Remote Parking Device

Abstract

To provide a remote parking device which is improved to prevent an ignition switch from staying in on-state even though a remote parking application is compulsively ended during remote parking.SOLUTION: A remote parking device comprises: a terminal device in which a remote parking application is installed and then which is operated by a user; and a vehicle control ECU which responds to a command sent from the terminal device through wireless communication by using the remote parking application and then moves a vehicle to a target parking position to park it. The vehicle control ECU switches the ignition switch of the vehicle to an off state (S120), when it is determined that the remote parking application is compulsively ended (S110) after determining the vehicle is moved to the target parking position (S70).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] As a remote control device for a vehicle such as an automobile, a remote control device is known in which a user remotely controls the operation of the vehicle using a mobile terminal device, such as a remote parking device. For example, the following Patent Document 1 describes a remote control device that allows the user to remotely control the operation of the vehicle using a mobile terminal device, and is configured to stop the remote operation when communication between the mobile terminal device and the vehicle's communication device is interrupted. This type of remote control device can prevent inappropriate remote operation from being performed when communication between the mobile terminal device and the vehicle's communication device is interrupted. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 022075 Summary of the Invention

[0004] [Problem to be solved by the invention] As one type of remote control device, a remote parking device is known in which a vehicle is automatically driven to a target parking position in response to a command transmitted by wireless communication from a terminal device using a remote parking application installed on the terminal device. In the remote parking device, when the vehicle reaches the target parking position, the terminal device is notified of this by wireless communication, and when the user of the terminal device confirms the notification, a signal indicating that the notification has been confirmed is transmitted from the terminal device to a transceiver device of the vehicle by wireless communication. When the vehicle control device receives the signal indicating that the notification has been confirmed, it switches off the ignition switch.

[0005] However, when the terminal device is notified by wireless communication that the vehicle has reached the target parking position, the user may determine that remote parking is complete and force-terminate the remote parking application without checking the notification. If the remote parking application is forced to terminate, the normal termination process for remote parking is not performed, resulting in a problem that the ignition switch is not turned off and remains on.

[0006] A primary object of the present invention is to provide an improved remote parking device that prevents the ignition switch from remaining on even if the remote parking application is forcibly terminated during remote parking.

[0007] [Means for solving the problems and effects of the invention] According to the present invention, there is provided a remote parking device (100) including a terminal device (130) on which a remote parking application is installed and which is operated by a user, and a control unit (vehicle control ECU 10) that moves a vehicle (110) to a target parking position and parks the vehicle in response to a command transmitted by wireless communication from the terminal device using the remote parking application.

[0008] The control unit After determining that the vehicle has been moved to the target parking position, When it is determined that the remote parking application has been forcibly terminated (S110), the vehicle ignition switch is turned off (S120).

[0009] According to the above configuration, when it is determined that the remote parking application is forcibly terminated, the ignition switch of the vehicle is switched off. Therefore, even if the normal termination process of the remote parking is not performed and the remote parking application is forcibly terminated, it is possible to prevent the ignition switch from remaining on.

[0011] In particular, the above configurationAccording to the method, when it is determined that the vehicle has been moved to the target parking position and then it is determined that the remote parking application has been forcibly terminated, the ignition switch is switched off. Therefore, even if it is determined that the remote parking application has been forcibly terminated, if the vehicle has not been moved to the target parking position, it is possible to avoid switching the ignition switch off. Therefore, for example, when a user is a driver and wants to stop remote parking and resume driving, there is no need to switch the ignition switch from off to on, so that the resumption of driving can be performed efficiently.

[0012] [Mode of the invention] The present invention One of In this embodiment, the control unit (vehicle control ECU 10) is configured to determine that the remote parking application has been forcibly terminated (S110) when wireless communication with the terminal device is suddenly impossible in a situation where normal wireless communication with the terminal device is possible.

[0013] According to the above aspect, when wireless communication with the terminal device is suddenly lost in a state where wireless communication with the terminal device is normally possible, it is determined that the remote parking application has been forcibly terminated. Therefore, it is possible to determine that the remote parking application has been forcibly terminated by distinguishing between a state where the distance between the terminal device and the vehicle gradually increases and a state where the remaining charge of the battery of the terminal device gradually decreases.

[0014] 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]

[0015] [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. 13 is a diagram showing an example of a left overhead image displayed on the display when the vehicle is remotely parked at a target parking position in a double parking area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] 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.

[0017] <Configuration> A remote parking device 100 according to the embodiment is applied to a vehicle 110. As shown in Fig. 1, the vehicle 110 includes a vehicle control ECU 10, a drive ECU 20, a braking ECU 30, an electric power steering ECU 40, and a meter ECU 50. Furthermore, although not shown in Fig. 1, the vehicle 110 includes a navigation device. The electric power steering ECU is referred to as an EPS·ECU (Electric Power Steering ECU).

[0018] 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.

[0019] 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 driving operation. A transceiver 12 that wirelessly communicates with a terminal device 130, a camera sensor 14, a laser sensor 16, and a setting operation device 18 are connected to the vehicle control ECU 10. The terminal device 130 may be, for example, a smartphone that wirelessly communicates with the transceiver 12 via Bluetooth (registered trademark).

[0020] The camera sensor 14 includes four camera units that capture images of the front, rear, left side, and right side of the vehicle 110, and a recognition unit that analyzes image data captured by the camera units to recognize white lines on roads and parking lots. The camera units of the camera sensor 14 capture images of the scenery around the vehicle. The recognition unit of the camera sensor 14 supplies information such as 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. Note that a LiDAR (Light Detection And Ranging) may be used instead of the camera sensor 14.

[0021] The laser sensor 16 includes 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.

[0022] The setting operator 18 is an operator equipped with a plurality of switches for setting whether or not to perform automatic driving and remote parking. The setting operator 18 includes a remote parking switch not shown in Fig. 1, and when the remote parking switch is on, the vehicle control ECU 10 cooperates with the terminal device 130 to perform remote parking as described below. Furthermore, the setting operator 18 includes an ignition switch.

[0023] A drive device 22 that accelerates the vehicle 102 by applying a drive force to drive wheels not shown in Fig. 1 is connected to the drive ECU 20. The drive ECU 20 normally controls the drive device so that the drive force generated by the drive device 22 changes according to the driving operation by the driver, and when a command signal is received from the driving assistance ECU 10, the drive ECU 20 controls the drive device 22 based on the command signal.

[0024] The drive device 22 may be a combination of an internal combustion engine and a transmission. 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 drive source, or a so-called electric vehicle (EV) equipped with only a motor as a drive 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 drive 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.

[0025] A braking device 32 that applies braking force to wheels (not shown in Fig. 1) to decelerate the vehicle 102 is connected to the braking ECU 30. The braking ECU 30 normally controls the braking device so that the braking force generated by the braking device 32 varies according to the braking operation by the driver, and when it receives a command signal from the driving assistance ECU 10, it controls the braking device 32 based on the command signal to perform automatic braking. When braking force is applied to the wheels, brake lights (not shown in Fig. 1) are turned on.

[0026] 1, the braking device 32 includes an electric parking brake device, which is abbreviated as EPB (Electric Parking Brake). When the EPB device is operated under the control of the brake ECU 30, a braking force sufficient to keep the vehicle 110 stopped is applied to the wheels.

[0027] An EPS device 42 is connected to the EPS-ECU 40. The EPS-ECU 40 controls the EPS device 42 in a manner known in the art based on the steering torque Ts and vehicle speed V detected by a driving operation sensor 60 and a vehicle state sensor 70 described below, thereby controlling the steering assist torque and reducing the steering burden on the driver. The EPS-ECU 40 also controls the EPS device 42 to steer the steered wheels as necessary. Thus, the EPS-ECU 40 and the EPS device 42 function as a steering device that automatically steers the steered wheels as necessary.

[0028] The vehicle control ECU 10 controls the braking / driving force of the vehicle 110 by outputting a command signal to the drive ECU 20 and the brake ECU 30, and automatically steers the steered wheels by outputting a command signal to the EPS ECU 40, thereby enabling automatic driving. In particular, as will be described in detail later, during remote parking, the vehicle control ECU 10 moves the vehicle by automatic driving so that the vehicle 110 moves to a target parking position along a target route for remote parking.

[0029] A display 52 that displays the status of control by the driving assistance ECU 10 is connected to the meter ECU 50. The display 52 may be, for example, a head-up display or a multi-information display that displays meters and various information, or may be a display of a navigation device.

[0030] Various vehicle state sensors 60 that detect the state of the vehicle 110 and various driving operation state sensors 70 that detect the driving operation state are connected to the CAN 120. The vehicle state sensors 60 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.

[0031] The driving operation state sensor 70 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.

[0032] Information detected by the vehicle state sensor 60 and the driving operation state sensor 70 (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.

[0033] 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 give necessary instructions regarding parking. 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 via the transceiver 12 and transmits them to the terminal ECU.

[0034] The terminal ECU has a microcomputer as its main component, and the microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, etc. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. A remote parking application is installed in the ROM to perform remote parking control (described later) in cooperation with the vehicle control ECU 100.

[0035] The remote parking application is abbreviated as "remote parking app." 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 remote valet parking at a hotel, the user may be the hotel's parking attendant, and the terminal device 130 may be the hotel's terminal device capable of wireless communication with the vehicle control ECU 100.

[0036] When the remote parking switch of the setting operator 18 is on and the remote parking application of the terminal device 130 is activated, the vehicle control ECU 10 and the terminal device 130 exchange information with each other via the transceiver 12 and the terminal wireless transceiver.

[0037] In the embodiment, when the vehicle 110 stops and the remote parking switch is turned on, the vehicle control ECU 10 forms an overhead image of the surroundings of the vehicle 110 based on image data captured by the four camera units of the camera sensor 14, and displays the overhead image on the display 52 of the vehicle. When the driver selects and determines a target parking position from among the parking positions in the overhead image displayed on the display 52, the vehicle control ECU 10 sets a target route from the current position of the vehicle to the target parking position. The vehicle control ECU 10 cooperates with other ECUs to move the vehicle 110 along the target route to the target parking position by automatic driving. When the vehicle 110 reaches the target parking position, the vehicle control ECU 10 outputs a command signal to the brake ECU 40 to operate the electric parking brake and shift the shift position of the transmission to the P range.

[0038] Furthermore, the vehicle control ECU 10 transmits a signal indicating that the vehicle 110 has reached the target parking position to the terminal device 130, and the terminal ECU of the terminal device 130 displays on its display a message indicating that the vehicle 110 has reached the target parking position and a "Confirm" icon. When the user touches the confirm icon, the terminal ECU transmits a signal indicating this to the vehicle control ECU 10. When the vehicle control ECU 10 receives a signal indicating that the user has touched the "Confirm" icon, it releases the electric parking brake and turns off the ignition switch.

[0039] When the remote parking switch is turned on, the CPU of the vehicle control ECU 100 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 got off the vehicle 110, the vehicle control ECU 100 moves the vehicle by automatic driving to a specified target parking position and parks the vehicle.

[0040] <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 is simply referred to as "control".

[0041] First, in step S10, the CPU displays an overhead image of the surroundings of the vehicle 110 on the display 52. ​​In this case, the CPU switches and displays the front overhead image, rear overhead image, left overhead image, right overhead image, and all-around overhead image in this order in response to the driver's touch of a next candidate icon.

[0042] In step S20, the CPU judges whether or not the driver has determined a desired parking position (target parking position) by touching a possible parking position (parking space) displayed on the display 52. ​​If the CPU judges negative, the control returns to step S10, and if the CPU judges positive, the control proceeds to step S30. After the driver has determined a desired parking position, the driver gets off the vehicle 110, and thereafter may operate the terminal device 130 as a user to give necessary instructions regarding remote parking.

[0043] In step S30, the CPU sets a target route from the current position of the vehicle 110 to the target parking position, and displays the target route on the display 52. ​​The fact that the target route has been set is notified to the terminal device 130, and a "move" icon is displayed on the display of the terminal device 130.

[0044] In step S40, the CPU determines whether or not a signal permitting the vehicle 110 to move by autonomous driving has been received from the terminal device 130. If the CPU determines negative, the control proceeds to step S60, and if the CPU determines positive, the control proceeds to step S50. In this case, when the user touches the "movement" icon displayed on the display of the terminal device 130, a signal indicating this is transmitted from the terminal device 130 to the vehicle control ECU 10 by wireless communication, and when the signal is received, it is determined that a signal permitting the vehicle 110 to move by autonomous driving has been received.

[0045] In step S50, the CPU cooperates with other ECUs to move the vehicle 110 by automatic driving along the target route toward the target parking position. In contrast, in step S60, the CPU maintains the vehicle in a stopped state when the vehicle 110 is not moving, and stops the vehicle 110 by canceling the automatic driving when the vehicle 110 is moving. When the CPU completes step S60, it returns control to step S40.

[0046] In step S70, the CPU determines whether or not the vehicle 110 has reached the target parking position based on the detection results of the camera sensor 14 and the laser sensor 16. If the CPU determines that the vehicle 110 has reached the target parking position, the CPU returns control to step S40, and if the CPU determines that the vehicle 110 has reached the target parking position, the CPU advances control to step S80.

[0047] In step S80, the CPU notifies the user that the vehicle 110 has reached the target parking position. That is, a signal indicating that the vehicle 110 has reached the target parking position is transmitted to the terminal device 130 by wireless communication. The CPU of the terminal device 130 displays on the display that the vehicle 110 has reached the target parking position.

[0048] In step S90, the CPU operates the door lock by outputting a command signal to the body ECU, not shown in Fig. 1. The CPU also operates the EPB device by outputting a command signal to the braking ECU 40. Furthermore, although not shown in Fig. 2, the CPU outputs a command signal to the drive ECU 30 to switch the shift range of the transmission of the drive device 22 to the P range for a steer-by-wire system. Furthermore, the CPU transmits a signal indicating that the parking process has been completed to the terminal device 130 via wireless communication. The CPU of the terminal device 130 displays on the display that the parking process has been completed and a "Confirm" icon.

[0049] In step S100, the CPU determines whether or not the user has confirmed that the parking process is complete by touching the "Confirm" icon. If the CPU determines that the parking process is complete, the CPU advances control to step S120, and if the CPU determines that the parking process is complete, the CPU advances control to step S110.

[0050] In step S110, the CPU judges whether the remote parking application has been forcibly terminated. If the CPU judges negative, the control returns to step S100, and if the CPU judges positive, the control proceeds to step S120. In this step, it may be judged that the remote parking application has been forcibly terminated when the transceiver 12 is suddenly unable to wirelessly communicate with the terminal device 130 in a situation where the transceiver 12 can wirelessly communicate with the terminal device 130 normally.

[0051] Although not shown in FIG. 2, even if a negative judgment is made in step S110, control may proceed to step S120 when a time equal to or longer than a preset reference time has elapsed from the time when vehicle 110 started to move toward the target parking position.

[0052] In step S120, the CPU outputs a command signal to the braking ECU 40 to deactivate the EPB device and turn off an ignition switch (not shown in FIG. 1).

[0053] <Operation of the embodiment> Next, the operation of the embodiment will be described with reference to FIG. 3 for the case where the vehicle 110 is remotely parked at a target parking position in a double parking area.

[0054] 3 shows a left side overhead image 140 displayed on the display 52, in which 142 indicates a parking space, and 142A and 142B indicate available parking spaces (S10). It is assumed that the driver touches the portion 142B to determine the parking space 142B as the desired parking position (target parking position) (S20).

[0055] 3, vehicle 110n indicates the current position of vehicle 110, and Pn indicates a reference position such as the center of gravity of vehicle 110. When the target parking position is determined, a target route 144 from the current position of vehicle 110 to target parking position 142B is set as a target trajectory of reference position Pn, and the target route 144 is displayed on display 52.

[0056] When the terminal device 130 is notified that the target route has been set, a "move" icon is displayed on the display of the terminal device 130. If the user determines that the vehicle 110 may begin moving normally toward the target parking position 142B, the user starts touching the "move" icon (S40). If the user determines that the vehicle 110 is moving normally toward the target parking position 142B, the user continues touching the "move" icon (S40), and the movement of the vehicle 110 toward the target parking position 142B continues (S50).

[0057] In addition, if the user determines that it is necessary to stop the movement of vehicle 110, such as when the user discovers an obstacle or the like on the planned route of vehicle 110, the user can stop the movement of vehicle 110 by stopping touching the "move" icon (S60).

[0058] When the vehicle 110 reaches the target parking position 142B (S70), a signal indicating that the vehicle 110 has reached the target parking position is transmitted to the terminal device 130 (S80), and the terminal device 130 displays on a display that the vehicle 110 has reached the target parking position. When the vehicle 110 reaches the target parking position 142B, the door lock and EPB device are activated, and the shift range of the transmission is switched to the P range (S90). Furthermore, a signal indicating that the parking process is complete is transmitted to the terminal device 130, and the display of the terminal device 130 displays that the parking process is complete and a "Confirm" icon.

[0059] When the user touches the "Confirm" icon to confirm that the parking process is complete (S100), the EPB device is deactivated and the ignition switch is turned off (S120).

[0060] Furthermore, even if the user force-quits the remote parking app without touching the "Confirm" icon (S110), the EPB device is deactivated and the ignition switch is turned off (S120). Therefore, even if the user force-quits the remote parking app without touching the "Confirm" icon, it is possible to prevent the ignition switch from remaining on.

[0061] As described above, even if the user does not touch the "Confirm" icon and does not force-terminate the remote parking app (S100, S110), step S120 may be executed when a time equal to or longer than a preset reference time has elapsed since the movement of the vehicle 110 started. In this case, too, it is possible to prevent the ignition switch from remaining on.

[0062] As can be seen from the above description, according to the embodiment, when it is determined that the remote parking app has been forcibly terminated (step S110), the ignition switch of the vehicle is switched off (step S120). This prevents the ignition switch from remaining on without performing a normal termination process for remote parking.

[0063] According to the embodiment, after it is determined that the vehicle has been moved to the target parking position (step S70), when it is determined that the remote parking app has been forcibly terminated (step S110), the ignition switch is switched off (step S120). Therefore, even if it is determined that the remote parking app has been forcibly terminated, if the vehicle has not been moved to the target parking position, it is possible to avoid switching the ignition switch off.

[0064] For example, if the user is a driver and the vehicle is moving toward a target parking position and the user wants to stop remote parking and resume driving, the user may force-terminate the remote parking app without canceling the remote parking. In this case, the ignition switch cannot be turned off, so driving can be resumed more efficiently than when the ignition switch is turned off.

[0065] Furthermore, according to the embodiment, when normal wireless communication with the terminal device is possible, it is determined that the remote parking application has been forcibly terminated when wireless communication with the terminal device is suddenly disabled (step S110). Therefore, it is possible to determine that the remote parking application has been forcibly terminated by distinguishing between a situation in which the distance between the terminal device 130 and the vehicle 110 gradually increases and a situation in which the remaining charge of the battery of the terminal device gradually decreases.

[0066] 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.

[0067] For example, in the above embodiment, when the remote parking switch is turned on, an overhead image is displayed on the display 52 of the vehicle 110, and the driver selects and determines a target parking position from among the parking positions in the overhead image displayed on the display 52. ​​However, when the remote parking switch is turned on, parking positions that are close to the current position of the vehicle 110 and that are stored in a non-volatile storage device are displayed on the display 52, and the driver may select and determine a target parking position from among the displayed parking positions (stored parking position selection mode). In this mode, when the vehicle is parked at a parking position where the driver has not parked before, the display 52 displays whether or not to register the parking position, and when the driver indicates his / her intention to register, the parking position may be stored in the non-volatile storage device and registered.

[0068] In the case of remote valet parking at a hotel or the like, after the driver turns on the remote parking switch and gets off the vehicle, a remote parking start icon is displayed on the display of the terminal device 130. When the remote parking start icon is touched by the user, a map of parking lots close to the vehicle 110 and the current position of the vehicle 110 are displayed on the display of the terminal device 130, and the desired parking space (target parking position) is determined by touching it (valet parking mode).

[0069] In addition, in the case of the valet parking mode, a target route from the current position to the target parking position is displayed on a map of the parking lot on the display of the terminal device 130. Furthermore, when the vehicle 110 is moving by autonomous driving, the moving route of the vehicle 110 and a "moving" icon may be displayed on the map.

[0070] In the above embodiment, when it is not determined in step S100 that the parking process is completed, it is determined in step S110 whether the remote parking app has been forcibly terminated. However, step S110 may be omitted, and the determination of whether the remote parking app has been forcibly terminated may be performed at predetermined time intervals by interrupting the remote parking control routine according to the flowchart shown in Fig. 2, and when a positive determination is made and it is determined that the vehicle has reached the target parking position, the same process as step S120 may be performed.

[0071] Furthermore, in the above embodiment, the target parking position is a target parking space, but it may be a parking area that is not defined by white lines or the like. [Explanation of symbols]

[0072] 10...vehicle control ECU, 20...EPS ECU, 30...drive ECU, 40...braking ECU, 50...meter ECU, 60...driving operation sensor, 70...vehicle state sensor, 100...remote parking device, 110...vehicle, 130...terminal device, 140...left side overhead image, 142...target parking position, 144...target route

Claims

1. A remote parking device including a terminal device on which a remote parking application is installed and which is operated by a user, and a control unit that moves the vehicle to a target parking position and parks the vehicle in response to a command transmitted by wireless communication from the terminal device using the remote parking application, The remote parking device is configured to switch off an ignition switch of the vehicle when the control unit determines that the remote parking application has been forcibly terminated after determining that the vehicle has been moved to the target parking position.

2. In the remote parking device described in claim 1, the control unit is configured to determine that the remote parking application has been forcibly terminated when wireless communication with the terminal device is suddenly impossible while normal wireless communication with the terminal device is possible.

Images