Vehicle control device

Abstract

To prevent a vehicle from starting under a state where a connection member is connected with the vehicle.SOLUTION: A vehicle control device is applied to a vehicle which is configured to replenish electric power or fuel gas from an external facility through a connection member. The vehicle control device performs a remote travel control which makes, according to an instruction from a device outside of a vehicle, a vehicle automatically move to the target position. The vehicle control device prohibits, when the connection member is connected with the vehicle and when an instruction is received from the device outside of the vehicle, execution of the remote travel control.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device that executes remote driving control. [Background technology]

[0002] 2. Description of the Related Art Vehicle control devices that perform remote driving control to automatically drive a vehicle without the driver's operation have been proposed (see, for example, Patent Document 1).

[0003] An example of the remote driving control is a remote parking assist control. For example, a driver operates a portable device while getting out of the vehicle. In response to the driver's operation, the portable device transmits a start instruction signal to the vehicle to instruct the vehicle to start the remote parking assist control. In response to the start instruction signal, the vehicle executes the remote parking assist control. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-111075 A Summary of the Invention

[0005] Incidentally, when the vehicle is a plug-in hybrid vehicle (PHV), the battery mounted on the vehicle may be charged using power from an external power source facility (e.g., a charging station or a household power source). In this case, a connection member (cable) for charging is connected to the vehicle. Conventionally, even when the cable is connected to the vehicle, there was a risk that the driver would operate a portable device to execute remote driving control (i.e., the vehicle would start moving). Note that such a problem may also occur in vehicles other than PHVs (EVs or FCVs, described below).

[0006] An object of the present invention is to provide a vehicle control device that determines whether or not to execute remote driving control depending on the connection status of a connection member (for example, a cable).

[0007] A vehicle control device (100) in one or more embodiments is applied to a vehicle (VA) configured to be able to replenish electricity or fuel gas from an external facility via a connection member (CA). The vehicle control device includes an information acquisition device (60) that acquires vehicle surroundings information related to the surrounding conditions of the vehicle, and an external device (110) that performs a control process based on the vehicle surroundings information in response to an instruction from the external device (110). and determining, as an available exit area, an area that is free of objects around the vehicle and has a size and shape that allows the vehicle to leave the parking lot with ease, determining, as a target area, an area that the body of the vehicle would occupy if the vehicle were to move to the available exit area, setting, as a target position, a position of the vehicle when the movement of the vehicle to the target area is completed, Vehicle The above and a control unit (10) configured to execute remote driving control to automatically move the vehicle to a target position. The control unit prohibits execution of the remote driving control when the control unit receives the instruction in a situation where the connection member is connected to the vehicle. and activating at least one of a headlight, a hazard lamp, and a horn of the vehicle to warn people around the vehicle. It is configured to:

[0008] According to the above configuration, it is possible to prevent the vehicle from starting off with the connecting member connected to the vehicle.

[0010] Furthermore, above According to the above configuration, the connection member is connected to the vehicle. ,car It can notify people in both areas.

[0011] In one or more embodiments, the control unit may be implemented by a microprocessor programmed to perform one or more functions described herein. In one or more embodiments, the control unit may be implemented in whole or in part by hardware, such as one or more application specific integrated circuits, i.e., ASICs. 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 embodiments defined by the names and / or symbols. [Brief description of the drawings]

[0012] [Figure 1]1 is a schematic configuration diagram of a remote parking assistance control system according to an embodiment of the present invention. [Diagram 2] 4 is a flowchart showing a "leaving mode execution routine" executed by the parking assist ECU. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A remote parking assist control system, which is one of the remote driving control systems, will be described below with reference to the drawings. The remote parking assist control system is a system in which a user operates a portable device while getting out of the vehicle, and the vehicle is automatically driven and parked in a predetermined target position (parking space) without the driver operating the vehicle, or the parked vehicle is automatically driven and moved from the parking space to a driving path.

[0014] As shown in FIG. 1, the remote parking assistance control system according to this embodiment includes a vehicle control device 100 mounted on (applied to) a vehicle VA, and a portable device 110.

[0015] In this example, the vehicle VA is a plug-in hybrid vehicle (PHV) that runs using driving force output from at least one of the engine 22, the first motor generator 23, and the second motor generator 24, and is capable of charging power to the battery 26 from an external power source facility.

[0016] (Configuration of vehicle control device) The vehicle control device 100 includes a parking assist ECU 10, a drive ECU 20, a brake ECU 30, a shift-by-wire (SBW) ECU 40, and an electric power steering ECU (hereinafter referred to as an "EPS ECU") 50. These ECUs are connected to each other via a controller area network (CAN) 90 so as to be able to transmit and receive data to and from each other.

[0017] ECU is an abbreviation of Electronic Control Unit, and is an electronic control circuit having as its main components a microcomputer including a CPU, ROM, RAM, interface, non-volatile memory, etc. The CPU realizes various functions described below by executing instructions (routines, programs) stored in the ROM. For example, the parking assistance ECU 10 includes a microcomputer including a CPU 10a, ROM 10b, RAM 10c, interface (I / F) 10d, non-volatile memory 10e, etc.

[0018] The drive ECU 20 is connected to an engine actuator 21. The engine actuator 21 includes a throttle valve actuator that changes the opening degree of a throttle valve of the engine 22. The drive ECU 20 drives the engine actuator 21 to change the torque (power) generated by the engine 22.

[0019] The power output shaft of the engine 22 is connected to a power split mechanism (not shown) which will be described later. The power generated by the engine 22 is input to the power split mechanism.

[0020] Furthermore, the drive ECU 20 is connected to a power control unit 25 (hereinafter referred to as "PCU 25"). The power control unit 25 includes an inverter, a boost converter, a DC / DC converter, etc. The drive ECU 20 can control the operation of the PCU 25 to control the drive of a first motor generator 23 (hereinafter referred to as "first MG 23") and a second motor generator 24 (hereinafter referred to as "second MG 24").

[0021] The rotating shaft of the first MG 23 is connected to a power split mechanism. The first MG 23 is mainly used as a generator. When the first MG 23 is used as a generator, its rotating shaft is rotated by an external force such as the traveling energy of the vehicle VA or the power output by the engine 22 to generate electric power. The generated electric power is charged to the battery 26 via the PCU 25. The first MG 23 is also used as an electric motor. When the first MG 23 is used as an electric motor, the first MG 23 is driven by electric power supplied from the battery 26 via the PCU 25.

[0022] The rotating shaft of the second MG 24 is also connected to the power split mechanism. The second MG 24 is mainly used as an electric motor. When the second MG 24 is used as an electric motor, the second MG 24 is driven by power supplied from the battery 26 via the PCU 25. The second MG 24 is also used as a generator. When the second MG 24 is used as a generator, the rotating shaft of the second MG 24 is rotated by the above-mentioned external force, and the second MG 24 generates electric power. The generated electric power is charged to the battery 26 via the PCU 25.

[0023] The power split mechanism is, for example, a planetary gear mechanism. When the first MG 23 is used as a generator and the second MG 24 is used as an electric motor, the power split mechanism splits the power input from the engine 22 to the power split mechanism at a predetermined ratio and transmits the divided power to the drive wheels as a driving force for running the vehicle VA, and transmits the power to the first MG 23 for driving the first MG 23 as a generator. Furthermore, the power split mechanism transmits the power input from the second MG 24 to the power split mechanism as a driving force to the drive wheels. The power split mechanism itself is known (for example, see JP 2013-177026 A, etc.).

[0024] The battery 26 is configured to supply power to various electrical loads within the vehicle VA. The vehicle VA is equipped with a charging port 80. By connecting a cable CA (connecting member) from an external power supply facility to the charging port 80, power can be replenished to the battery 26. Specifically, the cable CA has a connector (not shown) at its tip and includes a power line therein. By connecting the connector of the cable CA to the charging port 80, the power supply facility and the vehicle VA are electrically connected. This makes it possible to supply power from the power supply facility to the battery 26 via the cable CA.

[0025] A charging switch 81 is provided at the connection portion between the cable CA and the charging port 80. The charging switch 81 is a switch for detecting whether the cable CA is connected to the charging port 80, and is connected to the parking assistance ECU 10. The charging switch 81 outputs an ON signal (high level signal) to the parking assistance ECU 10 when the cable CA is connected to the charging port 80, and outputs an OFF signal (low level signal) to the parking assistance ECU 10 when the cable CA is not connected to the charging port 80.

[0026] Furthermore, a vehicle start switch 28 is connected to the drive ECU 20. The vehicle start switch 28 is a switch that is operated by the driver when the driver starts or ends driving the vehicle VA, and may also be called a "start switch." Every time the vehicle start switch 28 is pressed, the state of the vehicle start switch 28 alternates between an on state and an off state.

[0027] When the vehicle start switch 28 is set to the ON state, the drive ECU 20 operates (or prepares to operate) the engine 22, the first MG 23, and the second MG 24. Furthermore, the drive ECU 20 starts supplying electric power to various electric loads in the vehicle VA.

[0028] On the other hand, when the vehicle start switch 28 is set to the OFF state, the drive ECU 20 stops the operation of the engine 22, the first MG 23, and the second MG 24. Furthermore, the drive ECU 20 stops the supply of power to various electric loads in the vehicle VA.

[0029] The brake ECU 30 is connected to a brake actuator 31. The brake actuator 31 includes a known hydraulic circuit. The hydraulic circuit includes a reservoir, an oil pump, various valve devices, and the like. The brake actuator 31 adjusts the hydraulic pressure (i.e., braking pressure) supplied to the wheel cylinder 32 in response to an instruction from the brake ECU 30. The frictional braking force generated on the wheel changes in response to the braking pressure. Therefore, the brake ECU 30 can control the braking force of the vehicle VA by controlling the brake actuator 31.

[0030] The SBW ECU 40 is connected to an SBW actuator 41. The SBW ECU 40 controls the SBW actuator 41 based on the position of a shift lever (not shown). The SBW actuator 41 controls a shift switching mechanism 42 in response to an instruction from the SBW ECU 40 to switch the shift position of the transmission 27 to one of a plurality of shift positions.

[0031] In this example, the shift positions include at least a parking position in which no driving force is transmitted to the drive wheels and the vehicle VA is mechanically locked in a stopped position, a neutral position in which no driving force is transmitted to the drive wheels and the vehicle VA is not mechanically locked in a stopped position, a forward position in which a driving force is transmitted to the drive wheels to move the vehicle VA forward, and a reverse position in which a driving force is transmitted to the drive wheels to move the vehicle VA backward.

[0032] The EPS·ECU 50 is connected to an assist motor (M) 51. The assist motor 51 is incorporated in a steering mechanism 52. The steering mechanism 52 is a mechanism for steering the wheels by rotating the steering wheel SW. The steering mechanism 52 includes a steering wheel SW, a steering shaft US connected to the steering wheel SW, and a steering gear mechanism (not shown). The EPS·ECU 50 detects the steering torque input to the steering wheel SW by the driver using a steering torque sensor (not shown) provided on the steering shaft US, and drives the assist motor 51 based on this steering torque. The EPS·ECU 50 applies a steering torque (steering assist torque) to the steering mechanism 52 by driving the assist motor 51, thereby assisting the steering operation of the driver.

[0033] In addition, when the EPS·ECU 50 receives a steering command from the parking assist ECU 10 while executing parking assist control described below, the EPS·ECU 50 drives the assist motor 51 based on the steering torque specified by the steering command. This steering torque is different from the above-mentioned steering assist torque and represents a torque applied to the steering mechanism 52 by the steering command from the parking assist ECU 10 without requiring the driver to perform a steering operation. This torque changes the steering angle of the steered wheels of the vehicle VA (i.e., the steering angle).

[0034] The parking assistance ECU 10 is connected to a surrounding sensor 60. The surrounding sensor 60 is configured to acquire vehicle surrounding information related to the surrounding conditions of the vehicle VA. The vehicle surrounding information includes information about objects present around the vehicle VA and information about dividing lines on the road surface around the vehicle VA. The objects include, for example, moving objects such as automobiles, pedestrians, and bicycles, as well as fixed objects such as guardrails and fences. The surrounding sensor 60 may be referred to as an "information acquisition device that acquires vehicle surrounding information." For example, the surrounding sensor 60 includes a plurality of ultrasonic sensors 61 and a plurality of cameras 62.

[0035] The ultrasonic sensor 61 transmits ultrasonic waves in a pulsed manner to a predetermined range around the vehicle VA and receives the reflected waves reflected by an object. The ultrasonic sensor 61 can detect the "position of the reflection point, which is the point on the object where the transmitted ultrasonic wave is reflected," and the "distance between the ultrasonic sensor and the object," based on the time from transmission to reception of the ultrasonic wave.

[0036] The camera 62 is a digital camera incorporating an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The camera 72 acquires image data of the surroundings of the vehicle VA (including the positions and shapes of objects and the positions and shapes of demarcation lines) and outputs the image data to the parking assistance ECU 10.

[0037] The parking assistance ECU 10 receives vehicle surroundings information from the surroundings sensor 60 every time a predetermined time dT elapses. Based on the vehicle surroundings information, the parking assistance ECU 10 detects an "area where no objects exist" that is an area around the vehicle VA. If the area where no objects exist has a size and shape that allows the vehicle VA to leave (or park) with ease, the parking assistance ECU 10 determines the area as an "exit possible area (or parking possible area)".

[0038] Furthermore, the parking assistance ECU 10 is connected to a communication unit 70. The communication unit 70 includes an "antenna unit and a communication processing unit" (not shown). The communication unit 70 is configured to be able to transmit and receive information to and from the portable device 110 through wireless communication. The portable device 110 is a portable terminal operated by a driver (user), and is, for example, a smartphone. The portable device 110 may be another device (for example, a tablet terminal) as long as it is carried by the driver. The portable device 110 includes a CPU, a ROM, a RAM, an interface, and the like.

[0039] An application for remote parking assist control (hereinafter referred to as "parking application") is installed in the mobile device 110. The remote parking assist control is a well-known control that automatically moves the vehicle VA to a target area set according to the surrounding situation of the vehicle VA. When the driver performs a predetermined operation on the parking application, the mobile device 110 transmits a signal (hereinafter referred to as "start instruction signal") instructing the start of the remote parking assist control to the communication unit 70. The start instruction signal includes information on the assistance mode. The assistance mode includes a parking mode and an exit mode. The parking mode is a mode for parking the vehicle VA. The exit mode is a mode for exiting the parked vehicle VA (moving it to a driving path). The parking mode is not directly related to the features of this embodiment, so a description of the parking mode will be omitted hereinafter. Therefore, the remote parking assist control in the exit mode will be described below.

[0040] (Remote parking assistance control in exit mode) When the parking assistance ECU 10 receives a start instruction signal from the portable device 110 via the communication unit 70, the parking assistance ECU 10 acquires information on the assistance mode (leaving mode in this example) contained in the start instruction signal. If the assistance mode is the leaving mode, the parking assistance ECU 10 first changes the state of the vehicle start switch 28 from the off state to the on state.

[0041] Next, the parking assistance ECU 10 determines an area that the body of the vehicle VA will occupy when the vehicle VA moves to the exit area as a "target area." Furthermore, the parking assistance ECU 10 sets the position of the vehicle VA when the movement to the target area is completed (i.e., the exit of the vehicle VA is completed) as a target position. The target position here is the position to which the center position of the vehicle VA should reach in a plan view.

[0042] The parking assistance ECU 10 calculates a movement path MP along which the vehicle VA moves from the current position to the target position. The movement path MP is a path along which the vehicle VA can move from the current position to the target position while keeping a predetermined distance or more between the body of the vehicle VA and objects (other vehicles, curbs, guardrails, etc.). The parking assistance ECU 10 calculates the movement path MP according to one of various known calculation methods (for example, the method proposed in JP 2015-3565 A).

[0043] Next, the parking assist ECU 10 determines movement assistance information for moving the vehicle VA along the movement path MP. The movement assistance information includes the movement direction of the vehicle VA (specifically, the shift position of the transmission 27), the steering angle pattern, and the speed pattern.

[0044] The parking assist ECU 10 transmits a shift control command to the SBW·ECU 40 via the CAN 90 in accordance with the determined shift position. When the SBW·ECU 40 receives a shift control command from the parking assist ECU 10, it drives the SBW actuator 41 to change the shift position of the transmission 27 to a position specified by the shift control command (i.e., executes shift control).

[0045] The steering angle pattern is data that associates the position of the vehicle VA on the travel path MP with the steering angle of the steering wheels, and represents the change in steering angle when the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a steering command (including a target steering angle) to the EPS·ECU 50 via the CAN 90 in accordance with the steering angle pattern. When the EPS·ECU 50 receives a steering command from the parking assist ECU 10, it drives the assist motor 51 based on the steering torque specified by the steering command to make the actual steering angle coincide with the target steering angle (i.e., it executes steering angle control).

[0046] The speed pattern is data that associates the position of the vehicle VA on the travel path MP with the target speed of the vehicle VA, and represents the change in the speed of the vehicle VA when the vehicle VA travels along the travel path MP. The parking assist ECU 10 transmits a driving force control command to the drive ECU 20 via the CAN 90 in accordance with the speed pattern. When the drive ECU 20 receives a driving force control command from the parking assist ECU 10, the drive ECU 20 controls the engine actuator 21, the PCU 25, etc. in accordance with the driving force control command to control the driving force (i.e., executes driving force control). Furthermore, the parking assist ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 in accordance with the speed pattern. When the brake ECU 30 receives a braking force control command from the parking assist ECU 10, the brake ECU 30 controls the brake actuator 31 in accordance with the braking force control command (i.e., executes braking force control).

[0047] As described above, the parking assist ECU 10 is configured to be able to execute remote parking assist control for moving the vehicle VA from the current position to a target position when the driver has got out of the vehicle VA.

[0048] (Overview of operation) As described above, even if the cable CA is connected to the charging port 80 of the vehicle VA, there is a risk that the driver will operate the portable device 110 to start the remote parking assist control. Therefore, when the parking assist ECU 10 receives a start instruction signal from the portable device 110, the parking assist ECU 10 determines whether or not the cable CA is connected to the charging port 80 of the vehicle VA. The parking assist ECU 10 can determine whether or not the cable CA is connected to the charging port 80 based on a signal from the charging switch 81. If the cable CA is connected to the charging port 80, the parking assist ECU 10 prohibits the execution of the remote parking assist control. This configuration can prevent the vehicle VA from starting with the cable CA connected to the charging port 80.

[0049] When the parking assist ECU 10 prohibits the execution of the remote parking assist control, the parking assist ECU 10 executes a warning control. Specifically, the parking assist ECU 10 transmits a warning command to the portable device 110. When the portable device 110 receives the warning command, the portable device 110 displays on the parking application that the cable CA is connected to the charging port 80. With this configuration, it is possible to inform the user (driver) who operates the portable device 110 that the cable CA is connected to the charging port 80. This makes it possible to prompt the user to remove the cable CA from the charging port 80.

[0050] (Specific operation) Next, a description will be given of the operation of the CPU 10a (simply referred to as "CPU") of the parking assist ECU 10. The CPU executes a "leaving mode execution routine" shown in the flowchart of FIG. 2 every time a predetermined time dT has elapsed.

[0051] The CPU acquires vehicle surroundings information from the surroundings sensor 60 by executing a routine (not shown) every time a predetermined time dT elapses.

[0052] At a predetermined timing, the CPU starts the process from step 200 in FIG. 2 and proceeds to step 201 to determine whether the value of the execution flag XA is "0". When the value of the execution flag XA is "0", this indicates that the remote parking assist control is not being executed. When the value of the execution flag XA is "1", this indicates that the remote parking assist control is being executed. The value of the execution flag XA is set to "0" when the state of the vehicle start switch 28 is changed from the on state to the off state after the vehicle VA is parked.

[0053] Now, it is assumed that the vehicle VA is parked and the value of the execution flag XA is "0." The CPU judges "Yes" in step 201 and proceeds to step 202 to judge whether or not a start instruction signal has been received from the portable device 110. If a start instruction signal has not been received, the CPU judges "No" in step 202 and proceeds directly to step 295 to temporarily end this routine.

[0054] Now, assuming that a start instruction signal has been received, the CPU determines "Yes" in step 202 and proceeds to step 203, where it determines whether or not cable CA is connected to charging port 80 based on a signal from charging switch 81. Now, assume that cable CA is connected to charging port 80. In this case, the CPU determines "Yes" in step 203 and proceeds to step 210, where it executes warning control as described above. Thereafter, the CPU proceeds to step 295, where it temporarily ends this routine. In this way, when cable CA is connected to charging port 80, execution of remote parking assistance control is prohibited, and warning control is executed for the user of portable device 110.

[0055] Assume that the user of portable device 110 removes cable CA from charging port 80 in response to the above warning control. In this case, when the CPU again proceeds to step 203 of the routine in FIG. 2, the CPU determines "No" and proceeds to step 204 to determine whether a predetermined execution condition is met. The execution condition is met when both the following condition A1 and condition A2 are met. The following condition A1 and condition A2 are examples, and the execution condition may further include other conditions. (Condition A1) The position of the shift lever is the parking position (P). (Condition A2) The CPU detects an exit possible area in which the vehicle VA can move, based on the vehicle surroundings information.

[0056] If the execution condition is not satisfied, the CPU determines "No" in step 204, proceeds directly to step 295, and ends this routine for the time being. In this case, the CPU may transmit a display command to the mobile device 110. Upon receiving the display command, the mobile device 110 displays on the parking application that the remote parking assist control cannot be executed.

[0057] On the other hand, if the execution condition is met, the CPU judges "Yes" in step 204 and sequentially performs the processes of steps 205 to 209 described below. After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0058] Step 205: The CPU changes the state of the vehicle start switch 28 to the on state. Step 206: The CPU sets the value of the execution flag XA to “1”. Step 207: The CPU determines an area that the vehicle body of the vehicle VA will occupy when the vehicle VA is moved relative to the possible exit area as a target area. The CPU sets a target position within the target area. The CPU then calculates a moving path MP for moving the vehicle VA from the current position to the target position.

[0059] Step 208: The CPU determines travel assistance information (specifically, the shift position, steering angle pattern, and speed pattern of the transmission 27) for moving the vehicle VA along the travel route MP. Step 209: The CPU executes remote parking assist control in the leaving mode. Specifically, the CPU executes shift control by sending a shift control command to the SBW·ECU 40 according to the determined shift position. The CPU executes steering angle control by sending a steering command to the EPS·ECU 50 according to the steering angle pattern. The CPU executes driving force control by sending a driving force control command to the drive ECU 20 according to the speed pattern. Furthermore, the CPU executes braking force control by sending a braking force control command to the brake ECU 30 according to the speed pattern.

[0060] After the CPU starts the remote parking assist control, it starts the routine of FIG. 2 again. When the CPU proceeds to step 201, the CPU judges "No" and proceeds to step 211. Then, the CPU judges whether or not a predetermined end condition is satisfied. The end condition is satisfied when the vehicle VA reaches the target position. If the end condition is not satisfied, the CPU judges "No" in step 211 and executes the processing of step 209 as described above. That is, the CPU continues the remote parking assist control. After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0061] On the other hand, if the end condition is met when the CPU proceeds to step 211, the CPU determines "Yes" in step 211 and sequentially performs the processes of steps 212 and 213 described below. After that, the CPU proceeds to step 295 and temporarily ends this routine.

[0062] Step 212: The CPU executes a predetermined end process. Specifically, the CPU stops the vehicle VA at the target position by braking force control. Furthermore, the CPU transmits a display command to the mobile device 110. Upon receiving the display command, the mobile device 110 displays on the parking application that the remote parking assist control has ended. Step 213: The CPU sets the value of the execution flag XA to “0”.

[0063] According to the above configuration, when the vehicle control device 100 receives a start instruction signal from the mobile device 110 in a situation where the cable CA is connected to the charging port 80, the vehicle control device 100 prohibits execution of remote parking assistance control. This configuration can prevent the vehicle VA from starting with the cable CA connected to the charging port 80. This can ensure safety.

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

[0065] (Variation 1) In step 203, the CPU may determine whether or not the cable CA is connected to the charging port 80 based on information other than the signal from the charging switch 81. The CPU does not need to directly detect that the cable CA is connected to the charging port 80, and may determine (estimate) the connection state of the cable CA by appropriately using information related thereto. For example, the CPU may determine (estimate) whether or not the cable CA is connected to the charging port 80 based on a signal from a sensor that detects the open / closed state of a charging lid (not shown) that covers the charging port 80.

[0066] (Variation 2) The warning control is not limited to the above example. The warning control may further include a warning to people around the vehicle VA. For example, the parking assist ECU 10 may activate at least one of a headlight, a hazard lamp, a horn, etc. to warn people around the vehicle VA.

[0067] (Variation 3) The present invention may be applied to a remote driving control other than the remote parking assistance control. For example, the present invention may be applied to a valet parking control. The "valet parking control" is a control in which a vehicle is automatically driven in a parking lot and the vehicle is automatically parked in an empty space, or a parked vehicle is automatically driven and moved from the parking space to a driving path. In a system that executes the valet parking control, at least a part of an information acquisition device that acquires vehicle surrounding information and / or at least a part of a control unit that executes the valet parking control may be provided outside the vehicle (e.g., a management server). For example, the management server may store map information of the parking lot. The management server may calculate a movement route based on the map information of the parking lot and transmit the movement route to the vehicle. In this configuration, the management server may transmit a start instruction signal to the vehicle that instructs the start of the valet parking control. Furthermore, the management server may receive information from the vehicle as to whether a connection member (cable) for charging is connected to the vehicle, and prohibit the execution of the valet parking control.

[0068] (Variation 4) The present invention may be applied to vehicles other than PHVs. The present invention is also applicable to electric vehicles (EVs) that do not have an engine and have only an electric motor as a driving force source. Similarly, in the case of an EV, if the vehicle control device receives a start instruction signal from the mobile device while the charging cable is connected to the charging port, the vehicle control device prohibits the execution of remote parking assistance control.

[0069] Furthermore, the present invention is also applicable to a fuel cell vehicle (FCV) that is a vehicle equipped with an electric motor as a driving force source, and uses electricity generated by a fuel cell to drive the electric motor. In the case of an FCV, a hose (connecting member) for refilling fuel gas (e.g., hydrogen) is connected to the vehicle at a fuel gas (hydrogen station) facility. When the vehicle control device receives a start instruction signal from the portable device in a situation where the hose is connected to the vehicle, the vehicle control device prohibits the execution of remote parking assistance control. Note that the fuel gas is not limited to hydrogen. As an FCV, a mode in which a fuel other than hydrogen is refilled into the vehicle and hydrogen is produced within the vehicle may be adopted. [Explanation of symbols]

[0070] 10... parking assist ECU, 20... engine ECU, 30... brake ECU, 40... SBW·ECU, 50... EPS·ECU, 60... surroundings sensor, 80... communication unit, 100... vehicle control device, 110... portable device.

Claims

[Claim 1] A vehicle control device applied to a vehicle configured to be able to replenish electricity or fuel gas from an external facility via a connection member, An information acquisition device that acquires vehicle surrounding information relating to a surrounding situation of the vehicle; a control unit configured to execute remote driving control in response to an instruction from a device outside the vehicle, to determine, based on the vehicle surroundings information, as a possible exit area, an area where no objects exist around the vehicle and which has a size and shape that allows the vehicle to leave with ease, to determine, as a target area, an area that the body of the vehicle would occupy if the vehicle were to move to the possible exit area, to set, as a target position, the position of the vehicle when the movement of the vehicle to the target area is completed, and to automatically move the vehicle to the target position; Equipped with the control unit is configured to prohibit execution of the remote driving control and activate at least one of a headlight, a hazard lamp, and a horn of the vehicle when the control unit receives the instruction in a situation where the connection member is connected to the vehicle, to execute a warning to people present around the vehicle; Vehicle control device.

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