Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program that are capable of enhancing the operability of moving a moving object using an information terminal.SOLUTION: A control device includes: a communication unit 55 that communicates with an information terminal 60 carried by a user of a vehicle 10; a control unit 56 that controls movement of the vehicle 10 according to instructions from the information terminal 60; and a movement state acquisition unit 57 that acquires a movement state of the vehicle 10. The instructions from the information terminal 60 includes a movement instruction to move the vehicle 10 and a stop instruction to stop the vehicle 10. When receiving the stop instruction while moving the vehicle 10 according to the movement instruction, the control unit 56 stops the vehicle 10 with a braking force corresponding to the movement state of the vehicle 10.SELECTED DRAWING: Figure 3

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] BACKGROUND ART Conventionally, remote parking systems have been known that use a smartphone to remotely control a vehicle to park the vehicle in a designated parking space or to cause the vehicle to leave the parking space.

[0004] For example, Patent Document 1 describes an automatic vehicle addressing system including a remote controller that transmits an emergency stop command via a wireless network and a controller that controls the vehicle to stop in an emergency based on the emergency stop command transmitted from the remote controller. Patent Document 2 describes an intelligent point parking system having an emergency stop button that can brake the vehicle in response to a driver's operation in an emergency. Patent Document 3 describes an autonomous vehicle that receives a user input to select an emergency stop area from at least one available stopping area or recommended stopping area, and controls the vehicle to stop in the emergency stop area. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Chinese Patent Application Publication No. 112000089 [Patent Document 2] Chinese Patent Application Publication No. 111016884 [Patent Document 3] US Patent Application Publication No. 2018 / 0147988 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional remote parking systems, when a vehicle is stopped using a smartphone while the vehicle is moving, the vehicle is stopped at a constant deceleration regardless of the vehicle's state of movement at the time. This results in differences in the distance or time required for the vehicle to actually stop after the stopping operation is performed, depending on the vehicle's moving speed, for example. As a result, depending on the vehicle's state of movement, it may be difficult for a user to easily stop the vehicle using a smartphone. Patent Documents 1 to 3 do not describe any countermeasures for this stopping operation.

[0007] The present invention aims to provide a control device, a control method, and a control program that can improve the operability of operating a mobile object using an information terminal, thereby contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0008] The present invention provides A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the moving object based on an instruction from the information terminal; a moving state acquisition unit that acquires a moving state of the moving body, The instruction from the information terminal is a movement instruction to move the moving object; and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit When the stop instruction is given while the moving body is being moved based on the movement instruction, the moving state and the communication qualityThe moving body is stopped by a braking force according to the height, the lower the communication quality is, the higher the braking force is increased to stop the moving body. It is a control device. Alternatively, the present invention provides A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the moving object based on an instruction from the information terminal; a moving state acquisition unit that acquires a moving state of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. It is a control device.

[0009] The present invention provides A method for controlling a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls movement of the moving body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the moving body, The instruction from the information terminal is a movement instruction to move the moving object; and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit When the stop instruction is given while the moving body is being moved based on the movement instruction, the moving state and the communication quality The moving body is stopped by a braking force according to the height, the lower the communication quality is, the higher the braking force is increased to stop the moving body. It is a control method. Alternatively, the present invention provides A method for controlling a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls movement of the moving body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. It is a control method.

[0010] The present invention provides A control program for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the mobile body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the mobile body, The instruction from the information terminal is a movement instruction to move the moving object; and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit When the stop instruction is given while the moving body is being moved based on the movement instruction, the moving state and the communication quality The moving body is stopped by a braking force according to the height, the lower the communication quality is, the higher the braking force is increased to stop the moving body. It is a control program that executes the process. Alternatively, the present invention provides A control program for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the mobile body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the mobile body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. A control program that executes processing. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a control device, a control method, and a control program that can improve the operability of operating a moving object using an information terminal. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a side view showing an example of a vehicle 10 equipped with a control device of the present invention. [Figure 2] FIG. 2 is a top view of the vehicle 10 shown in FIG. [Figure 3]FIG. 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of the hardware configuration of the information terminal 60 owned by the user of the vehicle 10. As shown in FIG. [Figure 5] FIG. 5 is a diagram showing an example of a call start state in which a user calls a vehicle. [Figure 6] FIG. 6 is a diagram showing an example of the route of the vehicle V1 leaving the garage. [Figure 7] FIG. 7 is a diagram showing an example of a state in which the summoning of the vehicle V1 has been completed. [Figure 8] FIG. 8 is a flowchart showing an example of the processing of the information terminal 60 when the vehicle 10 is called. [Figure 9] FIG. 9 is a diagram showing an example of an operation reception screen 67 displayed on the display screen 66 of the information terminal 60. As shown in FIG. [Figure 10] FIG. 10 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different moving speed is stopped by the stopping process of the conventional technology. [Figure 11] FIG. 11 is a flowchart showing an example of the stop processing performed by the vehicle 10 of this embodiment. [Figure 12] FIG. 12 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different moving speed is stopped in the stopping process of this embodiment. [Figure 13] FIG. 13 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different weight is stopped by the stopping process of the conventional technology. [Figure 14] FIG. 14 is a flowchart showing a first modified example of the stop processing by the vehicle 10 of the present embodiment. [Figure 15] FIG. 15 is a diagram showing the stopping positions of the vehicles 10 when the vehicles 10 having different weights are stopped by the stopping process of the first modified example of this embodiment. [Figure 16] FIG. 16 is a flowchart showing a second modified example of the stop processing by the vehicle 10 of the present embodiment. [Figure 17]FIG. 17 is a flowchart showing a third modified example of the stop processing by the vehicle 10 of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] 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.

[0014] <Vehicle 10 equipped with the control device of the present invention> Fig. 1 is a side view showing an example of a vehicle 10 equipped with 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 the "mobile body" of the present invention.

[0015] 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.

[0016] 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.

[0017] 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 an imaging device (e.g., a digital camera) provided at the front of the vehicle 10 and captures images in the front direction of the vehicle 10. The rear camera 12Rr is a digital camera provided at the rear of the vehicle 10 and captures images in the rear direction of the vehicle 10. The left side camera 12L is a digital camera provided on the left side mirror 11L of the vehicle 10 and captures images in the left direction of the vehicle 10. The right side camera 12R is a digital camera provided on the right side mirror 11R of the vehicle 10 and captures images in the right direction of the vehicle 10.

[0018] <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 IF (Interface) 24. Vehicle 10 also has a driving force control system 26 and a braking force control system 28.

[0019] 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 also includes a weight sensor (not shown) that can detect the load weight of the vehicle 10.

[0020] 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 external environment recognition data (e.g., peripheral images) for recognizing the external environment of the vehicle 10. The peripheral images of the vehicle 10 captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R are referred to as the front image, rear image, left side image, and right side image, respectively. An image composed of the left side image and the right side image may also be referred to as a lateral image. An image of the vehicle 10 and its surroundings generated by combining the images captured by the front camera 12Fr, rear camera 12Rr, left side camera 12L, and right side camera 12R is referred to as an overhead image of the vehicle 10.

[0021] 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 at the front and rear of the right side of the vehicle 10, respectively.

[0022] 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.

[0023] 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.

[0024] 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).

[0025] 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 route guidance to the destination. The navigation device 18 has a storage device (not shown) that has a map information database. The navigation device 18 also has 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 a remote parking button for requesting parking using automatic steering by the control ECU 20 and an assisted parking button for requesting assistance when parking via a user's operation. The exit assistance buttons include a remote exit button for requesting exit using automatic steering by the control ECU 20 and an assisted exit button for requesting assistance when leaving via a user's operation. Note that components other than the touch panel 42, such as an information terminal such as a smartphone or tablet, may be used as the input device or the display device.

[0027] Note that "parking" is synonymous with "parking," for example. For example, "parking" refers to stopping with passengers getting in and out, and does not include temporary stops at traffic signals, etc. Also, a "parking position" refers to a position where a moving body (vehicle 10) is stopped, i.e., a parking position.

[0028] The control ECU 20 has an input / output unit 50, a calculation unit 52, and a memory 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 memory 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 memory unit 54 also stores information related to the remote movement (remote entry and exit) of the vehicle 10. The control ECU 20 is an example of a "control device" in the present invention.

[0029] The calculation unit 52 has a communication unit 55 that communicates with the outside of the vehicle 10, a control unit 56 that controls the remote movement of the vehicle 10, and a movement status acquisition unit 57 that acquires the movement status of the vehicle 10.

[0030] The communication unit 55 performs wireless communication with another communication device 120 via the communication IF 24. The other communication device 120 includes a base station, a communication device of another vehicle, an information terminal 60 such as a smartphone or tablet carried by the user of the vehicle 10, and the like. The communication unit 55 transmits and receives information related to the remote movement of the vehicle 10 to and from the information terminal 60, and the like, via the communication IF 24. The communication unit 55 also acquires the communication quality between the vehicle 10 and the information terminal 60. The communication quality is detected based on, for example, a received signal strength indicator (RSSI) or an error rate in communication.

[0031] The control unit 56 performs remote parking assistance and remote leaving assistance for the vehicle 10 by automatic steering, in which the operation of the steering wheel 110 is performed automatically under the control of the control unit 56. In the remote parking assistance and remote leaving assistance, the operation of the accelerator pedal (not shown), the brake pedal (not shown), and the operation input unit 14 is performed automatically. The control unit 56 also performs assisted parking assistance and assisted leaving assistance when the user (driver) operates the accelerator pedal, the brake pedal, and the operation input unit 14 to manually park and manually leave the vehicle 10. Note that during remote parking assistance and remote leaving assistance, the user may be in the vehicle 10, or may be outside the vehicle 10 (not in the vehicle).

[0032] For example, the control unit 56 performs movement control to move the vehicle 10 based on external environment recognition data 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 a predetermined parking space designated by the user. The movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (parking position) and withdrawal control to remotely withdraw the vehicle 10 from the parking space to a predetermined target position (exit position). The target position includes, for example, a call-up position where the user calls the vehicle 10.

[0033] The control unit 56 executes parking control and exit control of the vehicle 10 based on instruction signals input via the input / output unit 50. The received instruction signals include instruction signals output from an information terminal 60 or the like carried by the user of the vehicle 10 and transmitted via wireless communication. Instructions from the information terminal 60 or the like include a "movement instruction" to move the vehicle 10 and a "stop instruction" to stop the vehicle 10. Stop instructions include a first stop instruction and a second stop instruction. The second stop instruction is an instruction that is output when the urgency is higher than that of the first stop instruction. Hereinafter, the first stop instruction will also be referred to as a "normal stop instruction" and the second stop instruction will also be referred to as an "emergency stop instruction."

[0034] A movement instruction is issued when the information terminal 60 receives a continuous first operation. A "movement instruction" is issued when a movement instruction signal is repeatedly transmitted. The "continuous first operation" is, for example, a specific operation by the user on the display screen of the information terminal 60 (for example, a rotational swipe operation, etc.), which will be described later with reference to FIG. 4.

[0035] The first stop instruction is issued when the continuous first operation is interrupted. The "first stop instruction" is issued when the movement instruction signal is no longer transmitted. The second stop instruction is issued when the information terminal 60 receives a second operation that is different from the continuous first operation. The "second stop instruction" is issued when the emergency stop instruction signal is transmitted. The "second operation" is, for example, pressing an emergency stop button or inputting a voice signal indicating an emergency. The movement instruction signal is continuously transmitted while the first operation (specific operation) is continued, and the movement instruction signal is no longer transmitted when the first operation is interrupted. Note that the instruction from the information terminal 60 is an instruction to move or stop the vehicle 10, and cannot instruct the speed of the vehicle 10.

[0036] Specifically, when a stop instruction is received while the vehicle 10 is being moved based on a movement instruction, the control unit 56 stops the vehicle 10 with a braking force according to the movement state of the vehicle 10. "When a stop instruction is received" may refer to a case where a stop instruction signal is transmitted from the information terminal 60 to the control unit 56, or a case where the movement instruction signal that had been transmitted from the information terminal 60 to the control unit 56 is no longer transmitted.

[0037] Furthermore, when a stop command is given while the vehicle 10 is moving based on a movement command, the control unit 56 applies a higher braking force to stop the vehicle 10 as the moving speed of the vehicle 10 increases. The control unit 56 controls the braking force so that the time and distance until the vehicle 10 stops do not vary significantly even if the moving speed of the vehicle 10 differs, for example.

[0038] Furthermore, when a stop command is given while the vehicle 10 is being moved based on a movement command, the control unit 56 applies a higher braking force to stop the vehicle 10 as the weight of the vehicle 10 increases. The control unit 56 controls the braking force so that the time and distance required to stop the vehicle 10 do not vary significantly, even if the weight of the vehicle 10 differs, for example.

[0039] Furthermore, when a stop command is received while the vehicle 10 is being moved based on a movement command, the control unit 56 stops the vehicle 10 with a braking force that corresponds to the state of movement of the vehicle 10 and the communication quality between the vehicle 10 and the information terminal 60. For example, when a stop command is received while the vehicle 10 is being moved based on a movement command, the control unit 56 stops the vehicle 10 with a braking force that is higher the lower the communication quality between the vehicle 10 and the information terminal 60.

[0040] Furthermore, the control unit 56 acquires the delay time from when an instruction signal is transmitted from the information terminal 60 until movement control based on the instruction signal is started, and if a stop instruction is given while the vehicle 10 is being moved based on the movement instruction, the control unit 56 stops the vehicle 10 with a braking force according to the movement state of the vehicle 10 and the communication delay time. For example, if a stop instruction is given while the vehicle 10 is being moved based on the movement instruction, the control unit 56 stops the vehicle 10 with a braking force that is higher the longer the communication delay time.

[0041] The "instruction signal" is, for example, a signal instructing the vehicle 10 to move. Assuming that time synchronization is achieved between the vehicle 10 and the information terminal 60 (or that each has acquired the correct time), the information terminal 60 stores the transmission time of the instruction signal in the instruction signal and transmits it to the vehicle 10, and the vehicle 10, upon receiving the instruction signal, acquires the "delay time" based on the transmission time. For example, the delay time is the time obtained by subtracting the transmission time at which the information terminal 60 transmitted the instruction signal from the time at which the control unit 56 of the vehicle 10 started movement control based on the instruction signal. Alternatively, the delay time may be the time obtained by subtracting the transmission time at which the information terminal 60 transmitted the instruction signal from the time at which the control unit 56 of the vehicle 10 received the instruction signal.

[0042] The control unit 56 also stores the communication delay time when the vehicle 10 is being moved based on a movement instruction, and when a stop instruction is given while the vehicle 10 is being moved based on the movement instruction, the control unit 56 stops the vehicle 10 with a braking force according to the moving state of the vehicle 10 and the stored delay time. The "stored delay time" is the delay time stored in the immediately preceding movement, i.e., the delay time that best reflects the communication state at that time.

[0043] Furthermore, when the second stop instruction (emergency stop instruction) is issued, the control unit 56 may stop the vehicle 10 with a braking force that is higher than when the first stop instruction (normal stop instruction) is issued.

[0044] Furthermore, when the control unit 56 stops the vehicle 10 without an instruction from the information terminal 60, it stops the vehicle 10 with a braking force higher than when the control unit 56 stops the vehicle 10 based on an instruction from the information terminal 60. Examples of when the control unit 56 stops the vehicle 10 without an instruction from the information terminal 60 include when the vehicle 10 detects an obstacle based on external environment recognition data or when a system failure of the vehicle 10 is detected.

[0045] The movement state acquisition unit 57 acquires the movement speed of the vehicle 10 as the movement state of the vehicle 10. The movement state acquisition unit 57 acquires the movement speed of the vehicle 10 based on, for example, the vehicle speed V of the vehicle 10 detected by the vehicle speed sensor 36. The movement state acquisition unit 57 also acquires the weight of the vehicle 10. The weight may be acquired, for example, by a weight sensor, or may be acquired based on the image result (object recognition result) of the vehicle 10 captured by a camera of the information terminal 60, or may be acquired based on the change in the movement speed relative to the driving force. The weight may also be acquired before movement control of the vehicle 10. The weight of the vehicle 10 may be, for example, the loaded weight of the vehicle 10, or may be the sum of the weight of the vehicle 10 and the weight of the loaded object.

[0046] 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.

[0047] 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).

[0048] The communication IF 24 enables wireless communication with other communication devices 120. For example, the communication IF 24 includes a UWB (Ultra Wide Band) interface that enables UWB communication with the information terminal 60.

[0049] The driving force control system 26 includes a driving ECU 130. The driving force control system 26 controls the driving force 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).

[0050] The braking force control system 28 includes a braking ECU 132. The braking force control system 28 controls the braking force 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).

[0051] <Hardware Configuration of User's Information Terminal 60> 4 is a diagram showing an example of the hardware configuration of an information terminal 60 owned by a user of the vehicle 10. The information terminal 60 includes a processor 61, a memory 62, a communication interface 63, and a user interface 64. The processor 61, the memory 62, the communication interface 63, and the user interface 64 are connected by, for example, a bus 65.

[0052] The processor 61 is a circuit that performs signal processing, and is, for example, a CPU (Central Processing Unit) that controls the entire information terminal 60. The processor 61 may be realized by other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). The processor 61 may also be realized by combining a plurality of digital circuits.

[0053] The memory 62 includes, for example, a main memory and an auxiliary memory. The main memory is, for example, a random access memory (RAM). The main memory is used as a work area for the processor 61.

[0054] 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 terminal 60. The programs stored in the auxiliary memory are loaded into the main memory and executed by the processor 61.

[0055] The auxiliary memory may also include a portable memory that is removable from the information terminal 60. Portable memories include memory cards such as a USB (Universal Serial Bus) flash drive and an SD (Secure Digital) memory card, and external hard disk drives.

[0056] The communication interface 63 is a communication interface that performs wireless communication with the outside of the information terminal 60 (for example, the communication IF 24 of the vehicle 10). For example, the communication interface 63 includes a UWB interface for performing UWB communication with the vehicle 10. The communication interface 63 is controlled by the processor 61.

[0057] The user interface 64 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 by, for example, a touch panel. The output device can be realized by, for example, a display or a speaker. The user interface 64 is controlled by the processor 61.

[0058] The processor 61 performs movement instruction control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement instruction control (including parking instruction control and leaving instruction control) for the vehicle 10 based on a specific operation by the user on the display screen of the information terminal 60. The specific operation includes, for example, a tap operation to instruct parking and leaving (calling) the vehicle 10, a slide operation to move the vehicle 10, and the like. The slide operation includes a continuous position instruction operation (for example, a swipe operation), a rotation instruction operation in a predetermined rotation direction (for example, a rotational swipe operation), and the like. The processor 61 also generates a guidance image that prompts the user to perform an instruction operation on the display screen of the information terminal 60, and performs control to display the generated guidance image on the display screen.

[0059] The processor 61 transmits to the vehicle 10 a parking instruction for remotely parking the vehicle 10 and an exit instruction for remotely exiting the vehicle 10 based on a specific operation on the display screen of the information terminal 60. An application is installed in the information terminal 60 that can automatically move the vehicle 10 (remote parking, remote exit) by transmitting and receiving information related to movement control of the vehicle 10 to and from the vehicle 10.

[0060] <Vehicle pickup in parking lots> Next, referring to FIGS. 5 to 7, the process of hailing a vehicle in the parking lot 70 will be described.

[0061] FIG. 5 is a diagram showing an example of a call start state in which a user calls a vehicle. As shown in FIG. 5, user U1 is attempting to call his / her own vehicle V1, which is parked in a parking lot 70, using an information terminal 60 carried by user U1. In addition to user U1's own vehicle V1, multiple other vehicles V2 are parked in the parking lot 70. When an application for remotely retrieving the own vehicle V1 is launched on the information terminal 60, face authentication of user U1 is performed using the camera of the information terminal 60, and then remote retrieval of the own vehicle V1 is initiated in response to an operation by user U1. The own vehicle V1 is an example of a "mobile body" in the present invention.

[0062] 6 is a diagram showing an example of an exit route for the host vehicle V1. When the host vehicle V1 receives a movement instruction signal instructing it to leave the vehicle from the information terminal 60, the host vehicle V1 generates an exit route 73 from the parking position 71 of the host vehicle V1 to the requested exit position 72 based on external recognition data acquired by a camera or the like, and controls the movement of the host vehicle V1 based on the generated exit route 73.

[0063] If parking lot 70 is a large parking lot such as a public parking lot, depending on the vehicle's parking position, when the vehicle is pulled out from the parking position and called to a predetermined pull-out position, the pull-out distance may be long, so it may take a long time for the vehicle to reach the pull-out position or the user calling the vehicle may need to perform remote operation for a long time. Therefore, depending on the surrounding environment from the vehicle's parking position to the pull-out position, for example, if the pull-out route is clear and free of obstacles, the vehicle's movement speed may be controlled to be higher than the normal pull-out movement speed.

[0064] 7 is a diagram showing an example of a state in which the summoning of the vehicle V1 has been completed. The vehicle V1 changes its movement speed depending on the distance between the vehicle V1 and the information terminal 60 and the surrounding environment from the parking position 71 to the exit position 72, and moves to the exit position 72 (see FIG. 6) summoned by the user U1.

[0065] <Processing of the information terminal 60> FIG. 8 is a flowchart showing an example of the processing of the information terminal 60 when the vehicle 10 is called.

[0066] The information terminal 60 (processor 61) determines whether a call has been made by a user to call the vehicle 10 to the departure location 72 (step S11). The vehicle 10 is called when an application for remotely departing the vehicle 10, which is installed on the information terminal 60, is launched and an execution button is tapped.

[0067] In step S11, if a call has not been executed (step S11: No), the information terminal 60 repeats the determination process of step S11. In step S11, if a call has been executed (step S11: Yes), the information terminal 60 displays an operation acceptance screen for accepting a call operation from the user on the display screen of the information terminal 60 (step S12).

[0068] Next, the information terminal 60 determines whether or not a rotational swipe operation (specific operation) from the user on the operation acceptance screen has been accepted (step S13).

[0069] In step S13, if a rotational swipe operation has not been received (step S13: No), the information terminal 60 repeats the determination process of step S13. In step S13, if a rotational swipe operation has been received (step S13: Yes), the information terminal 60 starts transmitting a movement instruction signal that is output based on the rotational swipe operation (step S14).

[0070] Next, the information terminal 60 determines whether or not the rotational swipe operation on the operation acceptance screen is being continued (step S15).

[0071] In step S15, if the rotational swipe operation is continued (step S15: Yes), the information terminal 60 determines whether or not the emergency stop button has been pressed on the operation acceptance screen (step S16).

[0072] In step S16, if the emergency stop button has not been pressed (step S16: No), the information terminal 60 determines whether the vehicle 10 has arrived at the pickup location, which is the departure location from which the vehicle 10 was summoned (step S17).

[0073] In step S17, if the calling position has not been reached (step S17: No), the information terminal 60 returns to step S15 and repeats each process. In step S17, if the calling position has been reached (step S17: Yes), the information terminal 60 ends this process.

[0074] On the other hand, in step S15, if the rotational swipe operation is not being continued (step S15: No), the information terminal 60 stops transmitting the movement instruction signal (step S18), and then returns to step S13 to repeat each process.

[0075] On the other hand, if the emergency stop button is pressed in step S16 (step S16: Yes), the information terminal 60 transmits an emergency stop signal instructing the vehicle 10 to make an emergency stop (step S19). Then, the information terminal 60 stops transmitting the movement instruction signal (step S20), and then returns to step S13 to repeat each process.

[0076] <Display screen of information terminal 60> Fig. 9 is a diagram showing an example of an operation reception screen 67 displayed on the display screen 66 of the information terminal 60. The operation reception screen 67 is an example of a screen displayed in step S12 of Fig. 8. The user can call the vehicle 10 to the departure position by performing a specific operation on this operation reception screen 67.

[0077] As shown in FIG. 9, the operation acceptance screen 67 displays a message 67a such as "Calling the vehicle." The operation acceptance screen 67 also displays a guidance message 67b that provides guidance on the operation, such as "Rotary swipe will move the vehicle. Release your finger to stop it." The operation acceptance screen 67 also displays a movement icon 67c that moves following the touch position of the user during the rotational swipe operation, for example. The operation acceptance screen 67 also displays an "emergency stop" button 67d for making an emergency stop of the vehicle 10.

[0078] <Stopping process of the vehicle 10 according to the prior art> FIG. 10 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different moving speed is stopped by the stopping process of the conventional technology.

[0079] In the conventional technology for controlling the movement of vehicle 10, when the information terminal 60 stops transmitting a movement instruction signal and continuous reception of the movement instruction signal by vehicle 10 is interrupted, vehicle 10 stops moving as shown in FIG. 10 . That is, vehicle 10 stops the movement of vehicle 10 with a constant braking force from the position where the information terminal 60 stops transmitting the movement instruction signal, i.e., from stop start position 81 where the stop instruction was issued to vehicle 10, regardless of the moving speed of vehicle 10. Therefore, the stopping position and the time it takes for vehicle 10 to stop vary depending on the moving speed of vehicle 10. For example, as in the vehicle 10 shown in the upper part of FIG. 10 , when the moving speed is, for example, a first speed V01, vehicle 10 stops at first stop position 82. However, as in the vehicle 10 shown in the lower part of FIG. 10 , when the moving speed is a second speed V02 that is faster than the first speed V01, vehicle 10 stops at second stop position 83. The faster the moving speed, the longer the distance to stop of vehicle 10 and the longer the stopping time.

[0080] <Stopping Process of the Vehicle 10 According to the Present Embodiment> FIG. 11 is a flowchart showing an example of the stop processing performed by the vehicle 10 of this embodiment.

[0081] The vehicle 10 (control ECU 20) determines whether or not a movement instruction signal instructing the vehicle 10 to move has been received from the information terminal 60 (step S21).

[0082] In step S21, if a movement instruction signal has not been received from the information terminal 60 (step S21: No), the vehicle 10 repeats the determination process of step S21. In step S21, if a movement instruction signal has been received from the information terminal 60 (step S21: Yes), the vehicle 10 starts moving in accordance with the movement instruction (rotational swipe operation) from the information terminal 60 (step S22).

[0083] Next, the vehicle 10 determines whether or not it continues to receive a movement instruction signal from the information terminal 60 (step S23).

[0084] In step S23, if the vehicle 10 continues to receive the movement instruction signal (step S23: Yes), the vehicle 10 determines whether or not the vehicle 10 has received an emergency stop signal from the information terminal 60 (step S24).

[0085] In step S24, if the emergency stop signal has not been received (step S24: No), vehicle 10 determines whether or not it has arrived at the call location (leaving location) called by information terminal 60 (step S25).

[0086] In step S25, if the vehicle 10 has not arrived at the call location (step S25: No), the vehicle 10 returns to step S23 and repeats each process. In step S25, if the vehicle 10 has arrived at the call location (step S25: Yes), the vehicle 10 ends this process.

[0087] On the other hand, in step S23, if the vehicle 10 is not continuing to receive the movement instruction signal (step S23: No), the vehicle 10 stops the movement of the vehicle 10 with a braking force according to the movement speed of the vehicle 10 (step S26). After stopping the movement, the vehicle 10 returns to step S21 and repeats each process. The braking force according to the movement speed means, for example, that the braking force is increased as the movement speed is faster.

[0088] On the other hand, if an emergency stop signal has been received in step S24 (step S24: Yes), the vehicle 10 applies maximum braking force to stop the movement of the vehicle 10 (step S27). After stopping the movement of the vehicle 10, the process returns to step S21 and repeats each process.

[0089] FIG. 12 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different moving speed is stopped in the stopping process of this embodiment.

[0090] In the movement control of vehicle 10 according to this embodiment, when the information terminal 60 stops transmitting a movement instruction signal and continuous reception of the movement instruction signal by vehicle 10 is interrupted, vehicle 10 stops moving as shown in FIG. 12 . That is, vehicle 10 is stopped from the position where the information terminal 60 stops transmitting the movement instruction signal, that is, from stop start position 81 where the stop instruction was issued to vehicle 10, with a braking force according to the movement speed of vehicle 10. Therefore, even if the movement speeds of vehicle 10 differ, vehicle 10 can be stopped without a large difference in the stop position. For example, even if the movement speed of vehicle 10 shown in the upper part of FIG. 12 is a first speed V01 and the movement speed of vehicle 10 shown in the lower part is a second speed V02 that is faster than the first speed V01, vehicle 10 in the lower part, which has a faster movement speed, is stopped with a high braking force, so that vehicle 10 can be stopped at stop position 84, which is approximately the same distance from stop start position 81.

[0091] As described above, when the control device of this embodiment receives a stop instruction from the information terminal 60 to stop the vehicle 10 while the vehicle 10 is being moved based on a movement instruction from the information terminal 60, it stops the vehicle 10 with a braking force according to the movement speed of the vehicle 10. As a result, regardless of the movement speed of the vehicle 10, the vehicle 10 stops at approximately the same distance after the user issues the stop instruction, making it easier to get a sense of the position where the vehicle 10 will stop. Therefore, for example, it is easy to know when to stop a specific operation (a rotational swipe operation), and the operability of the movement operation of the vehicle 10 by the information terminal 60 can be improved.

[0092] <Stopping process of the vehicle 10 according to the prior art> FIG. 13 is a diagram showing an example of the stopping position of the vehicle 10 when the vehicle 10 having a different weight is stopped by the stopping process of the conventional technology.

[0093] In the conventional technology for controlling the movement of vehicle 10, when continuous reception of a movement instruction signal by vehicle 10 is interrupted, vehicle 10 stops the movement of vehicle 10 from stop start position 91 where the stop instruction was issued with a constant braking force regardless of the weight of vehicle 10, as shown in Figure 13. Therefore, the stopping position at which vehicle 10 stops and the time it takes to stop vary depending on the weight of vehicle 10. For example, when the weight of vehicle 10 is a first weight M1 as in the upper part of Figure 13, the stopping position of vehicle 10 is first stopping position 92, whereas when the weight of vehicle 10 is a second weight M2 that is greater than first weight M1 as in the lower part of the figure, the stopping position of vehicle 10 is second stopping position 93; the greater the weight, the longer the distance to stop of vehicle 10 and the longer the stopping time.

[0094] <Stopping Process of the Vehicle 10 According to the Present Embodiment> 14 is a flowchart showing a first modified example of the stop processing by the vehicle 10 of the present embodiment. As shown in Fig. 14, the processing from step S21 to step S25 and the processing of step S27 are the same as the processing from step S21 to step S25 and the processing of step S27 in Fig. 11.

[0095] In step S23, if the vehicle 10 is not continuing to receive the movement instruction signal (step S23: No), the vehicle 10 stops the movement of the vehicle 10 with a braking force according to the weight of the vehicle 10 (step S31). After the vehicle 10 stops moving, the vehicle 10 returns to step S21 and repeats each process. The braking force according to the weight means, for example, that the braking force is increased as the weight increases.

[0096] In the first modified example, the vehicle 10 is stopped by a braking force that corresponds only to the weight of the vehicle 10, but this is not limiting. For example, the vehicle 10 may be stopped by a braking force that corresponds to the weight and the moving speed of the vehicle 10.

[0097] FIG. 15 is a diagram showing the stopping positions of the vehicles 10 when the vehicles 10 having different weights are stopped by the stopping process of the first modified example of this embodiment.

[0098] In the movement control of vehicle 10 according to the first modified example, when continuous reception of a movement instruction signal by vehicle 10 is interrupted, vehicle 10 stops the movement of vehicle 10 from stop start position 91 where the stop instruction was issued, with a braking force according to the weight of vehicle 10, as shown in Fig. 15. Therefore, even if the weights of vehicles 10 differ, vehicles 10 can be stopped without a large difference in the stopping positions of vehicles 10. For example, even if the weight of vehicle 10 shown in the upper part of Fig. 15 is a first weight M1 and the weight of vehicle 10 shown in the lower part is a second weight M2 that is greater than first weight M1, vehicle 10 in the lower part, which is heavier, can be stopped with a higher braking force, thereby stopping vehicle 10 at stop position 94 that is approximately the same distance from stop start position 91.

[0099] As described above, when the control device of the first modified example receives a stop instruction from the information terminal 60 to stop the vehicle 10 while the vehicle 10 is being moved based on a movement instruction from the information terminal 60, the control device stops the vehicle 10 with a braking force according to the weight of the vehicle 10. This causes the vehicle 10 to stop at approximately the same distance after the user issues the stop instruction regardless of the weight of the vehicle 10, making it easier to get a sense of the position where the vehicle 10 will stop. This makes it easier to know when to stop a specific operation (rotational swipe operation), for example, and can improve the operability of the operation of moving the vehicle 10 using the information terminal 60.

[0100] <Stopping Process of the Vehicle 10 According to the Present Embodiment> 16 is a flowchart showing a second modified example of the stop processing by the vehicle 10 of the present embodiment. As shown in Fig. 16, the processing from step S21 to step S25 and the processing from step S27 are the same as the processing from step S21 to step S25 and the processing from step S27 in Fig. 11.

[0101] In step S23, if the vehicle 10 is not continuing to receive the movement instruction signal (step S23: No), the vehicle 10 stops the movement of the vehicle 10 with a braking force according to the movement speed of the vehicle 10, and also stops the movement of the vehicle 10 with a braking force according to the communication quality between the vehicle 10 and the information terminal 60 (step S41). After stopping the movement, the vehicle 10 returns to step S21 and repeats each process. The braking force according to the communication quality means, for example, that the braking force is increased as the communication quality (RSSI or error rate) becomes lower. The braking force according to the movement speed and communication quality means that, based on the braking force that keeps the stopping position constant according to the movement speed, the braking force is increased when the communication quality is low in order to reduce the risk caused by communication instability.

[0102] In the second modified example, the vehicle 10 is stopped by applying a braking force according to the moving speed and communication quality of the vehicle 10, but this is not limiting. For example, the vehicle 10 may be stopped by applying a braking force according to the weight of the vehicle 10 and communication quality.

[0103] As described above, when the control device of the second modified example receives a stop instruction from the information terminal 60 to stop the vehicle 10 while the vehicle 10 is being moved based on a movement instruction from the information terminal 60, the control device stops the vehicle 10 with a braking force that corresponds to the movement state of the vehicle 10 and the communication quality with the information terminal 60. As a result, regardless of not only the movement state of the vehicle 10 but also the communication quality with the information terminal 60, the vehicle 10 stops at approximately the same distance from the user's stop instruction, making it easier to get a sense of the position where the vehicle 10 will stop. Therefore, for example, it is easy to know when to stop a specific operation (a rotational swipe operation), and the operability of the movement operation of the vehicle 10 by the information terminal 60 can be improved.

[0104] <Stopping Process of the Vehicle 10 According to the Present Embodiment> 17 is a flowchart showing a third modified example of the stop processing by the vehicle 10 of the present embodiment. As shown in Fig. 17, the processing in step S21, step S23, steps S24 to S25, and step S27 is the same as the processing in step S21, step S23, steps S24 to S25, and step S27 in Fig. 11.

[0105] In step S21, when a movement instruction signal is received from the information terminal 60 (step S21: Yes), the vehicle 10 starts moving in accordance with the movement instruction (rotational swipe operation) from the information terminal 60, and acquires a communication delay in communication with the information terminal 60 (step S51). The communication delay is the time from when the movement instruction signal is transmitted from the information terminal 60 to when movement control of the vehicle 10 based on the movement instruction signal is started.

[0106] Next, the vehicle 10 determines whether it is continuing to receive a movement instruction signal from the information terminal 60 (step S23), and if it is continuing to receive a movement instruction signal (step S23: Yes), it updates the stored communication delay time to the communication delay time obtained in step S51 (step S52).

[0107] On the other hand, if the vehicle 10 is not continuing to receive the movement instruction signal in step S23 (step S23: No), the vehicle 10 stops the movement of the vehicle 10 with a braking force according to the movement speed of the vehicle 10 and also with a braking force according to the communication delay time stored in the immediately preceding movement (step S53). After stopping the movement, the vehicle 10 returns to step S21 and repeats each process. The braking force according to the communication delay means, for example, that the braking force is increased as the communication delay time is longer.

[0108] In the third modified example, the vehicle 10 is stopped by applying a braking force corresponding to the speed of the vehicle 10 and the communication delay, but this is not limiting. For example, the vehicle 10 may be stopped by applying a braking force corresponding to the weight of the vehicle 10 and the communication delay.

[0109] As described above, when the control device of the third modification receives a stop instruction from the information terminal 60 to stop the vehicle 10 while the vehicle 10 is being moved based on a movement instruction from the information terminal 60, the control device stops the vehicle 10 with a braking force that corresponds to the movement state of the vehicle 10 and the communication delay time. This makes it easier for the user to get a sense of the position where the vehicle 10 will stop, since the vehicle 10 stops at approximately the same distance after the stop instruction is given by the user, regardless of not only the movement state of the vehicle 10 but also the communication delay time. This makes it easier to know the timing to stop a specific operation (rotational swipe operation), for example, and improves the operability of the movement operation of the vehicle 10 using the information terminal 60.

[0110] 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.

[0111] 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.

[0112] In the above embodiment, an example has been described in which the moving body is a vehicle (four-wheeled automobile), but this is not limiting. 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.

[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) A control device (control ECU 20) for a moving body (vehicle 10), a communication unit (communication unit 55) that communicates with an information terminal carried by a user of the mobile body; a control unit (control unit 56) that controls the movement of the moving object based on instructions from the information terminal; a moving state acquisition unit (moving state acquisition unit 57) that acquires the moving state of the moving body, the instruction from the information terminal is a movement instruction to move the moving body or a stop instruction to stop the moving body, when the stop command is received while the moving body is being moved based on the movement command, the control unit stops the moving body with a braking force according to the moving state. Control device.

[0115] According to (1), when a moving body is being moved based on a movement instruction from an information terminal and a stop instruction to stop the moving body is received from the information terminal, the movement of the moving body is stopped with an appropriate braking force according to the moving state of the moving body, thereby improving the operability of movement operation by the information terminal.

[0116] (2) The control device according to (1), the moving state acquisition unit acquires a moving speed of the moving object as the moving state; When the stop instruction is received while the moving body is being moved based on the movement instruction, the control unit stops the moving body by increasing the braking force as the moving speed of the moving body increases. Control device.

[0117] According to (2), the faster the moving speed of the moving body, the higher the braking force that is used to stop the moving body, so that the moving body can be stopped without significantly varying the time or distance required to stop, even if the moving speed of the moving body is different.

[0118] (3) The control device according to (1) or (2), the moving state acquisition unit acquires a weight of the moving body; when the stop command is received while the moving body is being moved based on the movement command, the control unit stops the moving body by increasing the braking force as the weight increases. Control device.

[0119] According to (3), the heavier the moving body is, the greater the braking force that is used to stop the moving body, so that the moving body can be stopped without significantly varying in time or distance, even if the weight of the moving body is different.

[0120] (4) The control device according to any one of (1) to (3), the communication unit acquires communication quality between the mobile object and the information terminal; when the stop instruction is received while the moving object is being moved based on the movement instruction, the control unit stops the moving object with a braking force according to the moving state and the communication quality. Control device.

[0121] According to (4), when a moving body is being moved based on a movement instruction from an information terminal and a stop instruction to stop the moving body is received from the information terminal, the movement of the moving body can be stopped with an appropriate braking force according to the moving state of the moving body and the communication quality between the moving body and the information terminal, thereby improving the operability of movement operation by the information terminal.

[0122] (5) The control device according to (4), when the stop instruction is received while the moving body is being moved based on the movement instruction, the control unit increases the braking force to stop the moving body as the communication quality becomes lower. Control device.

[0123] According to (5), the lower the communication quality between the mobile body and the information terminal, the higher the braking force used to stop the movement of the mobile body. This makes it possible to stop the movement of the mobile body without significantly changing the time or distance required to stop it, even if the communication quality between the mobile body and the information terminal changes, for example.

[0124] (6) The control device according to any one of (1) to (5), The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, the moving body is stopped with a braking force according to the moving state and the delay time. Control device.

[0125] According to (6), when a moving body is being moved based on a movement instruction from an information terminal and a stop instruction to stop the moving body is received from the information terminal, the movement of the moving body can be stopped with an appropriate braking force according to the moving state of the moving body and the communication delay time, thereby improving the operability of movement operation by the information terminal.

[0126] (7) The control device according to (6), when the stop instruction is received while the moving body is being moved based on the movement instruction, the control unit increases the braking force to stop the moving body as the delay time is longer. Control device.

[0127] According to (7), by stopping the movement of a moving body with a higher braking force as the communication delay time becomes longer, the movement of the moving body can be stopped without significantly changing the time or distance to stop, even if the delay time changes, for example.

[0128] (8) The control device according to (6) or (7), The control unit storing the delay time when the moving object is moved based on the movement instruction; when the stop command is received while the moving body is being moved based on the movement command, the moving body is stopped with a braking force corresponding to the moving state and the stored delay time. Control device.

[0129] According to (8), the delay time stored in the previous movement of the moving body is used to stop the movement of the moving body with a braking force corresponding to that delay time, thereby improving the operability of movement operations using an information terminal.

[0130] (9) The control device according to any one of (1) to (8), The stop instruction is a first stop instruction or a second stop instruction that is more urgent than the first stop instruction, When the second stop instruction is issued, the control unit increases the braking force to stop the moving body compared to when the first stop instruction is issued. Control device.

[0131] According to (9), when a second stop instruction is issued that is more urgent than the first stop instruction, the movement of the moving body is stopped with a braking force higher than when the first stop instruction is issued, thereby stopping the movement of the moving body with an appropriate braking force depending on the moving state of the moving body, improving the operability of movement operation using the information terminal, and when a stop instruction with a high degree of urgency is issued, it is possible to stop the moving body in a short time and over a short distance, thereby improving safety.

[0132] (10) The control device according to (9), the movement instruction is performed when the information terminal receives a continuous first operation; the first stop instruction is issued when the continuous first operation is interrupted; the second stop instruction is issued when the information terminal receives a second operation different from the continuous first operation. Control device.

[0133] According to (10), the second operation accepted in response to the second stop instruction is different from the first operation accepted in response to the first stop instruction, thereby improving the operability of the movement operation using the information terminal.

[0134] (11) The control device according to (10), The second operation is at least one of an emergency stop button operation and a voice input. Control device.

[0135] As in (11), the second operation for the second stop instruction, which is highly urgent, is preferably, for example, an operation of an emergency stop button or a voice input by the user.

[0136] (12) The control device according to any one of (1) to (11), when the control unit stops the moving body without an instruction from the information terminal, the control unit stops the moving body with a braking force higher than when the control unit stops the moving body based on an instruction from the information terminal. Control device.

[0137] According to (12), when stopping a moving body without an instruction from an information terminal, the movement of the moving body can be stopped with a braking force that is higher than when stopping the moving body based on an instruction, thereby making it possible to stop the movement of the moving body with an appropriate braking force depending on the moving state of the moving body.

[0138] (13) A method for controlling a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls the movement of the moving body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the moving body, the instruction from the information terminal is a movement instruction to move the moving body or a stop instruction to stop the moving body, The control unit when the stop command is received while the moving body is being moved based on the movement command, the moving body is stopped with a braking force according to the moving state. Control method.

[0139] According to (13), when a moving body is being moved based on a movement instruction from an information terminal and a stop instruction to stop the moving body is received from the information terminal, the movement of the moving body is stopped with an appropriate braking force according to the moving state of the moving body, thereby improving the operability of movement operation by the information terminal.

[0140] (14) A control program for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the mobile body based on an instruction from the information terminal; and a movement status acquisition unit that acquires a movement status of the mobile body, the instruction from the information terminal is a movement instruction to move the moving body or a stop instruction to stop the moving body, The control unit when the stop command is received while the moving body is being moved based on the movement command, the moving body is stopped with a braking force according to the moving state. A control program that executes processing.

[0141] According to (14), when a moving body is being moved based on a movement instruction from an information terminal and a stop instruction to stop the moving body is received from the information terminal, the movement of the moving body can be stopped with an appropriate braking force according to the moving state of the moving body, thereby improving the operability of movement operation by the information terminal. [Explanation of symbols]

[0142] 10 Vehicles (moving objects) 20 Control ECU (control device) 55 Communications Department 56 Control Unit 57 Moving status acquisition unit 60 Information terminal

Claims

1. A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile object; a control unit that controls the movement of the moving object based on an instruction from the information terminal; a moving state acquisition unit that acquires a moving state of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit when the stop instruction is received while the moving body is being moved based on the movement instruction, stopping the moving body with a braking force according to the moving state and the communication quality; the lower the communication quality is, the higher the braking force is increased to stop the moving body. Control device.

2. A control device for a moving body, a communication unit that communicates with an information terminal carried by a user of the mobile object; a control unit that controls the movement of the moving object based on an instruction from the information terminal; a moving state acquisition unit that acquires a moving state of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. Control device.

3. A control device according to claim 1 or 2, the moving state acquisition unit acquires a moving speed of the moving object as the moving state; When the stop instruction is received while the moving body is being moved based on the movement instruction, the control unit stops the moving body by increasing the braking force as the moving speed of the moving body increases. Control device.

4. A control device according to claim 1 or 2, the moving state acquisition unit acquires a weight of the moving body; when the stop command is received while the moving body is being moved based on the movement command, the control unit stops the moving body by increasing the braking force as the weight increases. Control device.

5. A control device according to claim 2, The control unit storing the delay time when the moving object is moved based on the movement instruction; when the stop command is received while the moving body is being moved based on the movement command, the moving body is stopped with a braking force corresponding to the moving state and the stored delay time. Control device.

6. A control device according to claim 5, the movement instruction is issued when the information terminal receives a continuous first operation from the user; the stop instruction is issued when the first operation is interrupted, the control unit acquires the delay time when the moving object is being moved based on the first operation, and controls the braking force according to the stop instruction based on the delay time. Control device.

7. A control device according to claim 1 or 2, the stop instruction is a first stop instruction or a second stop instruction that is more urgent than the first stop instruction, When the second stop instruction is issued, the control unit increases the braking force to stop the moving body compared to when the first stop instruction is issued. Control device.

8. A control device according to claim 7, the movement instruction is issued when the information terminal receives a continuous first operation; the first stop instruction is issued when the continuous first operation is interrupted; the second stop instruction is issued when the information terminal receives a second operation different from the continuous first operation. Control device.

9. A control device according to claim 8, The second operation is at least one of an emergency stop button operation and a voice input. Control device.

10. A control device according to claim 1 or 2, When the control unit stops the moving body not based on an instruction from the information terminal, the control unit stops the moving body with a braking force higher than when the control unit stops the moving body based on an instruction from the information terminal. Control device.

11. A method for controlling a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls the movement of the moving body based on instructions from the information terminal; and a movement status acquisition unit that acquires the movement status of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit when the stop instruction is received while the moving body is being moved based on the movement instruction, stopping the moving body with a braking force according to the moving state and the communication quality; the lower the communication quality is, the higher the braking force is increased to stop the moving body. Control method.

12. A method for controlling a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls the movement of the moving body based on instructions from the information terminal; and a movement status acquisition unit that acquires the movement status of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. Control method.

13. A control program for a moving body, comprising: a communication unit that communicates with an information terminal carried by a user of the moving body; a control unit that controls the movement of the moving body based on instructions from the information terminal; and a movement status acquisition unit that acquires the movement status of the moving body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, the communication unit acquires communication quality between the mobile object and the information terminal; The control unit when the stop instruction is received while the moving body is being moved based on the movement instruction, stopping the moving body with a braking force according to the moving state and the communication quality; the lower the communication quality is, the higher the braking force is increased to stop the moving body. A control program that executes processing.

14. A control program for a mobile body, comprising: a communication unit that communicates with an information terminal carried by a user of the mobile body; a control unit that controls the movement of the mobile body based on instructions from the information terminal; and a movement status acquisition unit that acquires the movement status of the mobile body, the instruction from the information terminal is a movement instruction to move the moving body and a stop instruction to stop the moving body, The control unit acquiring a delay time from when an instruction signal is transmitted from the information terminal to when the movement control based on the instruction signal is started; when the stop command is received while the moving body is being moved based on the movement command, stopping the moving body with a braking force according to the moving state and the delay time; The longer the delay time, the higher the braking force is increased to stop the moving body. A control program that executes processing.

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