Control device, control method, and control program

Abstract

To provide a control device that can properly cancel stop of a notification, when controlling movement of a moving body, even when stopping the notification of a detected obstacle.SOLUTION: The control device is provided with: a movement control unit 55 that performs movement control to cause a vehicle 10 to move to a target movement position; an obstacle detection unit 56 that detects an obstacle existing around the vehicle 10; and a notification control unit 57 that notifies a user in the vehicle 10 when the obstacle is detected. The movement control is control of causing the vehicle 10 to move at a first speed or slower. The notification control unit 57 is configured to: stop the notification in response to notification-stop input from the user in the vehicle 10; cancel the stop of the notification when the movement speed of the vehicle 10 is a second speed or higher; cancel the stop of the notification when a distance between the vehicle 10 and the obstacle satisfies a predetermined condition, during execution of the movement control; and keep stopping the notification unless the distance satisfies the predetermined condition.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a control program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable transport participants have become more active. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] It has been known in the past to use a parking sensor to detect an obstacle when a vehicle is traveling at a low speed or when parking, and to notify the user of the detection result by, for example, an audible warning. Also known is a function that mutes (silences) the audible warning even when an obstacle is detected if the user operates a specific switch. Non-Patent Documents 1 and 2 describe that the audible warning muted by a switch operation can be cancelled, for example, by changing the shift position or by driving the vehicle at a speed above a specific speed. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] “Sonar function”, [online], [searched March 25, 2022], Internet <URL:https: / / www.nissan.co.jp / OPTIONAL-PARTS / NAVIOM / SERENA_SPECIAL / PG / c27j1-3e89ebdb-774e-4167-8e6c-4a0658f43581.html> [Non-patent document 2] "Safe driving support functions," [online], [searched March 25, 2022], Internet<URL:https: / / manual.lexus.jp / nx / 2110 / cv / ja_JP / contents / wvz1609986109329.php> Summary of the Invention [Problem to be solved by the invention]

[0005] According to Non-Patent Documents 1 and 2, when the warning sound notification is muted, it is possible to cancel the muted state if the vehicle is driven at a predetermined speed or higher. However, when the vehicle speed is not normally at a predetermined speed, such as when parking the vehicle, the muted state cannot be canceled unless the shift position is changed, for example, which is not necessarily suitable for the user in terms of usability. Therefore, in autonomous driving technology, there is room for improvement in terms of notification of obstacle detection when the vehicle is driven at a low speed, such as when parking.

[0006] The present invention aims to provide a control device, a control method, and a control program that are capable of appropriately reactivating notification suspension during movement control of a moving object even when notification of obstacle detection has been suspended, thereby contributing to the development of sustainable transportation systems. [Means for solving the problem]

[0007] The present invention provides Moving object At first speed or below a movement control unit that performs movement control to move to a target movement position; a detection unit that detects obstacles around the moving object; a notification control unit that notifies a user of the moving object when the obstacle is detected; Equipped with The notification control unit Notification stop input from the user of the mobile unit In response to the above, the notification will be stopped. canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. It is a control device.

[0008] The present invention provides a processor of the control device, Moving object At first speed or belowPerform movement control to move to the target movement position, Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; Regarding the above notification, Notification stop input from the user of the mobile unit In response to the above, the notification will be stopped. canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. It is a control method.

[0009] The present invention provides A processor of the control device Moving object At first speed or below Perform movement control to move to the target movement position, Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; Regarding the above notification, Notification stop input from the user of the mobile unit In response to the above, the notification will be stopped. canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. It is a control program for executing the process. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a control device, a control method, and a control program that can appropriately resume notification when controlling the movement of a moving body, even if notification of the detection of an obstacle is stopped. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing an example of a vehicle whose movement is controlled by a control device of the present embodiment. [Figure 2] FIG. 2 is a top view of the vehicle shown in FIG. [Figure 3] FIG. 2 is a block diagram showing the internal configuration of the vehicle shown in FIG. [Figure 4]FIG. 10 is a diagram showing an example of automatic leaving control performed by a vehicle leaving the garage in a forward direction. [Figure 5] FIG. 10 is a diagram showing an example of a state in which a vehicle is controlled to automatically leave the garage by rearward exiting the garage. [Figure 6] 10A and 10B are diagrams showing a state in which a warning is displayed by an indicator when an obstacle is detected. [Figure 7] 10 is a flowchart illustrating an example of processing performed by a calculation unit during automatic parking and automatic leaving. DETAILED DESCRIPTION OF THE INVENTION

[0012] An embodiment of a control device, a control method, and a control program according to the present invention will be described below with reference to the accompanying drawings. The drawings are to be viewed in accordance with the directions of the reference numerals. For simplicity and clarity, the front-rear, left-right, and up-down directions in this specification and elsewhere are described according to the directions as seen by the driver of the vehicle 10 shown in Figures 1 and 2. In the drawings, the front of the vehicle 10 is indicated as Fr, the rear as Rr, the left as L, the right as R, the top as U, and the bottom as D.

[0013] <Vehicle 10 whose movement is controlled by the control device of the present invention> Fig. 1 is a side view of a vehicle 10 whose movement is controlled by a control device of the present invention. Fig. 2 is a top view of the vehicle 10 shown in Fig. 1. The vehicle 10 is an example of a moving body of the present invention.

[0014] The vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle 10 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 10 is, for example, an electric motor. The drive source of the vehicle 10 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. The drive source of the vehicle 10 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or all four wheels, including a pair of left and right front wheels and rear wheels. Both the front wheels and the rear wheels may be steerable wheels, or either one of them may be steerable wheels.

[0015] The vehicle 10 further includes side mirrors 11L and 11R. The side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front doors of the vehicle 10 to enable the driver to check what is behind and to the rear sides. The side mirrors 11L and 11R are fixed to the body of the vehicle 10 by a rotation shaft that extends vertically, and can be opened and closed by rotating around this rotation shaft.

[0016] The vehicle 10 is further equipped with a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The front camera 12Fr is a digital camera provided in front of the vehicle 10 and captures images in front of the vehicle 10. The rear camera 12Rr is a digital camera provided in the rear of the vehicle 10 and captures images in the rear of the vehicle 10. The left side camera 12L is a digital camera provided in the left side mirror 11L of the vehicle 10 and captures images in the left side of the vehicle 10. The right side camera 12R is a digital camera provided in the right side mirror 11R of the vehicle 10 and captures images in the right side of the vehicle 10.

[0017] <Internal configuration of vehicle 10> Fig. 3 is a block diagram showing an example of the internal configuration of vehicle 10 shown in Fig. 1. As shown in Fig. 3, vehicle 10 has a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. Vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0018] The sensor group 16 acquires various detection values ​​used for control by the control ECU 20. The sensor group 16 includes a front camera 12Fr, a rear camera 12Rr, a left side camera 12L, and a right side camera 12R. The sensor group 16 also includes a front sonar group 32a, a rear sonar group 32b, a left side sonar group 32c, and a right side sonar group 32d. The sensor group 16 also includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38. The sensor group 16 may also include radar.

[0019] The front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R capture images of the periphery of the vehicle 10 to obtain recognition data (e.g., external environment recognition images) for recognizing the periphery of the vehicle 10. The external environment recognition image captured by the front camera 12Fr is referred to as a front recognition image. The external environment recognition image captured by the rear camera 12Rr is referred to as a rear recognition image. The external environment recognition image captured by the left side camera 12L is referred to as a left side recognition image. The external environment recognition image captured by the right side camera 12R is referred to as a right side recognition image. An image composed of the left side recognition image and the right side recognition image may also be referred to as a side recognition image. The external environment recognition image generated by combining the image data of the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R may also be referred to as a bird's-eye view image of the vehicle 10.

[0020] The front sonar group 32a, rear sonar group 32b, left side sonar group 32c, and right side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The front sonar group 32a includes, for example, four sonars. The sonars that make up the front sonar group 32a are provided diagonally forward left, front left, front right, and diagonally forward right of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars that make up the rear sonar group 32b are provided diagonally rear left, rear left, rear right, and diagonally rear right of the vehicle 10, respectively. The left side sonar group 32c includes, for example, two sonars. The sonars that make up the left side sonar group 32c are provided respectively on the front left side and rear left side of the vehicle 10. The right side sonar group 32d includes, for example, two sonars. The sonars that make up the right side sonar group 32d are provided respectively at the front and rear of the right side of the vehicle 10. The front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d acquire detection data (e.g., obstacle information) for detecting obstacles around the vehicle 10.

[0021] The wheel sensors 34a, 34b detect the rotation angles of the wheels of the vehicle 10. The wheel sensors 34a, 34b may be configured as angle sensors or displacement sensors. The wheel sensors 34a, 34b output a detection pulse each time the wheel rotates a predetermined angle. The detection pulses output from the wheel sensors 34a, 34b are used to calculate the wheel rotation angle and wheel rotation speed. The travel distance of the vehicle 10 is calculated based on the wheel rotation angle. The wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 34b detects, for example, the rotation angle θb of the right rear wheel.

[0022] The vehicle speed sensor 36 detects the speed of the body of the vehicle 10, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control ECU 20. The vehicle speed sensor 36 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0023] The operation detection unit 38 detects the operation content performed by the user using the operation input unit 14, and outputs the detected operation content to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch that switches the open / closed state of the side mirrors 11L, 11R, and a shift lever (selector lever or selector).

[0024] The navigation device 18 detects the current position of the vehicle 10 using, for example, a GPS (Global Positioning System), and provides the user with guidance on a route to the destination. The navigation device 18 has a storage device (not shown) that has a map information database.

[0025] The navigation device 18 is equipped with a touch panel 42 and a speaker 44. The touch panel 42 functions as an input device and a display device for the control ECU 20. The speaker 44 outputs various types of guidance information to the user of the vehicle 10 by voice.

[0026] The touch panel 42 is configured to allow various commands to be input to the control ECU 20. For example, a user can input commands related to movement assistance for the vehicle 10 via the touch panel 42. The movement assistance includes parking assistance and exit assistance for the vehicle 10. The touch panel 42 is also configured to display various screens related to the control content of the control ECU 20. For example, the touch panel 42 displays a screen related to movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button for requesting parking assistance for the vehicle 10 and an exit assistance button for requesting exit assistance. The parking assistance buttons include an automatic parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking using driver operation. The exit assistance buttons include an automatic exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving using driver operation. The touch panel 42 also displays an external environment recognition image that recognizes the surroundings of the vehicle 10. Note that components other than the touch panel 42, such as a HUD (Head-Up Display), a smartphone, a tablet terminal, etc., may be used as the input device or the display device.

[0027] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a storage unit 54. The calculation unit 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The calculation unit 52 also inputs and outputs signals to and from each unit connected to the control ECU 20 via the input / output unit 50.

[0028] The calculation unit 52 has a movement control unit 55 that controls the movement of the vehicle 10, an obstacle detection unit 56 that detects obstacles around the vehicle 10, and a notification control unit 57 that notifies the user of the vehicle 10 that an obstacle has been detected. The calculation unit 52 is an example of a control device of the present invention. The obstacle detection unit 56 is an example of a detection unit of the present invention.

[0029] The movement control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the movement control unit 55. In the automatic parking assistance and automatic leaving assistance, the operation of the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 is performed automatically. In addition, the movement control unit 55 performs auxiliary parking assistance and auxiliary leaving assistance when the driver operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and manually leave the vehicle 10.

[0030] For example, the movement control unit 55 performs movement control to move the vehicle 10 to a target movement position. Movement control includes, for example, automatic parking control for automatically parking the vehicle 10, automatic exit control for automatically exiting the vehicle 10, auxiliary parking control for auxiliary parking the vehicle 10, and auxiliary exit control for auxiliary exiting the vehicle 10. The target movement position includes a specific parking space where the vehicle 10 is to be parked, a specific exit position from which the vehicle 10 is to be exited, and the like. The movement control is control to move the vehicle 10 at a first speed (e.g., 15 km / h) or less. Therefore, for example, when performing automatic parking control and automatic exit control on the vehicle 10, the movement control unit 55 controls the vehicle 10 to move at a first speed or less.

[0031] The movement control unit 55 performs automatic parking control, which automatically parks the vehicle 10 in a predetermined parking space, and automatic exit control, which automatically exits the vehicle 10 from the predetermined parking space to a predetermined exit position, based on the recognition data of the external environment of the vehicle 10 acquired by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R and the parking space designated by the user. The movement control unit 55 executes the automatic parking control and the automatic exit control in accordance with instruction signals based on the operation of the automatic parking button and the automatic exit button on the touch panel 42, or instruction signals input from outside via the input / output unit 50. Examples of input from outside include input via wireless communication from an information terminal carried by the user of the vehicle 10. In other words, instruction signals input when the user remotely controls the movement of the vehicle 10 while wirelessly communicating with the vehicle 10 using an information terminal from outside the vehicle 10 are also included.

[0032] The obstacle detection unit 56 acquires obstacle information representing the detection results of obstacles in the vicinity of the vehicle 10 detected by the front sonar group 32a, the rear sonar group 32b, the left side sonar group 32c, and the right side sonar group 32d from each sonar. For example, the obstacle detection unit 56 acquires obstacle information representing the detection results of obstacles detected in the vicinity of the vehicle 10 from each sonar when parking or leaving the vehicle 10. Obstacles include objects that may hinder the travel of the vehicle 10, such as people, animals, other vehicles, and plants. In addition to sonar, detection devices for detecting obstacles in the vicinity of the vehicle 10 may also be, for example, lidar (LiDAR), radar, cameras 12Fr, 12Rr, 12L, and 12R, etc.

[0033] When an obstacle is detected by the obstacle detection unit 56, the notification control unit 57 notifies the user of the vehicle 10 that an obstacle has been detected. The notification control unit 57 can notify the user that an obstacle has been detected by, for example, audio output or visual display.

[0034] The notification control unit 57 stops a notification when the user of the vehicle 10 inputs a notification stop command to stop the notification in response to a notification regarding the detection of an obstacle. Stopping a notification refers to a state in which an obstacle is detected but the detection result is not notified to the user, such as a muted notification state. The notification stop command includes, for example, an operation command on the touch panel 42 or an operation command on an information terminal carried by the user. Examples of notification stop command include a user who finds continuous notifications annoying and stops the notifications, or a user who anticipates a situation in which a notification is likely to be received and stops the notifications in advance. When the notification stop command is received, the notification control unit 57 may stop only the audio notification, or may stop both the audio and visual notifications. For example, when the notification stop command is received, the notification control unit 57 may stop the audio and visual notifications when the distance between the vehicle 10 and the obstacle is greater than a certain distance, and may stop only the audio notification when the distance between the vehicle 10 and the obstacle is less than a certain distance. The certain distance is, for example, approximately 10 meters.

[0035] When notifications regarding obstacle detection have been stopped, the notification control unit 57 cancels the suspension of notifications when the vehicle 10's movement speed is equal to or greater than a second speed. The second speed is a speed faster than the first speed of the vehicle 10 controlled by the movement control unit 55. The second speed is, for example, 30 km / h. Furthermore, when notifications regarding obstacle detection have been stopped, the notification control unit 57 cancels the suspension of notifications when the vehicle 10 changes its direction of travel or receives a notification suspension cancellation input from the user of the vehicle 10. A change in the direction of travel includes, for example, a change in behavior of the vehicle 10 due to a change in the shift position of the vehicle 10. The notification suspension cancellation input is an input operation for canceling the suspension of notifications regarding obstacle detection, and includes, for example, an operation input to the touch panel 42 or an operation input to an information terminal carried by the user. In these cases, the notification control unit 57 cancels the suspension of notifications whether the vehicle 10 is under movement control or during normal driving.

[0036] Furthermore, when notification regarding obstacle detection has been stopped and movement control is being executed by the movement control unit 55, the notification control unit 57 cancels the suspension of the notification when the distance between the vehicle 10 and the obstacle is equal to or less than a predetermined distance. On the other hand, when notification regarding obstacle detection has been stopped and movement control is being executed by the movement control unit 55, the notification control unit 57 continues the suspension of the notification when the distance between the vehicle 10 and the obstacle is greater than a predetermined distance. The predetermined distance between the vehicle 10 and the obstacle is, for example, 1 to 2 m.

[0037] In contrast, when notifications regarding obstacle detection are stopped and movement control is not being executed by the movement control unit 55, the notification control unit 57 does not cancel the stop of notifications even if the distance between the vehicle 10 and the obstacle becomes equal to or less than a predetermined distance. In other words, when the vehicle 10 is traveling normally, the notification control unit 57 does not cancel the stop of notifications even if the distance between the vehicle 10 and the obstacle becomes closer. For example, when the vehicle 10 is traveling normally on a narrow road at a first speed (15 km / h) or less or when traveling at a first speed (15 km / h) or less during a drive-through, the notification control unit 57 does not cancel the stop of notifications even if the distance between the vehicle 10 and the detected obstacle becomes equal to or less than 1 to 2 m.

[0038] Furthermore, when notifications regarding obstacle detection have been stopped and movement control is being executed by the movement control unit 55, the notification control unit 57 cancels the stoppage of notifications based on the amount of change in the distance between the vehicle 10 and the obstacle. For example, the notification control unit 57 predicts the future distance between the vehicle 10 and the obstacle based on the amount of change in distance, and cancels the stoppage of notifications when the predicted distance is equal to or less than a threshold. Specifically, the notification control unit 57 cancels the stoppage of notifications when it is predicted that the vehicle 10 may collide with the obstacle or when it is predicted that the vehicle 10 will approach within a predetermined distance of the obstacle. The notification control unit 57 may also determine the possibility of approaching an obstacle based on the movement trajectory of the vehicle 10 and the movement trajectory of the obstacle, and cancel the stoppage of notifications when there is a possibility of approach. In these cases, the notification control unit 57 may cancel the stoppage of notifications regardless of the current distance between the vehicle 10 and the obstacle.

[0039] Furthermore, for example, when movement control is being executed by the movement control unit 55, the notification control unit 57 receives a notification stop input from the user of the vehicle 10 in response to a notification regarding the detection of an obstacle, and if the distance between the vehicle 10 and the obstacle is equal to or less than a predetermined distance, the notification control unit 57 does not stop the notification. In other words, if the distance between the vehicle 10 and the obstacle is already equal to or less than a predetermined distance when the notification stop input is received from the user, the notification control unit 57 does not stop the notification in the first place, rather than stopping and then canceling the notification. In this case, the notification control unit 57 may inform the user why the notification is not stopped.

[0040] Furthermore, for example, if the notification control unit 57 receives a notification stop input for a notification regarding the detection of an obstacle and stops the notification before the movement control unit 55 executes movement control, the notification control unit 57 cancels the stop of the notification when the movement control is subsequently executed by the movement control unit 55 and the distance between the vehicle 10 and the obstacle becomes equal to or less than a predetermined distance. The notification stop input before the movement control is executed includes, for example, a notification stop input operation performed by the user in advance when predicting that a notification regarding an obstacle will be issued when the user is about to execute automatic parking control or automatic leaving control, and a notification stop input operation performed by the user in response to a notification regarding the detection of an obstacle issued during normal driving.

[0041] The EPS system 22 includes a steering angle sensor 100, a torque sensor 102, an EPS motor 104, a resolver 106, and an EPS ECU 108. The steering angle sensor 100 detects the steering angle θst of a steering wheel 110. The torque sensor 102 detects the torque TQ applied to the steering wheel 110.

[0042] The EPS motor 104 applies a driving force or a reaction force to a steering column 112 connected to a steering wheel 110, thereby enabling assistance to the occupant in operating the steering wheel 110 and automatic steering during parking assistance. A resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 is responsible for overall control of the EPS system 22. The EPS ECU 108 is equipped with an input / output unit (not shown), a calculation unit (not shown), and a storage unit (not shown).

[0043] The communication unit 24 enables wireless communication with other communication devices 120. The other communication devices 120 are base stations, communication devices of other vehicles, and information terminals such as smartphones or tablet terminals carried by the user of the vehicle 10.

[0044] The driving force control system 26 is equipped with a driving ECU 130. The driving force control system 26 executes driving force control of the vehicle 10. The driving ECU 130 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like based on a user's operation of an accelerator pedal (not shown).

[0045] The braking force control system 28 is equipped with a braking ECU 132. The braking force control system 28 executes braking force control of the vehicle 10. The braking ECU 132 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like based on a user's operation of a brake pedal (not shown).

[0046] <Examples of situations where notifications regarding obstacle detection are issued> Next, an example of a situation in which a notification regarding the detection of an obstacle is issued during movement control of the vehicle 10 will be described with reference to FIGS.

[0047] 4 is a diagram showing an example of a state in which the vehicle 10 is controlled to automatically leave the parking space by moving forward from the parking space P. The automatic leaving in the example shown in the figure is assumed to be automatic leaving with the user (driver) in the vehicle 10. In addition, in this automatic leaving, the user turns on the automatic leaving button on the touch panel 42 and selects leaving forward to the right.

[0048] As shown in FIG. 4, the movement control unit 55 starts automatic leaving control by moving the vehicle 10 from the parking space P toward the front right. When an obstacle is detected by the sonar group 32a to 32d, the notification control unit 57 provides, for example, audio and visual notification to notify the driver that an obstacle has been detected. For example, the audio notification is output via the speaker 44 of the navigation device 18. The visual notification is displayed by an indicator on the touch panel 42 of the navigation device 18. When, for example, the user inputs an operation to stop the notification on the touch panel 42 in response to this notification, the notification control unit 57 stops the audio notification, out of the audio and visual notifications. During the ongoing execution of the automatic leaving control, the notification control unit 57 cancels the suspension of the notification when the distance between the vehicle 10 and the obstacle becomes, for example, within 1 meter, and continues the suspension of the notification when the distance between the vehicle 10 and the obstacle is greater than 1 meter. For example, as shown in Fig. 4, when the distance L between the vehicle 10 and another vehicle 10a that is an obstacle to the vehicle 10 comes within 1 meter, the notification control unit 57 cancels the suspension of notification and issues a visual notification by displaying an indicator and an audio notification such as "beep beep beep." The visual notification by displaying an indicator will be described later with reference to Fig. 6.

[0049] 5 is a diagram showing an example of a situation in which the vehicle 10 is controlled to automatically leave the parking space P by rearward exit. In the example shown in the figure, the automatic leaving is performed with the user (driver) still inside the vehicle, as in the case of forward exit in FIG. 4. In addition, in this automatic leaving, the user turns on the automatic leaving button on the touch panel 42 and selects leaving in a reverse right direction.

[0050] As shown in FIG. 5, the movement control unit 55 starts automatic leaving control by directing the vehicle 10 from the parking space P toward the rear right. As in the case of FIG. 4 above, the notification control unit 57 issues audio and visual notifications when an obstacle is detected. Furthermore, the notification control unit 57 stops the audio notification when an input operation to stop the notification is performed in response to this notification. Then, during execution of the automatic leaving control, the notification control unit 57 cancels the stop of the notification when the distance between the vehicle 10 and the obstacle comes within, for example, 1 meter, and continues the stop of the notification when the distance between the vehicle 10 and the obstacle is greater than 1 meter. For example, as shown in FIG. 5, when the distance L between the vehicle 10 and another vehicle 10a that is an obstacle to the vehicle 10 comes within 1 meter, the notification control unit 57 cancels the stop of the notification and issues audio notifications along with visual notifications.

[0051] 4 and 5, the automatic leaving control is described for the case where the user is in the vehicle 10, but is not limited to this. For example, it is similarly applicable to the case where the user is outside the vehicle 10 and performs automatic leaving control remotely using an information terminal. In the case of remote automatic leaving control, audio and visual notifications are made from the speaker and terminal screen of the information terminal.

[0052] <Example of visual notification regarding obstacle detection> Next, an example of a visual notification regarding the detection of an obstacle will be described with reference to Fig. 6. Fig. 6 is a diagram showing how an indicator is displayed on the touch panel 42 of the navigation device 18 to warn that an obstacle has been detected around the vehicle. In the example shown in the figure, the right front where the obstacle is detected is displayed in a specific color as the detection location (direction) 61. This allows the user to recognize that an obstacle exists to the right front of the vehicle 10 by looking at the touch panel 42.

[0053] <Example of processing by the calculation unit 52> Next, an example of a notification process to the user by the calculation unit 52 of the vehicle 10 during automatic parking and automatic leaving, and a process for stopping and canceling the notification, will be described with reference to the flowchart shown in Fig. 7. The process shown in Fig. 7 is a process that is repeatedly executed while the vehicle 10 is traveling.

[0054] The obstacle detection unit 56 of the calculation unit 52 determines whether or not an obstacle is detected around the vehicle 10 (step S11). As described above, obstacles around the vehicle 10 can be detected based on obstacle information acquired by the sonar group 32a to 32d.

[0055] In step S11, if no obstacle is detected around the vehicle 10 (step S11: No), the obstacle detection unit 56 repeats the process of step S11 until an obstacle is detected.

[0056] In step S11, if an obstacle is detected around the vehicle 10 (step S11: Yes), the obstacle detection unit 56 determines the distance between the vehicle 10 and the detected obstacle based on the obstacle information acquired by the sonar group 32a to 32d (step S12).

[0057] Next, the notification control unit 57 of the calculation unit 52 determines whether the obstacle detection notification that notifies the user that an obstacle has been detected is stopped (step S13). As described above, the obstacle detection notification can be stopped by, for example, the user (driver) in the vehicle 10 inputting a notification stop command to the touch panel 42.

[0058] In step S13, if the obstacle detection notification is stopped, that is, if the obstacle detection notification is stopped by the user's operation to input notification stop (step S13: Yes), the notification control unit 57 determines whether the vehicle 10 is currently under automatic parking control or automatic leaving control by the movement control unit 55 (step S14). The notification control unit 57 determines whether the vehicle is under automatic parking control or automatic leaving control, for example, based on whether the automatic parking button or the automatic leaving button is operated.

[0059] In step S14, if automatic parking control or automatic leaving control is being performed (step S14: Yes), the notification control unit 57 determines whether the distance between the vehicle 10 and the obstacle determined in step S12 is equal to or less than a predetermined distance (step S15). As described above, the predetermined distance between the vehicle 10 and the obstacle is set to, for example, 1 to 2 m. Furthermore, in automatic parking control or automatic leaving control, the vehicle 10 is controlled to a speed of, for example, 15 km / h (first speed) or less.

[0060] In step S15, if the distance between the vehicle 10 and the obstacle is equal to or less than the predetermined distance, i.e., if the obstacle is close to the vehicle 10 (step S15: Yes), the notification control unit 57 cancels the stop of the obstacle detection notification (step S16).

[0061] Next, the notification control unit 57 notifies the user of the vehicle 10 of the obstacle detection (step S17), and then returns to step S11 to repeat the respective processes. The user is notified of the obstacle detection by, for example, an alarm sound output from the speaker 44 of the navigation device 18 and a color display of an indicator on the touch panel 42.

[0062] On the other hand, in step S13, if the obstacle detection notification is not stopped (step S13: No), the notification control unit 57 proceeds to step S17 and executes the obstacle detection notification to the user of the vehicle 10.

[0063] On the other hand, if automatic parking control or automatic leaving control is not being performed in step S14 (step S14: No), the notification control unit 57 determines whether the current speed of the vehicle 10 is equal to or greater than a preset threshold (second speed) (step S18). As described above, the second speed is, for example, 30 km / h.

[0064] In step S18, if the vehicle speed is equal to or greater than the threshold value (step S18: Yes), the notification control unit 57 proceeds to step S16 and cancels the suspension of the obstacle detection notification.

[0065] In step S18, if the vehicle speed is not equal to or greater than the threshold (step S18: No), the notification control unit 57 determines whether or not the shift position has been switched after the current obstacle detection notification was stopped in the vehicle 10 (step S19). For example, the notification control unit 57 determines whether the shift position has been switched from forward to reverse or from reverse to forward in order to change the traveling direction of the vehicle 10.

[0066] In step S19, if the shift position has been switched (step S19: Yes), the notification control unit 57 proceeds to step S16 and cancels the suspension of the obstacle detection notification.

[0067] In step S19, if there has been no change in the shift position (step S19: No), the notification control unit 57 determines whether or not there has been an input to restart the obstacle detection notification, i.e., to cancel the state in which the obstacle detection notification has been stopped (step S20).

[0068] In step S20, if the obstacle detection notification has been restarted (step S20: Yes), the notification control unit 57 proceeds to step S16 and cancels the suspension of the obstacle detection notification.

[0069] In step S20, if the obstacle detection notification has not been restarted (step S20: No), the notification control unit 57 returns to step S11 and repeats each process.

[0070] As described above, the notification control unit 57 in the calculation unit 52 of the vehicle 10 stops the notification in response to a notification stop input from the user in response to the notification of obstacle detection, and when automatic garage-leaving control is being executed, it cancels the stop of the notification when the distance between the vehicle 10 and the obstacle is equal to or less than a predetermined distance, and continues the stop of the notification when the distance between the vehicle 10 and the obstacle is greater than the predetermined distance. This makes it possible to resume the notification when the obstacle is near the vehicle 10, even if the notification of obstacle detection has been temporarily stopped. Therefore, it is possible to switch between canceling and continuing the stop of the notification depending on the distance between the vehicle 10 and the obstacle, and to provide an appropriate notification. This makes it possible to achieve both improved safety and usability of the vehicle 10.

[0071] Furthermore, when notifications regarding obstacle detection are stopped and automatic leaving control is being executed, the notification control unit 57 cancels the suspension of the notifications based on the amount of change in the distance between the vehicle 10 and the obstacle. This makes it possible to cancel the suspension of notifications when it is predicted that an obstacle will approach the vehicle 10 if the current automatic leaving control is continued, thereby improving the safety and usability of the vehicle 10.

[0072] Furthermore, in a state in which notifications regarding obstacle detection are stopped, the notification control unit 57 cancels the stop of notifications, for example, when the moving speed of the vehicle 10 is equal to or greater than a second speed, when the traveling direction of the vehicle 10 is switched, or when an input to cancel the notification stop is received from the user. This makes it possible to cancel the stop of notifications in accordance with the moving state of the vehicle 10 or a change input from the user, thereby improving the safety and usability of the vehicle 10.

[0073] Furthermore, if the notification control unit 57 receives a notification stop input for a notification regarding the detection of an obstacle and stops the notification before the automatic leaving control is executed, the notification control unit 57 cancels the stop of the notification when the automatic leaving control is subsequently executed and the distance between the vehicle 10 and the obstacle becomes equal to or less than a predetermined distance. As a result, even if the user predicts a notification of the detection of an obstacle and stops the notification in advance, the stop of the notification is canceled when the distance to the obstacle becomes equal to or less than the predetermined distance, thereby improving the safety and usability of the vehicle 10.

[0074] Furthermore, when an obstacle is detected, the notification control unit 57 can notify the user by audio and visual notification of the detection of the obstacle, and when a notification stop input is received, only the audio notification out of the audio and visual notifications is stopped. During automatic leaving and automatic parking, the user is often aware that there is an obstacle around the vehicle 10. In such a situation, if the notification of the detected obstacle continues, it becomes annoying, so the user tries to stop the notification. Therefore, when a notification stop input is received, if the distance to the obstacle is far, the audio notification is stopped and only the visual notification is given, thereby reducing the annoyance to the user caused by the audio output and visually alerting the user.

[0075] Furthermore, when automatic leaving control is being executed, the notification control unit 57 receives a notification stop input from the user in response to a notification regarding the detection of an obstacle, and if the distance between the vehicle 10 and the obstacle is equal to or less than a predetermined distance, the notification control unit 57 does not stop the notification. As a result, when the distance between the vehicle 10 and the obstacle is equal to or less than the predetermined distance, the notification is not stopped in the first place, rather than being stopped and then cancelled, thereby improving the safety and usability of the vehicle 10.

[0076] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. are possible as appropriate.

[0077] For example, in the above embodiment, the case where the vehicle 10 is pulled out has been described, but similar control can also be applied to parking the vehicle 10. Furthermore, the control is not limited to automatic pulling out and parking by automatic driving, but can also be applied to, for example, assisted pulling out and assisted parking in driving assistance or manual driving.

[0078] The control method described in the above-described embodiment can be realized by executing a prepared control program on a computer. The control program is recorded on a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored on a non-transitory storage medium such as a flash memory, or may be provided via a network such as the Internet. The computer that executes the control program may be included in the control device, or may be included in an electronic device such as a smartphone, tablet, or personal computer that can communicate with the control device, or may be included in a server device that can communicate with these control devices and electronic devices.

[0079] This specification also describes at least the following: Note that the components in parentheses correspond to those in the above-described embodiment, but are not limited to these.

[0080] (1) a movement control unit (movement control unit 55) that performs movement control to move a moving body (vehicle 10) to a target movement position; a detection unit (obstacle detection unit 56) that detects obstacles around the moving body; a notification control unit (notification control unit 57) that notifies the user of the moving object when the obstacle is detected; Equipped with The movement control includes: Control to move the moving body at a first speed or less, The notification control unit Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. Control device.

[0081] According to (1), even during movement control where the suspension of notifications based on the movement speed is not lifted, it is possible to provide appropriate notifications according to the distance between the moving body and an obstacle, and by appropriately switching between lifting and continuing the suspension of notifications, it is possible to achieve both improved vehicle safety and usability.

[0082] (2) The control device according to (1), The predetermined condition is that the distance is equal to or less than a predetermined distance. Control device.

[0083] According to (2), it is possible to notify the user when an obstacle is near the moving body, thereby improving the safety of the moving body.

[0084] (3) The control device according to (1), the predetermined condition is a condition based on an amount of change in the distance; Control device.

[0085] According to (3), if it is predicted that an obstacle will approach the moving body in the future, it is possible to cancel the suspension of notifications, thereby improving the safety of the moving body.

[0086] (4) The control device according to any one of (1) to (3), the notification is an audio notification; The notification control unit When the obstacle is detected, the audio and visual notification can be provided to a user of the mobile device; In response to the notification stop input, only the audio notification is stopped out of the audio notification and the visual notification. Control device.

[0087] According to (4), when a notification stop input is received, if the distance to the obstacle is far, the audio notification is stopped and only the visual notification is given, thereby reducing the annoyance to the user caused by the audio output and visually alerting the user.

[0088] (5) The control device according to any one of (1) to (4), the notification control unit cancels the notification stop in at least one of a case where a direction of travel of the moving body is switched and a case where a notification stop cancellation input is received from a user of the moving body. Control device.

[0089] According to (5), the safety of the moving body is improved by canceling the suspension of notifications depending on the moving state of the moving body and user input.

[0090] (6) The control device according to any one of (1) to (5), the notification control unit accepts the notification stop input during execution of the movement control, and does not stop the notification when the distance satisfies the predetermined condition. Control device.

[0091] According to (6), when the distance to the obstacle satisfies a predetermined condition, the notification is not stopped, thereby improving the safety of the moving body.

[0092] (7) The control device according to any one of (1) to (6), the notification control unit receives the notification stop input before the movement control is executed and stops the notification, and then cancels the stop of the notification when the movement control is executed and the distance satisfies the predetermined condition. Control device.

[0093] According to (7), even if notifications are stopped, they will be canceled if the distance to the obstacle meets a specified condition, thereby improving the safety and usability of the moving object.

[0094] (8) The processor of the control device performing movement control to move the moving body to a target movement position; Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; The movement control includes: Control to move the moving body at a first speed or less, Regarding the above notification, Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. Control method.

[0095] According to (8), even during movement control in which the suspension of notifications based on the movement speed is not lifted, it is possible to provide appropriate notifications according to the distance between the moving body and an obstacle, and by appropriately switching between lifting and continuing the suspension of notifications, it is possible to achieve both improved vehicle safety and usability.

[0096] (9) A processor of the control device performing movement control to move the moving body to a target movement position; Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; The movement control includes: Control to move the moving body at a first speed or less, Regarding the above notification, Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. A control program for executing processing.

[0097] According to (9), even during movement control in which the suspension of notifications based on the movement speed is not lifted, it is possible to provide appropriate notifications according to the distance between the moving body and an obstacle, and by appropriately switching between lifting and continuing the suspension of notifications, it is possible to achieve both improved vehicle safety and usability. [Explanation of symbols]

[0098] 10 Vehicles (moving objects) 55 Movement control unit 56 Detection unit (obstacle detection unit) 57 Notification control section

Claims

1. a movement control unit that performs movement control to move the moving body to a target movement position at a first speed or less; a detection unit that detects obstacles around the moving object; a notification control unit that notifies a user of the moving object when the obstacle is detected; Equipped with The notification control unit Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. Control device.

2. In the control device according to claim 1, The predetermined condition is that the distance is equal to or less than a predetermined distance. Control device.

3. A control device according to claim 1, the predetermined condition is a condition based on an amount of change in the distance; Control device.

4. A control device according to any one of claims 1 to 3, the notification is an audio notification; The notification control unit When the obstacle is detected, the audio and visual notification can be provided to a user of the mobile device; In response to the notification stop input, only the audio notification is stopped out of the audio notification and the visual notification. Control device.

5. A control device according to any one of claims 1 to 4, the notification control unit cancels the notification stop in at least one of a case where a direction of travel of the moving body is switched and a case where a notification stop cancellation input is received from a user of the moving body; Control device.

6. A control device according to any one of claims 1 to 5, the notification control unit accepts the notification stop input during execution of the movement control, and does not stop the notification when the distance satisfies the predetermined condition. Control device.

7. A control device according to any one of claims 1 to 6, the notification control unit receives the notification stop input before the movement control is executed and stops the notification, and then cancels the stop of the notification when the movement control is executed and the distance satisfies the predetermined condition. Control device.

8. The processor of the control device performing movement control to move the moving body to a target movement position at a first speed or less; Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; Regarding the above notification, Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. Control method.

9. A processor of the control device, performing movement control to move the moving body to a target movement position at a first speed or less; Detecting obstacles around the moving object; When the obstacle is detected, a notification is sent to a user of the mobile device; Regarding the above notification, Stopping the notification in response to a notification stop input from a user of the mobile body; canceling the suspension of the notification when the moving speed of the moving object is equal to or greater than a second speed; During the execution of the movement control, the suspension of the notification is canceled when a distance between the moving body and the obstacle satisfies a predetermined condition, and the suspension of the notification is continued when the distance does not satisfy the predetermined condition. A control program for executing processing.

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