuel cell vehicle (FCV) in which a motor is driven by electric power generated by a fuel cell, or a so-called in-wheel motor type vehicle in which a motor is built into each wheel and each wheel is driven by the corresponding motor.

[0036] A brake actuator 41 is connected to the brake ECU 40. The brake actuator 41 adjusts the hydraulic pressure supplied to a wheel cylinder built into the brake caliper 42b in response to an instruction from the brake ECU 40, and presses a brake pad (not shown) against the brake disc 42a with the hydraulic pressure to generate a friction braking force. Therefore, the brake ECU 40 controls the brake actuator 41 to control the braking force of the vehicle 110 and change the deceleration state (deceleration).

[0037] In addition, an electric parking brake actuator 44 is connected to the brake ECU 40, and the electric parking brake is abbreviated as EPB (Electric Parking Brake). Although not shown in Fig. 1, the EPB actuator 44 operates the electric parking brake by controlling an electric motor to pull a cable of a drum-type parking brake built into a disc brake, for example. When the parking brake is operated, the wheels are locked.

[0038] The vehicle control ECU 10 automatically steers the steered wheels by outputting a command signal to the EPS-ECU 20, and controls the braking / driving force of the vehicle 110 by outputting a command signal to the drive ECU 30 and the brake ECU 40, thereby enabling automatic driving. In particular, as will be described in detail later, during remote parking, the vehicle control ECU 10 performs automatic driving so that the vehicle 110 moves to a predetermined parking position along a target movement path for remote parking.

[0039] Four hazard lamps 51, one on each of the front left and right and the rear left and right, are connected to the meter ECU 50. The hazard lamps 51 flash when activated by the meter ECU 50, and function as one warning device. A buzzer 52 is also connected to the meter ECU 50. The buzzer 52 sounds audible outside the vehicle 110 when it receives a buzzer sounding signal from the meter ECU 50, and functions as another warning device.

[0040] Furthermore, a plurality of door sensors 61 are connected to the body ECU 60. When the corresponding door is opened, each door sensor 61 outputs a signal indicating that the corresponding door is opened to the vehicle control ECU 10 via the body ECU 60 and the CAN 120. The door sensors 61 may be provided on all the doors of the vehicle 110, or may be provided only on the driver's door and the passenger's door.

[0041] 1, the navigation device 70 further includes a GPS receiver that receives a GPS signal for detecting the current position of the vehicle 110, a map database that stores map information and the like, and a touch panel (touch panel display). The navigation device 70 identifies the current position of the vehicle 110 based on the GPS signal, and performs various calculation processes based on the vehicle position and the map information stored in the map database and the like, and provides route guidance using the touch panel.

[0042] The ECUs such as the vehicle control ECU 10 described above and other ECUs not shown in the figure are configured to determine whether or not an abnormality has occurred that would hinder the normal and safe movement of the vehicle 110 to a parking position by automatic driving. The navigation device 70 is also configured to determine whether or not an abnormality has occurred in a similar manner. When it is determined that an abnormality has occurred, the ECUs other than the vehicle control ECU 10 and the navigation device 70 transmit a signal indicating that an abnormality has occurred to the vehicle control ECU 10 via the CAN 120.

[0043] Although not shown in detail in FIG. 1, the terminal device 130 includes a touch panel display, a terminal wireless transceiver, a GPS receiver, and a terminal ECU. The display is connected to the terminal ECU and is controlled by the terminal ECU to display various images, which will be described later. The user can also use the display to perform necessary input, such as specifying a parking position. The terminal wireless transceiver is connected to the terminal ECU and wirelessly transmits various signals transmitted by the terminal ECU. The GPS receiver receives a GPS signal for detecting the current position of the terminal device 130. Furthermore, the terminal wireless transceiver receives various signals wirelessly transmitted by the vehicle control ECU 10 of the vehicle 110, which will be described later, via the transceiver 11, and transmits them to the terminal ECU.

[0044] The terminal ECU has a microcomputer as its main component, and the microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, and an interface. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. A remote parking application is installed in the terminal ECU to cause the vehicle control ECU 10 to perform remote parking control, which will be described later.

[0045] The user who operates the terminal device 130 does not have to be the driver, and the terminal device 130 does not have to be the driver's terminal device. For example, in the case of valet parking at a hotel, the user may be a parking attendant at the hotel, and the terminal device 130 may be a hotel terminal device capable of wireless communication with the vehicle control ECU 10.

[0046] When the remote parking switch of the setting operation device 14 is on and the remote parking application of the terminal device 130 is running, the vehicle control ECU 10 and the terminal device 130 exchange information with each other via the transceiver 11 and the terminal wireless transceiver. In the embodiment, the terminal device 130 receives a signal indicating a map of the parking lot and the usage status of each parking position, for example, as shown in FIG. 3, from a management server of the parking lot (not shown), and displays a map 140 of the parking lot and the usage status of each parking position A1 to A10 on the display. The map also displays the current position Pv of the vehicle 110 and the current position Pt of the terminal device 130. The user specifies the desired parking position by touching the display. In FIG. 3, the shaded parking positions indicate that other vehicles are already parked there.

[0047] When the CPU of the vehicle control ECU 10 receives information on the designated parking position from the terminal device 130, it executes remote parking control according to the control routine shown in the flowchart of Fig. 2. As a result, in response to a parking command transmitted from the terminal device 130 when the driver has dismounted from the vehicle 110, the vehicle control ECU 10 moves the vehicle by automatic driving to a designated predetermined parking position and parks the vehicle.

[0048] <Remote parking control routine> Next, a remote parking control routine in the embodiment will be described with reference to the flowchart shown in Fig. 2. The remote parking control according to the flowchart shown in Fig. 2 is repeatedly executed by the CPU of the vehicle control ECU 10 at a predetermined control period when the remote parking switch is on and the remote parking application of the terminal device 130 is running. In the following description, the remote parking control will be simply referred to as "control".

[0049] First, in step S10, the CPU determines a target route from the current position of the vehicle 110 to a predetermined parking position transmitted from the terminal device 130, and notifies the terminal device 130 of information on the target route. Upon receiving the information on the target route, the terminal device 130 displays the target route 142 on the display together with a map 140 of the parking lot, as shown in Fig. 4. In the example shown in Fig. 4, the predetermined parking position is A5.

[0050] In step S20, the CPU notifies the terminal device 130 of the current position information of the vehicle 110. When the terminal device 130 receives the current position information, it displays the current position of the vehicle 110 on the map of the parking lot on the display. Thus, the user can recognize the current position of the vehicle 110 in the parking lot and that the vehicle is moving toward a predetermined parking position.

[0051] In step S30, the CPU determines whether or not the flag Fe is 1, that is, whether or not an abnormality has occurred in the vehicle 110. If the CPU makes a positive determination, the control proceeds to step S120, and if the CPU makes a negative determination, the control proceeds to step S40. The flag Fe is initialized to 0 when the control starts.

[0052] In step S40, the CPU determines whether or not the vehicle 110 has reached a specified parking position. If the CPU determines that the vehicle 110 has reached a specified parking position, the CPU advances control to step S100. If the CPU determines that the vehicle 110 has reached a specified parking position, the CPU advances control to step S50.

[0053] In step S50, the CPU judges whether or not an abnormality that would hinder the normal and safe movement of the vehicle 110 to a predetermined parking position by automatic driving has occurred. When the CPU judges positive, the control proceeds to step S70, and when the CPU judges negative, the control proceeds to step S60. For example, the cross in FIG. 5 indicates that an abnormality has occurred in the vehicle before the vehicle 110 reaches the predetermined parking position A5. The abnormality may include an external abnormality such as an obstacle such as another stopped vehicle that prevents the vehicle 110 from moving on the movement path, or another vehicle parked in the designated parking position, in addition to an abnormality of the vehicle 110 such as an abnormality of a sensor such as the camera sensor 13.

[0054] In step S60, the CPU automatically drives vehicle 110 toward a predetermined parking position so that vehicle 110 moves toward the parking position along the target route, and returns control to step S20.

[0055] In step S70, the CPU sets flag Fe to 1, and notifies the terminal device 130 that an abnormality has occurred that is preventing the vehicle 110 from moving normally and safely to a specified parking position by automatic driving, the location where the abnormality has occurred, and the content of the abnormality. When the terminal device 130 receives information that an abnormality has occurred, the terminal device 130 displays on the display that the abnormality has occurred, the location where the abnormality has occurred, and the content of the abnormality. Thus, the user can recognize that an abnormality has occurred in the vehicle 110, the location where the abnormality has occurred, and the content of the abnormality.

[0056] In step S80, the CPU outputs a command signal to the meter ECU 50 to start blinking the hazard lamps 51 and sounding the buzzer 52.

[0057] In step S90, the CPU outputs a command signal to the brake ECU 40 to start decelerating the vehicle 110 by automatically applying braking force to the wheels, and then returns the control to step S20.

[0058] In step S100, the CPU outputs a command signal to the drive ECU 30 to shift the shift position of the transmission 34 to the P position, and outputs a command signal to the brake ECU 40 to operate the electric parking brake for a predetermined time. In addition, the CPU switches off an ignition switch, not shown in FIG.

[0059] In step S110, the CPU notifies the terminal device 130 that the vehicle 110 has been parked in a predetermined parking position, and ends the control. When the terminal device 130 receives the information that the vehicle 110 has been parked in the predetermined parking position, it displays a message that the vehicle 110 has been parked in the predetermined parking position. This allows the user to recognize that the vehicle 110 has been parked in the predetermined parking position as desired.

[0060] In step S120, the CPU determines whether or not the flag Fs is 1, that is, whether or not the vehicle 110 has stopped due to the occurrence of an abnormality. If the CPU makes a positive determination, the control proceeds to step S170, and if the CPU makes a negative determination, the control proceeds to step S130. The flag Fs is initialized to 0 when the control starts.

[0061] In step S130, the CPU determines whether or not the vehicle 110 has stopped. If the CPU makes an affirmative determination, the control proceeds to step S150, and if the CPU makes a negative determination, the control proceeds to step S140.

[0062] In step S140, the CPU automatically applies braking force to the wheels to decelerate the vehicle 110, and moves the vehicle 110 toward the parking position by automatic driving so that the vehicle 110 moves along the target route. If the abnormality is an external abnormality, no driving force is applied to the drive wheels, and the vehicle 110 does not move.

[0063] In step S150, the CPU sets flag Fs to 1, and notifies terminal device 130 that vehicle 110 has stopped due to an abnormality before reaching a predetermined parking position. When terminal device 130 receives the information that vehicle 110 has stopped due to an abnormality, it displays on the display that the vehicle has stopped due to an abnormality. Thus, the user can recognize that vehicle 110 has stopped due to an abnormality and its location.

[0064] In step S160, the CPU outputs a command signal to the drive ECU 30 to shift the shift position of the transmission 34 to the P position, and outputs a command signal to the brake ECU 40 to operate the electric parking brake for a predetermined time. Furthermore, the CPU switches off an ignition switch, not shown in FIG.

[0065] In step S170, the CPU determines whether a predetermined time or more has elapsed since the determination in step S50 changed from a negative determination to a positive determination. If the CPU makes a positive determination, the control proceeds to step S190, and if the CPU makes a negative determination, the control proceeds to step S180.

[0066] In step S180, the CPU determines whether or not any door has been opened based on the detection result of the door sensor 61. If the CPU makes a negative determination, the CPU returns control to step S20. In contrast, if the CPU makes a positive determination, the CPU may assume that the driver or another person has entered the vehicle 110 to deal with the abnormality, and therefore in step S190, the CPU stops flashing the hazard lamps 51 and sounding the buzzer 52, and ends control.

[0067] <Operation of the embodiment> Next, the operation of the embodiment will be described for the cases where no abnormality occurs and where an abnormality occurs before the vehicle 110 reaches a predetermined parking position.

[0068] <If no abnormality occurs> In steps S30, S40, and S50, a negative determination is made, and in step S60, the vehicle 110 is automatically driven toward the parking position along the target route. When the vehicle 110 reaches the predetermined parking position, a positive determination is made in step S40, and in steps S3100 and S110, the vehicle 110 is parked in the predetermined parking position, and the terminal device 130 is notified that parking has been completed.

[0069] <When an abnormality occurs before the vehicle 110 reaches the designated parking position> If an abnormality occurs in the vehicle, an affirmative determination is made in step S50, and in step S70, the flag Fe is set to 1, and the terminal device 130 is notified that an abnormality has occurred in the vehicle 110. Furthermore, in step S80, the hazard lamps 51 start flashing and the buzzer 52 starts sounding, and in step S90, deceleration of the vehicle 110 starts.

[0070] Thereafter, since the determination in step S30 becomes positive, the vehicle continues to move until the determination in step S130 becomes positive, that is, until the vehicle stops. When the vehicle stops, the determination in step S130 becomes positive, and steps S150 to S190 are executed. Therefore, when it is determined that a predetermined time or more has passed since the occurrence of the abnormality or that any door has been opened, the flashing of the hazard lamps 51 and the sounding of the buzzer 52 end.

[0071] As can be seen from the above description, according to the embodiment, when it is determined that an abnormality occurs during the process until the vehicle 110 reaches a predetermined parking position (step S50), the hazard lamps 51 as warning devices are turned on and the buzzer 52 is activated (step S80). Thus, it is possible to alert the driver that an abnormality has occurred around the vehicle.

[0072] Furthermore, according to the embodiment, when it is determined that a predetermined time has elapsed since it was determined that an abnormality occurred (step S170), the flashing of the hazard lamps 51 and the sounding of the buzzer 52 are stopped (step S190). This makes it possible to prevent the flashing of the hazard lamps 51 and the sounding of the buzzer 52 from continuing for an unnecessarily long period of time.

[0073] According to the embodiment, when it is determined that any door of the vehicle 110 is opened (step S180), the flashing of the hazard lamps 51 and the sounding of the buzzer 52 are stopped (step S190). It is considered that any door of the vehicle is opened because the driver or another person gets into the vehicle to deal with an abnormality. Therefore, it is possible to prevent the flashing of the hazard lamps 51 and the sounding of the buzzer 52 from continuing for an unnecessarily long time.

[0074] Furthermore, according to the embodiment, when it is determined that an abnormality has occurred (step S50), the occurrence of the abnormality is notified to the terminal device 130 by wireless transmission. Therefore, the user can recognize that an abnormality has occurred from the display on the terminal device.

[0075] Furthermore, according to the embodiment, when it is determined that an abnormality has occurred in the vehicle 110 (step S50), the hazard lamps 51 and the buzzer 52 are activated (step S80). Therefore, it is possible to effectively call attention to the occurrence of an abnormality around the vehicle without adding a special alarm device.

[0076] Although the present invention has been described in detail with respect to specific embodiments, the present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various other embodiments are possible within the scope of the present invention.

[0077] For example, in the above embodiment, the movement of the vehicle 110 to the parking position is performed by automatic driving controlled by the vehicle control ECU 10. However, the movement of the vehicle 110 to the parking position may be performed by remote operation, that is, remote driving, by a user operating the terminal device 130.

[0078] In the above embodiment, if an abnormality occurs when the vehicle 110 is moved to a parking position by automatic driving, a warning is issued by flashing the hazard lamps 51 and sounding the buzzer 52. However, the warning may be only one of the flashing of the hazard lamps 51 and sounding of the buzzer 52, or may be a warning other than the flashing of the hazard lamps 51 and sounding of the buzzer 52.

[0079] In the above embodiment, the terminal device 130 receives a signal indicating a map of the parking lot and the usage status of each parking position from the parking lot management server, and displays the map of the parking lot and the usage status of each parking position on the display. The user then designates a desired parking position by touching the display. However, the terminal device 130 may be configured to visually confirm an available parking position and designate the parking position without receiving a signal indicating a map of the parking lot and the usage status of each parking position from the parking lot management server.

[0080] In the above embodiment, the current position Pv of the vehicle is displayed on the display of the terminal device 130 from when the movement of the vehicle 110 due to remote parking starts until the vehicle reaches a predetermined parking position. However, the display of the current position Pv of the vehicle may be omitted.

[0081] Furthermore, in the above embodiment, when it is determined that a predetermined time or more has elapsed since the occurrence of the abnormality, or when it is determined that any door has been opened, the flashing of the hazard lamps 51 and the sounding of the buzzer 52 are terminated. However, the determination of the opening of the doors may be omitted, and the flashing of the hazard lamps 51 and the sounding of the buzzer 52 may be terminated by a stop operation by the driver who has returned to the vehicle 110 or another person who has gotten into the vehicle 110. [Explanation of symbols]

[0082] 10...vehicle control ECU, 20...EPS ECU, 30...drive ECU, 40...brake ECU, 50...meter ECU, 51...hazard lamp, 52...buzzer, 60...body ECU, 70...navigation device, 100...remote parking device, 110...vehicle, 130...terminal device, 140...parking lot map, 142...target route

Claims

1. A remote parking device comprising: a control unit that moves the vehicle to a predetermined parking position by either automatic driving or remote operation in response to a parking command wirelessly transmitted from a terminal device operated by a user when the driver has exited the vehicle, and parks the vehicle in the predetermined parking position; and an alarm device that issues an alarm outside the vehicle when activated, the control unit being configured to activate the alarm device when it determines that an abnormality has occurred that will hinder the vehicle from being moved to the predetermined parking position; The control unit is configured to, when it determines that the abnormality has occurred, start decelerating the vehicle and notify the terminal device of the occurrence of the abnormality via wireless transmission, and when it determines that the vehicle has stopped, notify the terminal device via wireless transmission that the vehicle has stopped and its position.

2. 2. The remote parking device according to claim 1, wherein the control unit is configured to stop operation of the alarm device when it determines that a predetermined time has elapsed since it was determined that the abnormality occurred.

3. 2. The remote parking device according to claim 1, wherein the control unit is configured to stop operation of the alarm device when it determines that any door of the vehicle has been opened.

4. 4. The remote parking device according to claim 1, wherein the warning device is at least one of a hazard lamp and a buzzer.

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