Control device, control method, and control program

Abstract

Provided is a control device that is able to reduce the burden on a user when the user is accessing an opening / closing bodies other than an opening / closing body at a driver's seat during automatic shipping of a mobile body.　According to the present invention, a computing unit 52 of a vehicle 10 having a plurality of opening / closing bodies comprises an automatic parking control unit 55 that performs movement control of the vehicle 10 on the basis of a specific operation performed by a user M of the vehicle 10 on a portable information terminal 60. During the execution of the movement control, when an opening / closing booking of a specific opening / closing body other than the opening / closing body of the driver's seat of the vehicle 10 among the plurality of opening / closing bodies, is received, the automatic parking control unit 55 sets a target movement position of the movement control on the basis of the positional relationship between the specific opening / closing body and the information terminal 60 .

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 been gaining momentum. To achieve this, we are focusing on research and development into autonomous driving technology to further improve traffic safety and convenience.

[0003] Conventionally, there has been known a remote parking system that remotely controls a vehicle to park the vehicle in a designated parking space and to remove the vehicle from the parking space. Patent Document 1 describes a parking-leaving support device that detects the position of an operator who specifies the vehicle's parking-leaving position using an on-board sensor or the like, sets the parking-leaving position near the detected operator, and remotely controls the vehicle to automatically remove from the parking-leaving position near the operator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2018 / 047222 Brochure Summary of the Invention [Problem to be solved by the invention]

[0005] The leaving assistance device of Patent Document 1 makes it possible to automatically leave a vehicle to a leaving position near an operator. However, for example, when opening or closing a vehicle door other than the driver's seat door, the operator must specify the door to be opened or closed, and the operator must automatically leave the vehicle so that the specified door is easily accessible, which places a heavy burden on the operator in setting up the device.

[0006] The present invention aims to provide a control device, a control method, and a control program that can reduce the burden on a user when accessing an opening / closing member other than the driver's seat during automatic leaving of a vehicle, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] The present invention provides In a control device for a moving body having a plurality of opening and closing bodies, a control unit that controls movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body; The control unit When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. It is something.

[0008] The present invention provides A method for controlling a moving body having a plurality of opening / closing bodies, comprising: a control unit that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body, When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. It is something.

[0009] The present invention provides In a control program for a moving object having a plurality of opening and closing objects, a processor that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body; When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. It is used to execute processing. [Effects of the Invention]

[0010] According to the present invention, a control device, a control method, and a control program can be provided that can reduce the burden on a user when accessing an opening / closing body other than the driver's seat during automatic leaving of a mobile body. [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. 2 is a diagram illustrating an example of a hardware configuration of an information terminal. [Figure 5] FIG. 10 is a diagram showing a state in which an instruction to leave the vehicle is controlled using an information terminal from outside the vehicle. [Figure 6] 10 is a flowchart showing the control of an information terminal for issuing an instruction to leave the warehouse during automatic leaving. [Figure 7] FIG. 10 is a diagram showing an example of an automatic leaving guidance screen displayed on an information terminal during automatic leaving. [Figure 8] FIG. 10 is a diagram showing an example of a child protection screen displayed on the information terminal during automatic parking. [Figure 9] FIG. 10 is a diagram showing an example of a delivery instruction screen displayed on an information terminal during automatic delivery. [Figure 10] FIG. 10 is a diagram showing an example of a disclaimer notice and agreement screen displayed on an information terminal during automatic parking. [Figure 11]FIG. 10 is a diagram showing an example of an ignition ON screen displayed on the information terminal during automatic leaving of a garage. [Figure 12] FIG. 10 is a diagram showing an example of an exit direction selection screen displayed on an information terminal during automatic parking. [Figure 13] FIG. 10 is a diagram showing an example of an exit direction confirmation screen displayed on an information terminal during automatic parking. [Figure 14] FIG. 10 is a diagram showing an example of a connection screen with a vehicle displayed on an information terminal during automatic parking. [Figure 15] FIG. 10 is a diagram showing an example of an operation input start screen displayed on the information terminal during automatic leaving. [Figure 16] FIG. 10 is a diagram showing an example of an operation input screen displayed on the information terminal during automatic leaving. [Figure 17] FIG. 10 is a diagram showing an example of an automatic retrieval completion screen displayed on the information terminal during automatic retrieval. [Figure 18] 10 is a flowchart showing a vehicle leaving execution control during automatic leaving; [Figure 19] FIG. 10 is a diagram showing the automatic parking stop position of the vehicle when a reservation is made for opening and closing the rear left door. [Figure 20] FIG. 10 is a diagram showing the automatic exit stop position of the vehicle when a reservation is made for opening and closing the left front door. 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., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a side image.

[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 a driver's 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 a driver's operation. Note that components other than the touch panel 42, such as a smartphone or a tablet terminal, 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. The calculation unit 52 is an example of a control device of the present invention.

[0028] The calculation unit 52 has an automatic parking control unit 55 that controls the movement execution of the vehicle 10, an opening / closing control unit 56 that controls the opening / closing of the opening / closing body of the vehicle 10, and an external environment recognition unit 57 that recognizes external environment information of the vehicle 10. The automatic parking control unit 55 is an example of a control unit of the present invention.

[0029] The automatic parking control unit 55 performs automatic parking assistance and automatic leaving assistance for the vehicle 10 through automatic steering, which automatically operates the steering wheel 110 under the control of the automatic parking control unit 55. In the automatic parking assistance and automatic leaving assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are automatically operated. In addition, the automatic parking 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 automatic parking control unit 55 performs parking execution control to automatically park the vehicle 10 in a specified parking space and exit execution control to automatically exit the vehicle 10 from the specified parking space to a target movement position, based on recognition data of the external environment of the vehicle 10 acquired by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R and a parking space specified by the user. The automatic parking control unit 55 performs the parking execution control and the exit execution control in accordance with instruction signals input from outside via the input / output unit 50. Input from outside includes input via wireless communication from an information terminal or the like carried by the user of the vehicle 10. The information terminal will be described later. The automatic parking control unit 55 also transmits information related to the parking execution control and the exit execution control to the external information terminal via the input / output unit 50.

[0031] Specifically, in the execution control of vehicle 10's leaving the parking lot, automatic parking control unit 55 can accept a reservation for opening or closing the door of vehicle 10. When a reservation for opening or closing is accepted, automatic parking control unit 55 sets a target movement position of vehicle 10 based on the positional relationship between the door for which the reservation for opening or closing is accepted and the information terminal carried by the user of vehicle 10. A reservation for opening or closing the door refers to a reservation for the door for which the user prefers to open or close the door when vehicle 10 is released from the parking lot. A target movement position refers to a target position to which vehicle 10 is to be moved, and is a position where the user can easily access the door for which the reservation for opening or closing is accepted. Doors of vehicle 10 include, for example, the door for the driver's seat, the door for the passenger seat, the door for the rear seat, the tailgate (rear gate), etc. For example, the door for the driver's seat refers to the door through which the driver normally gets in and out, and is the door closest to the driver's seat. The information terminal carried by the user refers to a terminal carried by the user that is waiting at a distance for vehicle 10 to leave the parking lot.

[0032] When controlling the execution of vehicle 10's leaving the parking lot, for example, if a reservation for opening or closing a specific opening / closing object other than the driver's seat opening / closing object has been accepted, automatic parking control unit 55 sets a target movement position for vehicle 10 based on the positional relationship between the specific opening / closing object and the information terminal. In this case, the target movement position is a position where the user can easily access the specific opening / closing object. The specific opening / closing object is an opening / closing object other than the driver's seat opening / closing object, such as the passenger seat opening / closing object, the rear seat opening / closing object, or the tailgate (rear gate).

[0033] When a reservation for opening or closing a specific door-opening mechanism has not been accepted during execution control of vehicle 10 leaving the parking lot, automatic parking control unit 55 sets a target movement position for vehicle 10 based on the positional relationship between the door-opening mechanism at the driver's seat and the information terminal. In this case, the target movement position is a position that allows the user to easily access the driver's seat. Note that the door-opening mechanism that is the target of the positional relationship with the information terminal when a reservation for opening or closing a specific door-opening mechanism has not been accepted is not limited to the door-opening mechanism at the driver's seat, and may be set arbitrarily by the user. For example, in the case of a user who frequently uses a child seat, the door-opening mechanism at the seat where the child seat is installed can be set as the target door-opening mechanism when a reservation for opening or closing a specific door-opening mechanism has not been accepted.

[0034] The automatic parking control unit 55 determines the status of the user of the vehicle 10, and based on the determination result, automatically determines and performs the opening / closing of a specific opening / closing mechanism without waiting for a reservation for opening or closing the specific opening / closing mechanism from the user. The user's status may, for example, include the amount of luggage the user is carrying, whether or not there are passengers, and whether or not a child seat is installed. If there is a lot of luggage, a reservation for opening or closing the rear seat opening / closing mechanism or the tailgate is set. If there is one passenger, a reservation for opening or closing the passenger seat opening / closing mechanism is set. If a child seat is installed, a reservation for opening or closing the opening / closing mechanism for the seat where the child seat is installed is set. The automatic parking control unit 55 determines the user's status based on an image captured by a camera. The user's status may also include the user's cash register payment information and the number of smartphones registered to the vehicle 10. The user's purchased luggage may be determined based on the cash register payment information, and a specific opening / closing mechanism may be set. The number of passengers may be determined based on the communication results with the registered smartphone, and a specific opening / closing mechanism may be set. In addition, the automatic parking control unit 55 may determine and set the opening / closing body to be opened and closed, and then display an acceptance button to allow the user to decide whether or not the set opening / closing body is acceptable, so that the user can make a decision.

[0035] When the vehicle 10 is pulled out to a target movement position, the automatic parking control unit 55 determines whether the opening / closing mechanism of the vehicle 10 can be opened or closed at the target movement position. The automatic parking control unit 55 determines whether the opening / closing mechanism can be opened or closed based on the external environment recognition result by the external environment recognition unit 57. The automatic parking control unit 55 determines whether the opening / closing mechanism can be opened or closed based on the distance between the opening / closing mechanism of the vehicle 10 and surrounding objects present around the vehicle, and the type of opening / closing mechanism (tailgate, sliding door, hinged door, etc.). The automatic parking control unit 55 sets a target movement position for the vehicle 10 based on the determination result of whether the opening / closing mechanism can be opened or closed.

[0036] The automatic parking control unit 55 performs a predetermined opening / closing process for the opening / closing body when the vehicle 10 arrives at the set target movement position. The opening / closing process for the opening / closing body includes, for example, a process that enables manual opening / closing of the opening / closing body (a process that unlocks the opening / closing body), a process that automatically opens / closes the opening / closing body, etc. The opening / closing process for the opening / closing body may also include, for example, a process that displays guidance information related to the opening / closing body on an information terminal.

[0037] The opening / closing control unit 56 performs opening / closing control to automatically open and close opening / closing bodies such as a tailgate, a sliding door, and a hinged door of the vehicle 10. Based on an opening / closing signal from the automatic parking control unit 55, the opening / closing control unit 56 performs opening / closing control of opening / closing bodies that have been reserved for opening and closing.

[0038] The external environment recognition unit 57 recognizes the external environment of the vehicle 10 based on images of the surroundings of the vehicle 10 captured by the front camera 12Fr, the rear camera 12Rr, the left side camera 12L, and the right side camera 12R. The external environment recognition unit 57 can also recognize the external environment of the vehicle 10 based on information acquired by the sonar group 32a to 32d or radar. The external environment recognition unit 57 recognizes the presence of surrounding objects that may be obstacles when opening or closing the opening / closing body of the vehicle 10 based on external environment information acquired by the camera, sonar, and radar.

[0039] 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.

[0040] 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).

[0041] 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 that can be carried by the user of the vehicle 10. For example, the communication unit 24 includes an ultra-wideband (UWB) interface for performing UWB communication with the information terminal.

[0042] 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).

[0043] 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).

[0044] <Hardware configuration of information terminal> Fig. 4 is a diagram showing an example of the hardware configuration of the information terminal 60. The hardware of the information terminal 60 can be realized, for example, by an information processing device 80 shown in Fig. 4. The information processing device 80 includes a processor 81, a memory 82, a communication interface 83, and a user interface 84. The processor 81, the memory 82, the communication interface 83, and the user interface 84 are connected by, for example, a bus 85.

[0045] The processor 81 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information processing device 80. The processor 81 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 81 may also be realized by combining a plurality of digital circuits.

[0046] The memory 82 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a RAM (Random Access Memory). The main memory is used as a work area for the processor 81.

[0047] The auxiliary memory is, for example, a non-volatile memory such as a magnetic disk, an optical disk, or a flash memory. The auxiliary memory stores various programs that operate the information processing device 80. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 81.

[0048] The auxiliary memory may also include a portable memory that is removable from the information processing device 80. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive or an SD (Secure Digital) memory card, and an external hard disk drive.

[0049] The communication interface 83 is a communication interface that performs wireless communication with an external device (e.g., the communication unit 24 of the vehicle 10) of the information processing device 80. For example, the communication interface 83 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 83 is controlled by the processor 81.

[0050] The user interface 84 includes, for example, an input device that accepts operation input from the user and an output device that outputs information to the user. The input device can be realized, for example, by a touch panel. The output device can be realized, for example, by a display or a speaker. The user interface 84 is controlled by the processor 81.

[0051] The processor 81 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 81 performs movement instruction control for the vehicle 10 based on a specific user operation on the terminal screen of the information terminal 60. The movement instruction control includes, for example, parking instruction control to automatically park the vehicle 10 in a predetermined parking space, and exit instruction control to automatically exit the vehicle 10 from the predetermined parking space to a target movement position. The specific user operation includes, for example, a swipe operation to move the vehicle 10, a tap operation to reserve parking and exit plans, and the like.

[0052] Specifically, in the process of controlling the departure instruction, the processor 81 receives a departure plan for the vehicle 10 based on a user's reservation operation on the terminal screen. The departure plan is a plan regarding the automatic departure of the vehicle 10, and includes, for example, a plan for which direction the vehicle 10 will leave the parking space when leaving (the departure direction of the vehicle 10), or whether to open or close a specified opening / closing device when leaving the parking space. The processor 81 can receive, for example, an opening / closing reservation for opening and closing the opening / closing device for the driver's seat when leaving the parking space, and an opening / closing reservation for opening and closing a specific opening / closing device other than the opening / closing device for the driver's seat when leaving the parking space. The processor 81 can receive the departure plan in advance at or before the start of the automatic departure.

[0053] The processor 81 transmits to the vehicle 10 a parking instruction signal for automatically parking the vehicle 10 and an exit instruction signal for automatically exiting the vehicle 10, based on a specific operation on the terminal screen of the information terminal 60. An application is installed in the information terminal 60 that is capable of controlling the movement of the vehicle 10 by transmitting and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10.

[0054] <Example of movement instruction control by information terminal 60> Figure 5 is a diagram showing an example of a situation in which a user M of a vehicle 10 is performing an exit instruction control to automatically exit the vehicle 10 from a parking space P using an information terminal 60 carried by the user M outside the vehicle 10.

[0055] When the user M touches the terminal screen 61 of the information terminal 60, which is configured as a touch panel, the information terminal 60 transmits an exit instruction signal to the vehicle 10 via wireless communication, instructing the vehicle 10 to automatically leave the parking lot. The vehicle 10 receives the exit instruction signal from the information terminal 60, and performs exit execution control to automatically leave the vehicle 10 to a target movement position while communicating wirelessly with the information terminal 60 in accordance with the received exit instruction signal. The example state shown in the figure indicates a state in which a reservation for opening and closing the right front door of the vehicle 10 has been accepted, and the vehicle 10 has left a position that allows the user M to easily access the right front door. For wireless communication between the information terminal 60 and the vehicle 10, for example, UWB (Ultra Wide Band: registered trademark), BLE (Bluetooth Low Energy: registered trademark), NFC (Near Field Communication: registered trademark), etc. may be used.

[0056] <Processing of the information terminal 60 during automatic retrieval> Next, an example of the control of the information terminal 60 for issuing an instruction to leave the warehouse during automatic leaving will be described with reference to FIGS.

[0057] Fig. 6 is a flowchart showing the control of an instruction for leaving the garage by the processor 81 of the information terminal 60 during automatic leaving. Fig. 7 to Fig. 17 are diagrams showing examples of images displayed on the information terminal 60 during automatic leaving.

[0058] For example, a user M is about to have the vehicle 10 leave a parking lot. The user M has an information terminal 60.

[0059] The processor 81 of the information terminal 60 determines whether the information terminal 60 has approached the vehicle 10, that is, whether the information terminal 60 has approached close enough to the vehicle 10 to enable wireless communication (step S11).

[0060] In step S11, if the information terminal 60 has not approached the vehicle 10 to a distance where wireless communication is possible (step S11: No), the processor 81 repeats the process of step S11 until wireless communication is possible.

[0061] In step S11, if the information terminal 60 has approached the vehicle 10 to a distance where wireless communication is possible (step S11: Yes), the processor 81 displays, for example, an automatic leaving guidance screen 62 as shown in FIG. 7 on the terminal screen 61, and prompts the user to start an application for automatic leaving of the vehicle 10 (step S12). On the automatic leaving guidance screen 62, the processor 81 displays a notification message 62a prompting the user to start the automatic leaving application, such as "Please start remote operation," a start button 62b for starting the application, and a close button 62c for closing the automatic leaving guidance screen 62.

[0062] Next, the processor 81 determines whether or not the application for automatic leaving the garage has been started (step S13).

[0063] In step S13, if the application for automatic leaving is not started (step S13: No), the processor 81 waits until it is started. However, if the application is not started for a certain period of time, the processor 81 may automatically close the automatic leaving guidance screen 62.

[0064] In step S13, if the application for automatic leaving the garage is started (step S13: Yes), the processor 81 displays, for example, a child protection screen 63 as shown in FIG. 8 on the terminal screen 61 (step S14).

[0065] When the OK button 63a is touched after a predetermined authentication code is entered in step S14, the processor 81 displays an exit instruction screen 64 on the terminal screen 61, for example, as shown in FIG. 9, which asks whether or not to perform automatic exit (step S15). The processor 81 displays, for example, a vehicle image 64a of the vehicle 10 and a confirmation message 64b such as "Do you want to perform automatic exit?" on the exit instruction screen 64. The processor 81 also displays, on the exit instruction screen 64, an automatic exit button 64c that is touched if automatic exit is to be performed, and a close button 64d that closes the exit instruction screen 64 if automatic exit is not to be performed.

[0066] When the automatic release button 64c is touched in step S15, the processor 81 displays the disclaimer notice and agreement screen 65, which is specified for automatic release, on the terminal screen 61 (step S16), as shown in Fig. 10, for example. If the user agrees to the contents of the disclaimer notice and agreement screen 65, the user swipes the agreement button 65a, and if the user does not agree, the user touches the cancel button 65b to cancel automatic release.

[0067] When the Agree button 65a is swiped in step S16, the processor 81 displays, for example, an ignition ON screen 66 as shown in FIG. 11 on the terminal screen 61 to prompt the user to select the direction in which the vehicle 10 will leave the parking lot (step S17). The processor 81 displays, for example, a vehicle image 66a of the vehicle 10 and an ignition ON button 66b for proceeding with the automatic leaving process on the ignition ON screen 66. The processor 81 also displays, on the ignition ON screen 66, a close button 66c for closing the ignition ON screen 66 when the automatic leaving process is to be canceled.

[0068] When the ignition ON button 66b is touched in step S17, the processor 81 displays on the terminal screen 61, for example, an exit direction selection screen 67 that accepts the selection of the exit direction for automatic exit and the reservation for opening and closing the opening / closing mechanism, as shown in FIG. 12 (step S18). The processor 81 displays, for example, forward exit 67a, which moves forward to exit the parking space and then stops, and rear exit 67b, which moves backward to exit the parking space and then stops, on the exit direction selection screen 67. The processor 81 also displays, for example, left front door 67c, which reserves the opening and closing of the left front door, right front door 67d, which reserves the opening and closing of the right front door, left rear door 67e, which reserves the opening and closing of the left rear door, right rear door 67f, which reserves the opening and closing of the right rear door, and tailgate 67g, which reserves the opening and closing of the tailgate, on the exit direction selection screen 67. Furthermore, the processor 81 displays a selection message 67h such as "Please select the exit direction" and "Open / close reservation accepted" on the exit direction selection screen 67. On this exit direction selection screen 67, the user M can select the exit direction (67a, 67b) from which the vehicle 10 is to be exited and the opening / closing body (67c to 67g) to be opened or closed by touching the screen.

[0069] When a desired exit direction and opening / closing device are selected on the exit direction selection screen 67, the processor 81 displays an exit direction confirmation screen 68, such as that shown in FIG. 13, on the terminal screen 61. The processor 81 displays an exit direction image 68a on the exit direction confirmation screen 68, indicating the accepted exit direction and reserved opening / closing device. In the example shown in the figure, the screen displays that the reservation for forward exit and the opening / closing of the left front door has been accepted. The processor 81 also displays a confirmation message 68b on the exit direction confirmation screen 68, such as "Exiting forward" and "After exiting, the left front door will open." The processor 81 also displays an OK button 68c on the exit direction confirmation screen 68 to confirm the exit direction and reserved opening / closing device, and a reselect button 68d to reselect the exit direction and reserved opening / closing device. Note that when the reselect button 68d is touched, the processor 81 displays the exit direction selection screen 67 shown in FIG. 12 to prompt the user to select the exit direction and opening / closing device again.

[0070] In step S18, when the OK button 68c on the exit direction confirmation screen 68 of FIG. 13 is touched, the processor 81 starts the process of establishing a communication connection with the vehicle 10 and displays, for example, a connection screen 69 as shown in FIG. 14 on the terminal screen 61 (step S19). The processor 81 displays, on the connection screen 69, a connection message 69a, such as "Connecting to vehicle," indicating that the connection process with the vehicle 10 is in progress, and a cancel button 69b for canceling the connection process. When the communication connection with the vehicle 10 is completed, the processor 81 transmits to the vehicle 10 automatic exit information including the exit direction and the reserved opening / closing mechanism accepted at the time of leaving in step S18.

[0071] Next, the processor 81 displays, on the terminal screen 61, an operation input start screen 70 that prompts the user to start automatic leaving, as shown in FIG. 15 (step S20). The processor 81 displays, on the operation input start screen 70, for example, an image of six spheres 70a rotating counterclockwise in the direction indicated by an arrow 70b. That is, an image is displayed that prompts the user to perform a rotational swipe operation that slides counterclockwise on the terminal screen 61. The processor 81 also displays, on the operation input start screen 70, a guidance message 70c such as "Please rotate while touching the screen." The processor 81 also displays, on the operation input start screen 70, a vehicle image 70d that indicates that the vehicle 10 will be leaving the parking lot in a forward direction, and a caution message 70e such as "Please check your surroundings directly." The processor 81 also displays, on the operation input start screen 70, a stop button 70f for canceling the automatic leaving.

[0072] Next, the processor 81 determines whether or not a rotational swipe operation has been started on the terminal screen 61 (step S21).

[0073] In step S21, if a rotational swipe operation has not been started (step S21: No), the processor 81 waits by repeating the process of step S21 until a rotational swipe operation is started.

[0074] In step S21, if a rotational swipe operation is started (step S21: Yes), the processor 81 displays, on the terminal screen 61, an operation input screen 71 showing a state in which a rotational swipe operation is being performed during leaving, as shown in FIG. 16, for example (step S22). The processor 81 displays, on the operation input screen 71, for example, a moving icon 71a that moves following the touch position of the user M during the rotational swipe operation. The processor 81 also displays a guidance message 71b for stopping the automatic leaving of the vehicle 10, such as "Remove your finger to stop." The processor 81 also displays, on the operation input screen 71, a vehicle image 71c indicating that the vehicle 10 is moving forward and leaving the parking lot, as well as a warning message 70e and a stop button 70f, as in FIG. 15. In this way, when a rotational swipe operation is performed on the terminal screen 61, the moving icon 71a rotates following the touch position, and the vehicle 10 starts moving in accordance with the rotational movement. Furthermore, when the finger that has been performing the rotational swipe operation is released from the terminal screen 61, or when the rotational swipe operation is stopped, the automatic leaving movement of the vehicle 10 is temporarily stopped.

[0075] Next, the processor 81 starts the automatic leaving of the vehicle 10 by transmitting an exit instruction signal to the vehicle 10 (step S23). When the automatic parking control unit 55 of the vehicle 10 receives the exit instruction signal from the information terminal 60, it starts the automatic leaving of the vehicle 10 in accordance with the received exit instruction signal and based on the automatic leaving information including the exit direction and the reserved opening / closing member received at the time of leaving.

[0076] Next, the processor 81 determines whether the automatic leaving has been completed, i.e., whether the leaving of the vehicle 10 in the leaving direction selected by the user M has been completed (step S24). Whether the automatic leaving has been completed can be determined based on information relating to the execution control of the automatic leaving transmitted from the automatic parking control unit 55 of the vehicle 10.

[0077] In step S24, if the automatic retrieval has not been completed (step S24: No), the processor 81 waits and repeats the process of step S24 until the automatic retrieval is completed.

[0078] If automatic retrieval is completed in step S24 (step S24: Yes), the processor 81 displays, for example, an automatic retrieval completion screen 72 as shown in FIG. 17 on the terminal screen 61 (step S25). The processor 81 displays a retrieval completion message 72a, such as "Removal has been completed. Please touch the screen," on the automatic retrieval completion screen 72. When the terminal screen 61 is touched on this automatic retrieval completion screen 72, the processor 81 ends this retrieval instruction control during automatic retrieval.

[0079] <Handling of vehicle 10 when automatically leaving the garage> Next, an example of the leaving execution control by the automatic parking control unit 55 of the vehicle 10 during automatic leaving will be described with reference to the flowchart of FIG.

[0080] The automatic parking control unit 55 of the vehicle 10 determines whether it is in a state of communication connection with the information terminal 60, i.e., whether the information terminal 60 has come close enough to the vehicle 10 to enable wireless communication (step S31).

[0081] In step S31, if communication connection with the information terminal 60 is not established (step S31: No), the automatic parking control unit 55 waits until communication connection is established.

[0082] In step S31, if a communication connection with the information terminal 60 is established (step S31: Yes), the automatic parking control unit 55 receives from the information terminal 60 automatic exit information regarding the exit direction of the vehicle 10 and the reserved opening / closing body, which has been accepted by the information terminal 60 (step S32).

[0083] Next, the automatic parking control unit 55 performs UWB communication with the information terminal 60 to identify the relative positions of the vehicle 10 and the information terminal 60 (step S33).

[0084] Next, the automatic parking control unit 55 determines whether or not doors other than the driver's door have been reserved for opening and closing when the vehicle 10 leaves the parking lot, based on the automatic leaving information received from the information terminal 60 in step S32 (step S34).

[0085] In step S34, if a reservation has been made for opening and closing a door other than the driver's door (step S34: Yes), the automatic parking control unit 55 sets the target movement position of the vehicle 10 so that the door (opening / closing body) that has been reserved for opening and closing will be near the information terminal 60 (user M carrying the information terminal 60) when the vehicle 10 leaves the parking lot (step S35).

[0086] In step S34, if no reservation has been made for opening or closing any doors other than the driver's door (step S34: No), the automatic parking control unit 55 sets a target movement position for the vehicle 10 so that the driver's door will be close to the information terminal 60 when the vehicle 10 leaves the parking lot (step S36). This case includes a case where the driver's door has been reserved for opening or closing, and a case where no door has been reserved for opening or closing.

[0087] Next, the automatic parking control unit 55 determines whether or not it has received an automatic exit start instruction from the information terminal 60, i.e., whether or not it has received an exit instruction signal transmitted from the information terminal 60 during the processing of step S23 in the information terminal 60 in Figure 6 (step S37).

[0088] In step S37, if the automatic leaving start instruction has not been received from the information terminal 60 (step S37: No), the automatic parking control unit 55 waits until the automatic leaving start instruction is received.

[0089] In step S37, if an instruction to start automatic leaving is received from the information terminal 60 (step S37: Yes), the automatic parking control unit 55 starts moving the vehicle 10 to the target movement position set in step S35 or step S36 (step S38).

[0090] Next, the automatic parking control unit 55 determines whether or not the vehicle 10 has reached the target movement position (step S39).

[0091] In step S39, if the target movement position has not been reached (step S39: No), the automatic parking control unit 55 repeats the process until the target movement position is reached. Note that, if the rotational swipe operation is stopped in the processes of steps S21 and S22 of FIG. 6 on the information terminal 60 before the target movement position is reached, an exit stop signal is transmitted from the information terminal 60 to the vehicle 10. In that case, the automatic parking control unit 55 stops the automatic exit of the vehicle 10. Also, if the rotational swipe operation is stopped in the processes of steps S21 and S22 of FIG. 6 on the information terminal 60, the exit instruction signal transmitted from the information terminal 60 to the vehicle 10 may be stopped in the process of step S23. Then, when the exit instruction signal is stopped, the automatic parking control unit 55 may stop the automatic exit of the vehicle 10.

[0092] In step S39, if the target movement position is reached (step S39: Yes), the automatic parking control unit 55 determines whether a reservation has been made to open and close the doors of the vehicle 10 based on the automatic exit information received from the information terminal 60 in step S32 (step S40).

[0093] In step S40, if a reservation for opening or closing a door has been made (step S40: Yes), the automatic parking control unit 55 performs the opening and closing process of the reserved door through the opening and closing control by the opening and closing control unit 56 (step S41), and ends this leaving execution control. Note that the opening and closing process of the door includes the process of unlocking the door and the process of automatically opening and closing the door, as described above.

[0094] In step S40, if the door opening / closing reservation has not been made (step S40: No), the automatic parking control unit 55 does not perform the door opening / closing process, and ends this pull-out execution control.

[0095] <Example of moving to a target position> Next, an example of movement of the vehicle 10 that moves to the target movement position by the leaving execution control will be described with reference to FIGS. 19 and 20. FIG.

[0096] 19 is a diagram showing how the vehicle 10 automatically leaves the target movement position when a reservation is made for opening and closing the left rear door of the vehicle 10. In this case, a position where the left rear door is easily accessible to the user M is set as the target movement position for the leaving execution control.

[0097] 19, the vehicle 10 is controlled to move from the parking space P and stop at a position where the rear left door 91e is easily accessible to the user M carrying the information terminal 60. After the vehicle 10 moves to the target movement position, the rear left door 91e, which has been reserved for opening and closing, is opened and closed. The vehicle 10 shown in the figure shows a state in which the rear left door 91e is open.

[0098] If the external environment recognition unit 57 recognizes that a surrounding object that would be an obstacle when opening or closing the left rear door 91e of the vehicle 10 is present near the left rear door 91e, the automatic parking control unit 55 sets a target movement position so that the surrounding object does not obstruct the opening or closing of the left rear door 91e. The automatic parking control unit 55 controls the vehicle 10 to stop at the target movement position. The automatic parking control unit 55 sets the target movement position based on the distance between the door of the vehicle 10 and the surrounding object, the type of door (tailgate, sliding door, hinged door, etc.), etc.

[0099] 20 is a diagram showing how the vehicle 10 automatically leaves the target movement position when a reservation for opening and closing the left front door of the vehicle 10 is made. In this case, a position that allows the user M to easily access the left front door is set as the target movement position for the leaving execution control. The left front door is the driver's door of the vehicle 10.

[0100] 20, the vehicle 10 is controlled to move from the parking space P and stop at a position where the left front door 91c is easily accessible to the user M carrying the information terminal 60. After the vehicle 10 moves to the target movement position, the left front door 91c, which has been reserved for opening and closing, is opened and closed.

[0101] If the opening / closing of the opening / closing body is not reserved, a position where the user M can easily access the driver's door (left front door 91c) of the vehicle 10 is set as the target movement position, as described above. In this case, the vehicle 10 is also controlled so that the user M carrying the information terminal 60 moves to and stops at a position where the user M can easily access the left front door 91c, as shown in Fig. 20. However, since the opening / closing of the opening / closing body is not reserved, the automatic opening / closing process of the driver's door (left front door 91c) is not performed.

[0102] As described above, when performing the leaving execution control of the vehicle 10, if a reservation for opening and closing has been accepted for a specific opening and closing body other than the opening and closing body of the driver's seat among the opening and closing bodies of the vehicle 10, the automatic parking control unit 55 in the calculation unit 52 of the vehicle 10 sets a target movement position for the leaving execution control based on the positional relationship between the specific opening and closing body reserved for opening and closing and the information terminal 60. As a result, if a reservation for opening and closing of the specific opening and closing body has been accepted, a position that is easy for the user M of the vehicle 10 to access the specific opening and closing body is set as the target movement position for the leaving execution control, even if the user M of the vehicle 10 does not manually set the target movement position for the leaving execution control. This reduces the burden on the user M when automatically leaving the vehicle 10, improving usability.

[0103] Furthermore, when performing the exit execution control of the vehicle 10, if a reservation for opening or closing the specific opening-closing body has not been accepted, the automatic parking control unit 55 sets a target movement position for the exit execution control based on the positional relationship between the opening-closing body of the driver's seat and the information terminal 60. As a result, if a reservation for opening or closing the specific opening-closing body has not been accepted, a position that is easily accessible to the driver's seat for the user M is set as the target movement position for the exit execution control, even if the user M does not manually set the target movement position for the exit execution control. This reduces the burden on the user M when automatically exiting the vehicle 10.

[0104] Furthermore, the automatic parking control unit 55 determines the state of the user M of the vehicle 10, and automatically accepts reservations for opening and closing the specific opening-closing body based on the determination result. This further reduces the burden on the user M when the vehicle 10 is automatically pulled out of the parking lot.

[0105] Furthermore, the automatic parking control unit 55 determines whether the reserved opening / closing body can be opened or closed based on the recognition result of the external environment of the vehicle 10 by the external environment recognition unit 57, and sets a target movement position for the leaving execution control based on the determination result. This makes it possible to prevent a situation in which the opening / closing body cannot be opened or closed due to, for example, a surrounding object when the vehicle 10 has arrived at the target movement position.

[0106] Furthermore, the automatic parking control unit 55 determines whether the opening / closing body can be opened or closed depending on the distance between the opening / closing body and the surrounding object and the type of the opening / closing body. This prevents a situation in which the opening / closing body cannot be opened or closed even when the vehicle 10 has arrived at the target movement position.

[0107] Furthermore, when the vehicle 10 arrives at the target movement position, the automatic parking control unit 55 performs the opening and closing process of the opening-closing body that has been reserved for opening and closing. This allows the opening and closing process of the opening-closing body to be performed automatically, further reducing the burden on the user M.

[0108] Furthermore, the automatic parking control unit 55 identifies the position of the information terminal 60 relative to the vehicle 10 based on ultra-wideband communication with the information terminal 60. This allows the position of the information terminal 60 to be identified with high accuracy, making it possible to set an optimal target movement position for the vehicle 10 that allows the user M to easily access the opening / closing body.

[0109] 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.

[0110] For example, in the above embodiment, the case has been described in which the calculation unit 52, as an example of a control device, sets the target movement position for movement control based on the positional relationship between the specific opening / closing object reserved for opening and closing and the information terminal using the automatic parking control unit 55, but this is not limiting. For example, the information terminal 60 may be an example of a control device, and the processor 81 of the information terminal 60 may set the target movement position for movement control based on the positional relationship between the specific opening / closing object reserved for opening and closing and the information terminal.

[0111] In the above embodiment, the moving body is a vehicle (four-wheeled automobile), but the present invention is not limited to this. For example, the moving body may be a motorcycle, a Segway, or other vehicle. Furthermore, the concept of the present invention is not limited to vehicles, and may also be applied to robots, ships, aircraft, and the like that are equipped with a drive source and can move using the power of the drive source.

[0112] 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.

[0113] 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.

[0114] (1) In a control device (calculation unit 52) ​​for a moving body (vehicle 10) having a plurality of opening / closing bodies, A control unit (automatic parking control unit 55) controls the movement of the moving body based on a specific operation on a portable information terminal (information terminal 60) by a user (user M) of the moving body, The control unit When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. Control device.

[0115] According to (1), when a reservation for opening or closing a specific opening / closing body is accepted, a position that is easily accessible to the specific opening / closing body is set as the target movement position for movement control, even if the user does not manually set the target movement position for movement control, thereby reducing the burden on the user and improving usability.

[0116] (2) The control device according to (1), The control unit When the movement control is executed, if the opening / closing reservation of the specific opening / closing body is not accepted, setting a target movement position for the movement control based on a positional relationship between the driver's seat opening / closing body and the information terminal; Control device.

[0117] According to (2), when a reservation for opening or closing a specific opening / closing body has not been accepted, a position that allows the user easy access to the driver's seat is set as the target movement position for movement control, even if the user does not manually set the target movement position for movement control, thereby reducing the burden on the user and improving usability.

[0118] (3) The control device according to (1) or (2), The control unit automatically accepting reservations for opening and closing the specific opening / closing body based on the determination result of the state of the user of the mobile body; Control device.

[0119] According to (3), it is possible to further reduce the burden on the user, thereby improving usability.

[0120] (4) The control device according to any one of (1) to (3), Further, an external environment recognition unit that recognizes the external environment of the moving body is provided, The control unit It is possible to determine whether the opening / closing body can be opened or closed based on the recognition result by the external environment recognition unit, setting a target movement position for the movement control based on a determination result of whether the opening / closing body can be opened or closed; Control device.

[0121] According to (4), it is possible to prevent a situation in which the opening / closing body cannot be opened or closed when the moving body has reached the target moving position.

[0122] (5) The control device according to (4), The control unit Whether the opening / closing body can be opened or closed is determined based on the distance between the opening / closing body and a surrounding object and the type of the opening / closing body. Control device.

[0123] According to (5), it is possible to prevent a situation in which the opening / closing body cannot be opened or closed even when the moving body has reached the target moving position.

[0124] (6) The control device according to any one of (1) to (5), The control unit When the moving body arrives at the target movement position, an opening / closing process of the opening / closing body is performed. Control device.

[0125] According to (6), the burden on the user is reduced and usability is improved.

[0126] (7) The control device according to any one of (1) to (6), The control unit Identifying the location of the information terminal based on ultra-wideband communication with the information terminal; Control device.

[0127] According to (7), the position of the information terminal can be identified with high accuracy, and an optimal target movement position can be set.

[0128] (8) A method for controlling a moving body having a plurality of opening / closing bodies, comprising: a control unit that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body, When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. Control method.

[0129] According to (8), when a reservation for opening or closing a specific opening / closing body is accepted, a position that is easily accessible to the specific opening / closing body is set as the target movement position for movement control, even if the user does not manually set the target movement position for movement control, thereby reducing the burden on the user and improving usability.

[0130] (9) A control program for a moving object having a plurality of opening and closing bodies, a processor that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body; When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. A control program for executing processing.

[0131] According to (9), when a reservation for opening or closing a specific opening / closing body is accepted, a position that is easily accessible to the specific opening / closing body is set as the target movement position for movement control, even if the user does not manually set the target movement position for movement control, thereby reducing the burden on the user and improving usability. [Explanation of symbols]

[0132] 10 Vehicles (moving objects) 52 Calculation unit (control device) 55 Automatic parking control unit (control unit) 57 External world recognition part 60 Information terminal 91c Left front door (opening / closing body) 91e Left rear door (opening / closing body)

Claims

1. In a control device for a moving body having a plurality of opening and closing bodies, a control unit that controls movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body; The control unit When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. Control device.

2. 2. The control device according to claim 1, The control unit When the movement control is executed, if the opening / closing reservation of the specific opening / closing body has not been accepted, or if the opening / closing reservation of the opening / closing body of the driver's seat has been accepted, setting a target movement position for the movement control based on a positional relationship between the driver's seat opening / closing body and the information terminal; Control device.

3. The control device according to claim 1 or 2, Further, an external environment recognition unit that recognizes external environment information of the moving body is provided, The control unit determining a state of the user of the mobile body based on the external environment information, and automatically accepting an opening / closing reservation for the specific opening / closing body based on the result of the determination; Control device.

4. A control device according to claim 3, The user's status includes at least one of information on passengers of the user or information on luggage carried by the user. Control device.

5. A control device according to any one of claims 1 to 4, Further, an external environment recognition unit that recognizes the external environment of the moving body is provided, The control unit It is possible to determine whether the opening / closing body can be opened or closed based on the recognition result by the external environment recognition unit, setting a target movement position for the movement control based on a determination result of whether the opening / closing body can be opened or closed; Control device.

6. In the control device according to claim 5, The control unit Whether the opening / closing body can be opened or closed is determined based on the distance between the opening / closing body and a surrounding object and the type of the opening / closing body. Control device.

7. A control device according to any one of claims 1 to 6, The control unit When the moving body arrives at the target movement position, an opening / closing process of the opening / closing body is performed. Control device.

8. A control device according to any one of claims 1 to 7, The control unit Identifying the location of the information terminal based on ultra-wideband communication with the information terminal; Control device.

9. A method for controlling a moving body having a plurality of opening and closing bodies, comprising: a control unit that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body, When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. Control method.

10. A control program for a moving object having a plurality of opening and closing bodies, a processor that controls the movement of the mobile body based on a specific operation on a portable information terminal by a user of the mobile body; When the movement control is executed, if a reservation for opening and closing a specific opening and closing body other than the opening and closing body of the driver's seat of the moving body among the plurality of opening and closing bodies has been accepted, a target movement position of the movement control is set based on a positional relationship between the specific opening and closing body and the information terminal. A control program for executing processing.

Images