Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program that enable occupants to get off a vehicle, and that also allow resumption of automatic parking, when a vehicle is moved automatically to a parking area.SOLUTION: A control device 30 for automatically parking a vehicle 1 at a prescribed parking position comprises: an acquisition section 31 for acquiring peripheral information of the vehicle 1; a reception section 32 for receiving specification of a parking position from a user of the vehicle; and a control section 33 for automatically moving the vehicle 1 to the parking position, on the basis of the acquired peripheral information and the specified parking position. In moving the vehicle 1 to a parking position when a stopping request has arrived from a user of the vehicle 1, the control section 33 causes the vehicle 1 to stop temporarily, and sets the doors of the vehicle 1 in an openable state from an opening disabled state, and then, if a prescribed operation has been received from the user of the vehicle, movement to the parking position is resumed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , ,

[0005] , , , ,

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

Background Art

[0002] In recent years, efforts have been actively made to provide access to a sustainable transportation system that takes into account vulnerable road users. As part of these efforts, research and development have been conducted on driving support technologies and autonomous driving technologies in vehicles such as automobiles in order to further improve traffic safety and convenience.

[0003] For example, conventionally, a device that executes parking support control for automatically moving a vehicle to a parking area has been known. As an example of such a device, Patent Document 1 below discloses a technique for assisting parking in a parking area when a driver designates a parking frame indicating the parking area on a touch panel.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, for example, when automatically moving a vehicle to a parking area (or a parking position), events such as getting a passenger out of the vehicle have not been considered, and there has been room for improvement in this regard. <00000​​​​​​​

[0007] One aspect of the present invention is, A control device that automatically parks a vehicle in a designated parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, A control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, A notification control unit that provides a predetermined notification to the user of the vehicle, Equipped with, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. 、 The notification control unit, When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, a notification is issued indicating that automatic parking, which automatically parks the vehicle, is being interrupted, or a notification is issued prompting the user to perform the predetermined operation. Furthermore, one embodiment of the present invention is: A control device that automatically parks a vehicle in a designated parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, A control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, The vehicle comprises a notification control unit that provides a predetermined notification to the user of the vehicle, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. The notification control unit, When the vehicle is being moved to the parking position, if the user opens the door, the system will notify the user of an automatic parking interruption operation that will cause the vehicle to park automatically. Furthermore, one embodiment of the present invention is: A control device that automatically parks a vehicle in a designated parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, The system includes a control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an opening state, and when a predetermined restart operation is received from the user of the vehicle, the vehicle will resume moving to the parking position specified before stopping due to the stop request.

[0008] Furthermore, one embodiment of the present invention is: A computer that automatically parks a vehicle at a predetermined parking position acquires the surrounding information of the vehicle, receives a designation of a parking position from the user of the vehicle, automatically moves the vehicle to the parking position based on the acquired surrounding information and the designated parking position, The user of the aforementioned vehicle will be given the prescribed notification, when there is a stop request from the user of the vehicle while the vehicle is being moved to the parking position, temporarily stops the vehicle, changes the state of the vehicle door from a non-openable state to an openable state, and resumes the movement to the parking position when a predetermined operation is received from the user of the vehicle 、 When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, the system will notify the user that automatic parking is being interrupted, or will notify the user to perform the predetermined operation. executes the process.

[0009] Also, one aspect of the present invention is a computer that automatically parks a vehicle at a predetermined parking position, acquires the surrounding information of the vehicle, receives a designation of a parking position from the user of the vehicle, automatically moves the vehicle to the parking position based on the acquired surrounding information and the designated parking position, The user of the aforementioned vehicle will be given the prescribed notification, when there is a stop request from the user of the vehicle while the vehicle is being moved to the parking position, temporarily stops the vehicle, changes the state of the vehicle door from a non-openable state to an openable state, and resumes the movement to the parking position when a predetermined operation is received from the user of the vehicle 、 When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, the system will notify the user that automatic parking is being interrupted, or will notify the user to perform the predetermined operation. causes the process to be executed.

Advantages of the Invention

[0010] According to the present invention, when automatically moving a vehicle to a parking area, it is possible to let a passenger get off the vehicle and resume automatic parking. And, by extension, it improves traffic safety and contributes to the development of a sustainable transportation system. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram showing the schematic configuration of a vehicle 1 equipped with a control device 30 according to one embodiment. [Figure 2] This flowchart shows an example of a process (parking assistance process) performed by the control device 30 in one embodiment. [Modes for carrying out the invention]

[0012] Hereinafter, an embodiment of the vehicle control device of the present invention will be described with reference to the drawings. The following embodiment is not limited to the present invention, and not all of the elements described in the following embodiment are essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. In the following, identical or similar elements will be denoted by the same or similar reference numerals, and their descriptions may be omitted or simplified.

[0013] [Vehicles equipped with control devices] First, the vehicle of this embodiment will be described. Figure 1 is a block diagram showing the configuration of vehicle 1 equipped with the control device 30 of the embodiment. Vehicle 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels and steerable wheels driven by the power of the drive source. As an example, vehicle 1 can be a four-wheeled automobile having a pair of left and right front wheels and rear wheels.

[0014] The power source for vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the power source for vehicle 1 may drive a pair of front wheels, a pair of rear wheels, or all four wheels (a pair of front wheels and a pair of rear wheels). Either one of the front or rear wheels of vehicle 1 may be a steerable wheel, or both may be steerable wheels.

[0015] Vehicle 1 is capable of autonomous driving and driver assistance, which involve automatically controlling the operation of the vehicle. Autonomous driving, as defined here, means that the vehicle's system performs all driving operations, including recognition or monitoring of the driving environment and surrounding information (surrounding conditions), as well as starting, accelerating, decelerating, steering, and stopping. Driver assistance, on the other hand, means that the vehicle's system performs some of the driving operations, such as starting, accelerating, decelerating, steering, and stopping, and includes, for example, APS (Automatic Parking System), LKAS (Lane Keep Assist System), ACC (Adaptive Cruise Control), etc. The embodiments shown below will be explained using an example of automatically parking Vehicle 1 in a predetermined parking area or parking position.

[0016] Vehicle 1 is comprised of a sensor group 10, a navigation device 20, a control device 30, an electric power steering (EPS) system 40, a drive force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and a door lock device 90.

[0017] The sensor group 10 includes an external sensor 11 that acquires information about the surroundings of the vehicle 1, and a vehicle sensor 12 that acquires information about the vehicle 1. The information (in other words, detected values) acquired by each sensor in the sensor group 10 is output to the control device 30.

[0018] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is a digital camera that captures images of the area around the vehicle 1, including the area in front of the vehicle 1, and outputs the image data of the obtained surrounding images to the control device 30. As the camera 111, for example, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0019] The sonar 112 emits sound waves around the vehicle 1 (for example, in front of, behind, and to the sides of the vehicle 1) and detects the distance and direction to objects by receiving reflected sound from objects present around the vehicle 1. The radar 113 emits radio waves around the vehicle 1, including in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected waves from objects present around the vehicle 1. For example, a millimeter-wave radar can be used as the radar 113.

[0020] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 1, including the area in front of the vehicle 1, and detects the distance and direction to objects by receiving reflected light from objects present around the vehicle 1.

[0021] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0022] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. For example, the wheel sensor 121 detects the rotation angles of the left rear wheel and the right rear wheel. The wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0023] The vehicle speed sensor 122 detects the vehicle speed, which is the speed at which the vehicle 1 is traveling (in other words, the speed at which the vehicle body is moving). For example, the vehicle speed sensor 122 detects the vehicle speed based on the rotational speed of a countershaft (not shown) provided by the vehicle 1.

[0024] The inertial measurement device 123 detects the angular velocities in the pitch, roll, and yaw directions of the vehicle 1, as well as the accelerations in the longitudinal, lateral, and vertical directions of the vehicle 1. The vehicle sensor 12 may also include an acceleration sensor for detecting acceleration in a predetermined direction of the vehicle 1 and a gyro sensor for detecting angular velocity in a predetermined direction of the vehicle 1, instead of the inertial measurement device 123.

[0025] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 1 and outputs the image data of the interior images obtained to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of the driver seated in the driver's seat of vehicle 1 from the front (in other words, to capture the face). Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS. In this embodiment, the image data of the interior images obtained by the occupant camera 124 capturing images of the interior contains information that can identify the direction of the driver's gaze.

[0026] The operation detection unit 125 detects operations performed using an operation input unit 80 that can be operated by occupants, including the driver. In this embodiment, the operation input unit 80 includes, for example, an operation switch (not shown) that accepts an operation to switch the automatic parking on (in other words, activated) and off (in other words, deactivated), which will be described later. In this case, the operation detection unit 125 can detect the operation to turn the automatic parking on or off. The operation input unit 80 may also include, for example, a door (shown) that is operated when an occupant gets out of the vehicle 1. In this case, the operation detection unit 125 can detect a door operation, for example, when an occupant pulls the door handle.

[0027] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is installed in the part that the driver touches when the steering wheel 46 is being properly gripped.

[0028] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0029] The GNSS receiver 21 determines the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of the vehicle 1 using an INS (Inertial Navigation System) that utilizes the detection values ​​from the vehicle sensors 12.

[0030] The touch panel 22 functions as an input device that receives various types of information for the control device 30, and as a display device controlled by the control device 30. The touch panel 22 is composed of a combination of a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) and a pointing device (such as a touchpad). The speaker 23 is configured to output sound to the occupants of the vehicle 1 (such as the driver).

[0031] For example, the navigation device 20 searches for a route from the current location of vehicle 1 to a destination set by the driver using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23. The navigation device 20 may also display predetermined information on the touch panel 22 according to instructions from the control device 30. A detailed explanation of the displays will be given later. Furthermore, the navigation device 20 may output predetermined information to the control device 30, such as information indicating the current location of the identified vehicle 1 or information indicating the operation received via the touch panel 22.

[0032] The control device 30 is a computer that comprehensively controls the entire vehicle 1, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the control device 30 (none of which are shown). For example, the control device 30 can be realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Since the control device 30 provides driving assistance, such as controlling the vehicle on behalf of the driver, it can also be called a control device in an advanced driver assistance system (ADAS ECU). Specific examples of control by the control device 30 will be described later, so the explanation is omitted here.

[0033] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0034] The steering angle sensor 41 detects the steering angle θst of the steering 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0035] The EPS motor 43 assists the driver's operation of the steering wheel 46 by applying a driving force or reaction force to the steering column 47, which is connected to the steering wheel 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0036] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44.

[0037] Furthermore, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. In addition, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering speed ω of the steering 46. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0038] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 1. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium that stores various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the drive force output from the drive source of the vehicle 1 based on the amount of operation of the accelerator pedal 52 provided on the vehicle 1 and the detected value of a shift position sensor 53 that detects the shift position Ps of a shift device (e.g., a shift lever or shift switch) not shown. The drive source is an internal combustion engine or a motor as described above, and the drive ECU 51 controls the output of these internal combustion engines or motors based on the amount of operation of the accelerator pedal 52 and the shift position Ps. The drive ECU 51 can also control the drive force control system 50 (e.g., the drive source) according to instructions from the control device 30.

[0039] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on the operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 according to instructions from the control device 30.

[0040] The communication unit 70 is a communication interface that communicates with the external device 2 according to control instructions from the control device 30. In other words, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include the driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) can be used.

[0041] The door lock device 90 is a device that locks and unlocks the doors of the vehicle 1 according to the control of the control device 30. The door lock device 90 includes a door lock ECU 91. The door lock ECU 91 is a computer that controls the door lock device 90 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium that stores various information, and an input / output unit that controls the input and output of data between the inside and outside of the door lock ECU 91 (none of which are shown). For example, the door lock ECU 91 locks the doors based on the vehicle speed of the vehicle 1, or unlocks the doors when the shift position Ps is in parking (P). Also, when the parking assistance process described later is executed, the door lock ECU 91 controls the doors to be in an openable state or an unopenable state according to the instructions of the control device 30.

[0042] [Control device] Next, the control device 30 will be described in detail. The control device 30 executes various programs stored in the memory unit of the control device 30, for example. In this embodiment, the control device 30 is configured to perform automatic parking (hereinafter also referred to as "automatic parking"), in which the vehicle 1 is automatically parked in a predetermined parking position (or parking area) specified by a user, including the driver and other passengers (hereinafter also referred to as "user"). That is, the control device 30 automatically controls the drive source, the braking device, and the steering 46 to perform automatic parking with the predetermined parking position (hereinafter also referred to as "parking position") specified by the user as the target parking position.

[0043] Here, we will explain the basic overview of automatic parking. As described above, automatic parking automatically moves vehicle 1 to a designated parking position. The trigger for starting this movement (i.e., starting automatic parking) is, for example, the operation of an on / off switch for automatic parking located at a predetermined position on vehicle 1, or the operation of a display device such as the touch panel 22. When automatic parking starts, the shift position Ps of the shift device is set to parking (P). Once automatic parking is performed, the control device 30 sets the shift position Ps to drive (D) or reverse (R) and starts moving vehicle 1. When vehicle 1 has finished moving to the designated parking position, the control device 30 returns the shift position Ps to parking (P) and ends automatic parking. In addition, the trigger for starting the execution of automatic parking described above may also be based on the operation of a mobile device such as a smartphone when the user is outside the vehicle, but in this embodiment, automatic parking is started by the operation of an on / off switch on vehicle 1 or the operation of a display device such as the touch panel 22.

[0044] In the automated parking system implemented in this manner, conventionally known examples have a configuration that cancels the automated parking if the user opens the door of vehicle 1 or sets the shift position Ps to parking (P) while the automated parking is in progress. On the other hand, while automated parking is in progress, the user may want to get out of the vehicle due to personal reasons (e.g., an urgent need to use the restroom) or the environment of the parking location (e.g., the parking space is narrow). Therefore, in this embodiment, if the user requests to stop while automated parking is in progress, the system is configured to allow the user to get out of the vehicle if certain conditions are met. Further details regarding the user's personal reasons and the environment of the parking location will be described later.

[0045] Specifically, the control device 30 executes a parking assistance program to support automatic parking when it detects the start of automatic parking execution via the operation of an operation switch in the operation input unit 80, as an example of a program stored in the memory unit. The control device 30 includes an acquisition unit 31, a reception unit 32, a control unit 33, and a notification control unit 34 as functional units realized by the execution of the said program. In the following, the processes described as being performed by the acquisition unit 31, the reception unit 32, the control unit 33, and the notification control unit 34 are processes realized by the control device 30.

[0046] The acquisition unit 31 acquires information about the surroundings of the vehicle 1. For example, the acquisition unit 31 performs sensor fusion processing on some or all of the detection values ​​from the camera 111, sonar 112, and radar 113 included in the external sensor 11, and acquires information about the surroundings of the vehicle 1 based on the processing results. More specifically, the acquisition unit 31 recognizes the position, type, speed, acceleration, etc., of objects present around the vehicle 1. At this time, the acquisition unit 31 recognizes the position of an object as a position on an absolute coordinate system with a representative point of the vehicle 1 (e.g., the center of gravity or the center of the drive axis) as the origin. This makes it possible to recognize the relative position of the vehicle 1 and the objects present around it. Furthermore, on the absolute coordinate system, the position of an object may be represented using a representative point such as the center of gravity or a corner of the object, or it may be represented as a region.

[0047] Furthermore, the acquisition unit 31 can acquire surrounding information, including, for example, obstacles present around the vehicle 1. Here, obstacles are assumed to be, for example, other traffic participants present around the vehicle 1 (e.g., other vehicles or pedestrians), or objects that have fallen onto the road.

[0048] Furthermore, the acquisition unit 31 recognizes, for example, the position and orientation of the vehicle 1 as it is traveling. For example, the acquisition unit 31 acquires the position of the vehicle 1 by acquiring road markings, parking areas, and markings indicating parking spaces at each parking position from images captured by the camera 111. The acquisition unit 31 also recognizes the position and orientation of the vehicle 1 based, for example, on the deviation from the markings in the road markings and parking spaces, and the angle it makes with respect to the markings in the road markings and parking spaces. Note that the acquisition unit 31 may recognize the position and orientation of the vehicle 1 not only by recognizing road markings and parking space markings, but also by recognizing boundaries with the road, including shoulders, curbs, block walls, guardrails, etc., and boundaries with the parking area.

[0049] The reception unit 32 receives a parking location specification from the user of vehicle 1. Specifically, the reception unit 32 receives instruction signals that instruct the operation of vehicle 1, which are input from the user via the touch panel 22 of the navigation device 20. For example, when a predetermined parking location is specified by the user from the parking location candidates displayed on the touch panel 22, the reception unit 32 receives the signal output from the touch panel 22 as an instruction signal to park vehicle 1. The predetermined parking location may be specified (i.e., selected) by the user from among the parking location candidates specified by the control device 30, or it may be determined not from among the candidates, but by the user specifying the parking location themselves on the map displayed on the touch panel 22 of the navigation device 20.

[0050] The control unit 33 automatically moves the vehicle 1 to the designated parking position based on the acquired information about the vehicle's surroundings and the designated parking position. Specifically, the control unit 33 performs drive control, braking control, and steering control of the vehicle 1 via the drive ECU 51, brake ECU 61, and EPS ECU 45 to perform automatic parking with the designated parking position as the target parking position.

[0051] Furthermore, when the control unit 33 is moving vehicle 1 to a designated parking position, if the user of vehicle 1 requests that vehicle 1 be stopped, the control unit 33 will temporarily stop vehicle 1 and make the doors of vehicle 1 available to be opened. Here, a request to stop occurs, for example, when the shift position Ps in the vehicle 1's shift device is set to parking (P). In other words, the control unit 33 determines that there is a request to stop from the user when the shift position Ps detected by the shift position sensor 53 is in parking (P). Such requests to stop from the user are expected to occur for various reasons, such as the user's convenience or the environment of the parking location. For example, a user's convenience might include situations where an occupant in the passenger seat or rear seat needs to get out of the vehicle because they urgently need to go to the toilet and cannot wait until automatic parking is complete. Furthermore, regarding the parking environment, for example, it is conceivable that the parking space may be narrow, making it difficult for occupants to get out of their vehicle if vehicle 1 is parked too close to other adjacent vehicles, or that there may be puddles or mud on the ground at the parking space, making it difficult for occupants to get out.

[0052] When the user of vehicle 1 requests that the vehicle be stopped, the control unit 33 stops vehicle 1 at its current position and makes the doors available for opening. In other words, the control unit 33 temporarily stops the vehicle and interrupts the ongoing automatic parking process. Then, the control unit 33 unlocks the doors of vehicle 1 via the door lock ECU 91 of the door lock device 90 (i.e., releases the door lock), making it possible for the user to exit vehicle 1. In short, when a stop request is received, the control unit 33 temporarily stops vehicle 1, making it possible for the user to exit the vehicle before vehicle 1 has completed its movement to the parking position. This allows the user to exit vehicle 1 without interrupting the automatic parking process.

[0053] Furthermore, when the control unit 33 has stopped vehicle 1 in response to a stop request from the user of vehicle 1, and receives a predetermined operation from the user, it resumes the movement of vehicle 1 to the parking position. That is, when the control unit 33 receives a predetermined operation to resume the interrupted automatic parking via the function of the reception unit 32, it resumes automatic parking and moves vehicle 1 to the designated parking position. Such a situation is envisioned, for example, when an occupant needs to get out of the vehicle to go to the restroom, and automatic parking resumes when the occupant gets out of the vehicle. The predetermined operation is, for example, an operation of the touch panel 22 on the navigation device 20 or an operation of the automatic parking operation switch. When the control unit 33 receives the predetermined operation from the user, it resumes the movement of vehicle 1 to the parking position. In other words, it resumes automatic parking.

[0054] Furthermore, the control unit 33, as a prerequisite, controls the doors of vehicle 1 to a state where they cannot be opened until a stop request is made, while vehicle 1 is being moved to the parking position. In other words, except when such a stop request is made, the control unit 33 locks the doors of vehicle 1 via the door lock ECU 91, preventing the doors from being opened by the user.

[0055] The notification control unit 34 provides a predetermined notification to the user of vehicle 1. For example, when the notification control unit 34 is moving vehicle 1 to a parking position specified by the user, and stops vehicle 1 in response to a stop request from the user of vehicle 1, it provides a notification that the automatic parking of vehicle 1 is being suspended. Specifically, the notification control unit 34 provides a notification to display a message indicating that the automatic parking is being suspended (for example, "Automatic parking suspended") on a display device such as the touch panel 22. This allows the user of vehicle 1 to understand that automatic parking is being suspended by looking at the message.

[0056] Furthermore, when the notification control unit 34 has stopped vehicle 1 in response to the user's request to stop, it issues a notification prompting the user to perform the predetermined operation described above (in other words, a notification prompting the resumption of automatic parking). Specifically, if automatic parking has been interrupted and vehicle 1 has not yet completed moving to the designated parking position, the notification control unit 34 issues a notification prompting the user to resume moving vehicle 1 to the parking position. For example, the notification control unit 34 issues a notification prompting the user to resume automatic parking (for example, "Please perform the operation to resume automatic parking") to be displayed on a display device such as the touch panel 22. This notification may be issued simultaneously with the interruption of automatic parking, or after a predetermined time (for example, 30 seconds) has elapsed (i.e., if automatic parking has not resumed after the predetermined time).

[0057] Furthermore, if the user attempts to open a door while the vehicle 1 is being moved to the parking position, the notification control unit 34 will notify the user of the means to interrupt the automatic parking of the vehicle 1. As described above, in this embodiment, the control device 30 can interrupt the automatic parking of the vehicle 1 while it is in progress. However, some users may not be aware of the means to interrupt the automatic parking and may perform an operation to open a door (for example, by pulling the door handle). As described above, as a prerequisite, when the vehicle 1 is being moved by automatic parking, the doors of the vehicle 1 are controlled to be in an unopenable state, except when there is a request to stop. Therefore, if the user attempts to open a door while the vehicle 1 is being moved to the parking position, the notification control unit 34 will notify the user of the means to interrupt the automatic parking of the vehicle 1. For example, the notification control unit 34 will notify the user to display a message prompting notification of the interruption operation (for example, "Please set the shift position Ps to parking (P)") on a display device such as the touch panel 22. This allows the user of the vehicle 1 to understand the means to interrupt the automatic parking by seeing the message. Whether or not the door has been opened is determined, for example, by the operation detection unit 125.

[0058] In addition to displaying the information on the touch panel 22 or other display device as described above, the notification means for the user from the notification control unit 34 may also be transmitted via the speaker 23 of the navigation device 20.

[0059] [An example of processing performed by the control device] Next, an example of the parking assistance process performed by the control device 30 will be explained using a flowchart. Figure 2 is a flowchart showing an example of this process, which is performed, for example, when the automatic parking operation switch is turned on. As mentioned above, when automatic parking is started, the shift position Ps of the shift device is set to parking (P), and once automatic parking is started, the shift position Ps is set to drive (D) or reverse (R). Also, once automatic parking is started, the doors of vehicle 1 cannot be opened unless a predetermined operation is performed.

[0060] The control device 30 first acquires information about the surroundings of the vehicle 1 (step S1). That is, the control device 30 recognizes the surrounding information acquired by the camera 111, sonar 112, radar 113, etc., through the function of the acquisition unit 31.

[0061] Next, the control device 30 acquires the parking position of vehicle 1 (step S2). That is, the control device 30 acquires a predetermined parking position specified by the user operating the touch panel 22, etc., through the function of the reception unit 32. The control device 30 receives the signal output from the touch panel 22 in response to this specification as an instruction signal to park vehicle 1.

[0062] Next, the control device 30 starts moving the vehicle 1 to the parking position (step S3). That is, the control device 30, using the functions of the control unit 33, starts moving the vehicle 1 to the parking position acquired in step S2 (automatic parking). Specifically, the control device 30 performs drive control, braking control, and steering control of the vehicle 1 via the drive ECU 51, brake ECU 61, and EPS ECU 45, and starts automatic parking with the designated parking position as the target parking position.

[0063] Next, the control device 30 determines whether the vehicle 1 has reached the parking position based on the movement of the vehicle 1 that began in step S3 (step S4). That is, the control device 30 determines whether automatic parking is complete based on the function of the control unit 33. For example, the control device 30 identifies the position and orientation of the vehicle 1 based on detection by the camera 111, etc., using the function of the acquisition unit 31, and determines that the vehicle 1 has reached the parking position, i.e., automatic parking is complete, when the vehicle 1 is in the parking space of the designated parking position and the orientation of the vehicle 1 is parallel to the line indicating the parking space. In step S4, if it is determined that the vehicle 1 has reached the parking position (Yes in step S4), the control device 30 stops the vehicle 1 (step S5). That is, the control device 30 shifts the shift position Ps of the shift device to parking (P) in order to complete the automatic parking of the vehicle 1. Once the shift position Ps of the shift device is in parking (P), the control device 30 terminates the processing of the flowchart shown in Figure 2.

[0064] Conversely, if step S4 determines that vehicle 1 has not reached the parking position (No in step S4), the control device 30 determines whether or not there is a request for vehicle 1 to stop (step S6). That is, the control device 30, using the functions of the control unit 33, determines, for example, whether the shift position Ps of vehicle 1 is in parking (P), and if it determines that the shift position Ps is in parking (P) (Yes in step S6), the process proceeds to step S7. The shift position Ps is determined, for example, based on a signal input to the control device 30 from the shift position sensor 53.

[0065] In step S7, the control device 30 temporarily stops the vehicle 1. That is, the control device 30 stops the vehicle 1 at its current position using the function of the control unit 33. Then, the control unit 33 controls the vehicle 1 to a state where the doors can be opened (step S8). In other words, the control device 30, using the function of the control unit 33, unlocks the doors of the vehicle 1 via the door lock ECU 91 of the door lock device 90, making it possible for the user to get out of the vehicle 1.

[0066] Next, the control device 30 notifies that the execution of automatic parking is being suspended (step S9). That is, the control device 30, using the notification control unit 34 function, notifies a display device, such as the touch panel 22, that the execution of automatic parking is being suspended.

[0067] Next, the control device 30 notifies the user of a predetermined operation to resume the interrupted automatic parking (step S10). That is, the control device 30, using the function of the notification control unit 34, notifies a display device, such as the touch panel 22, of a predetermined operation to prompt the user to resume automatic parking (for example, operating the touch panel 22 on the navigation device 20 or operating the automatic parking operation switch). The control device 30 then determines whether or not it has received the predetermined operation (step S11).

[0068] If the control device 30 determines that it has not yet received an operation from, for example, the touch panel 22 or an operation switch (No in step S11), it waits until it receives the predetermined operation.

[0069] Conversely, if the control device 30 determines that it has received an operation from the touch panel 22 or the operation switches (Yes in step S11), it controls the doors of the vehicle 1 to a state where they cannot be opened (step S12). In other words, the control device 30, having received a predetermined operation to resume automatic parking, sets the doors that were made openable in step S8 to a state where they cannot be opened. This is to ensure the safety of occupants and others by preventing the doors from being opened while automatic parking is in progress.

[0070] Next, the control device 30 resumes the movement of vehicle 1 to the parking position (step S13). That is, the control device 30, through the functions of the control unit 33, performs drive control, braking control, and steering control of vehicle 1 via the drive ECU 51, braking ECU 61, and EPS ECU 45, and resumes automatic parking with the designated parking position as the target parking position. Once the control device 30 has resumed the movement of vehicle 1 to the parking position, it returns to step S4.

[0071] On the other hand, if the control device 30 determines in step S6 above that there is no request from the user to stop vehicle 1 (No in step S6), the control device 30 determines whether there has been an operation to open the doors of vehicle 1 (step S14). As mentioned above, some users may not be aware of the means to interrupt automatic parking and may perform an operation to open the doors, such as pulling the door handle. Therefore, if the control device 30 determines that there has been such an operation to open the doors (Yes in step S14), it proceeds to step S15 and notifies the user of the means to interrupt automatic parking.

[0072] Specifically, in step S15, the control device 30, using the function of the notification control unit 34, makes the notification by displaying a message on a display device such as the touch panel 22 prompting notification of the interruption operation means for the automatic parking of the vehicle 1. Alternatively, the notification may be made via the speaker 23. If the control device 30 determines in step S14 that there is no door opening operation (No in step S14), it returns to step S4.

[0073] As described above, in this embodiment, when a user requests to stop while automatic parking is in progress, the vehicle 1 is temporarily stopped and the doors of the vehicle 1 are made available for opening. In other words, when a stop request is received, the control device 30 interrupts the execution of automatic parking by stopping the vehicle, unlocks the doors via the door lock ECU 91, and makes it possible for the occupants or other users to get out of the vehicle. This allows the user to get out of the vehicle 1 without interrupting automatic parking, for example, if the user wants to get out of the vehicle due to personal reasons such as needing to go to the restroom or due to environmental factors at the parking location such as a puddle. By performing such processing, the control device 30 can improve traffic safety and contribute to the development of a sustainable transportation system.

[0074] Furthermore, in this embodiment, when the control device 30 has stopped the vehicle in response to a stop request, and receives a predetermined operation from the user, such as operating the touch panel 22 or operating the operation switches, it resumes the movement to the parking position that was interrupted. This reduces the inconvenience to the user of having to start the process from the beginning, compared to a configuration where, for example, when a stop request is received, the automatic parking is stopped and the automatic parking is executed again from the beginning. Also, because the automatic parking can be resumed from the same state after the interruption, the processing load on the control device 30 can be reduced compared to when the automatic parking is executed again from the beginning.

[0075] Furthermore, in this embodiment, the aforementioned stop request is based, for example, on the operation of setting the shift position Ps in the shift device to parking (P). Normally, when a user stops, they operate the shift device to set the shift position Ps to parking (P). Therefore, even while automatic parking is in progress, the user can make a stop request with such a simple operation.

[0076] Furthermore, in this embodiment, the control device 30 prevents the doors from being opened until a stop request is made while the vehicle 1 is being moved to the parking position. As a result, even if the door opening operation is performed while the vehicle 1 is being moved, for example, the doors will not be opened, thus ensuring the safety of the user and the vehicle 1, etc.

[0077] Furthermore, in this embodiment, when the control device 30 moves the vehicle 1 to a parking position and stops the vehicle 1 in response to a stop request from the user of the vehicle 1, it notifies the user that automatic parking is being interrupted via a display device such as a touch panel 22 or a speaker 23. This allows the user to understand that the execution of automatic parking has been interrupted.

[0078] Furthermore, in this embodiment, when the control device 30 has stopped the vehicle 1 in response to the user's request to stop, it sends a notification prompting a predetermined operation (i.e., a notification prompting the resumption of automatic parking) via a display device such as the touch panel 22 or a speaker 23. This allows the user to resume automatic parking even if they have forgotten to do so, by receiving the notification.

[0079] Furthermore, in this embodiment, when the vehicle 1 is being moved to the parking position, if the user opens the door, the control device 30 notifies the user of the operation to interrupt automatic parking via a display device such as the touch panel 22 or a speaker 23. This ensures that even if the user is unaware of the means to interrupt automatic parking and opens the door, the user can understand how to interrupt automatic parking by receiving the notification.

[0080] [others] Although one embodiment of the present invention has been described above with reference to the drawings, it goes without saying that the present invention is not limited to the embodiments described above. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention.

[0081] For example, the above-mentioned examples of user requests to stop include situations where the shift position Ps of the shift device is set to parking (P), as well as situations such as when the handbrake is applied.

[0082] Furthermore, the control method described in the above-mentioned embodiments can be realized by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed by reading it from the storage medium. This control program may also be provided in the form of a non-transient storage medium such as flash memory, or it may be provided via a network such as the Internet. The computer that executes this control program may be included in the control device, included in an electronic device such as a smartphone, tablet terminal, or personal computer that can communicate with the control device, or included in a server device that can communicate with these control devices and electronic devices.

[0083] This specification contains at least the following information. The components indicated in parentheses in the embodiments described above are, but are not limited thereto.

[0084] (1) A control device (control device 30) that automatically parks a vehicle (vehicle 1) in a predetermined parking position, An acquisition unit (acquisition unit 31) that acquires information about the surroundings of the vehicle, A reception unit (reception unit 32) that receives parking space designations from the user of the aforementioned vehicle, The system includes a control unit (control unit 33) that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location. The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle is temporarily stopped, the vehicle's doors are changed from a non-opening state to an opening state, and when a predetermined operation is received from the user of the vehicle, the vehicle resumes moving to the parking position. Control device.

[0085] According to (1), for example, if a user wants to get out of the vehicle while automatic parking is in progress due to personal reasons such as needing to go to the restroom, or due to environmental factors at the parking location such as a puddle, the user can get out of the vehicle without interrupting automatic parking. Furthermore, by resuming movement to the parking location when a predetermined operation is received from the user, it is possible to reduce the inconvenience to the user of having to start the process from the beginning, compared to a configuration that, for example, interrupts automatic parking and restarts it from the initial process.

[0086] (2) The control device described in (1), The aforementioned request to stop is an operation to set the vehicle's shift position (shift position Ps) to parking. Control device.

[0087] According to (2), normally, when a user stops, they operate the shift device to the parking position, so even while automatic parking is in progress, a stop request can be made with such a simple operation.

[0088] (3) The control device described in (1), The control unit, When the vehicle is being moved to the parking position, the doors will remain in a state where they cannot be opened until a request to stop is made. Control device.

[0089] According to (3), for example, even if the door opening operation is performed while the vehicle is being moved, the door will not open, thus ensuring the safety of the user and the vehicle.

[0090] (4) The control device described in (1), The vehicle further includes a notification control unit (notification control unit 34) that provides a predetermined notification to the user of the vehicle. The notification control unit, When the vehicle is being moved to the parking position, and the vehicle is stopped in response to a stop request from the vehicle's user, a notification is issued indicating that the automatic parking function, which automatically parks the vehicle, is being suspended. Control device.

[0091] According to (4), the user can understand that the current situation is that the automatic parking process has been interrupted.

[0092] (5) The control device described in (1), The vehicle further includes a notification control unit (notification control unit 34) that provides a predetermined notification to the user of the vehicle. The notification control unit, When the vehicle is stopped in response to the aforementioned stop request, a notification prompting the predetermined operation is issued. Control device.

[0093] According to (5), for example, even if the user forgets to resume automatic parking, they can resume automatic parking upon receiving the notification.

[0094] (6) The control device described in (1), The vehicle further includes a notification control unit (notification control unit 34) that provides a predetermined notification to the user of the vehicle. The notification control unit, When the vehicle is being moved to the parking position, if the user opens the door, the system will notify the user of an automatic parking interruption operation that will cause the vehicle to park automatically. Control device.

[0095] According to (6), for example, even if the user is unaware of the means to interrupt automatic parking and the door is opened, the user can understand the means to interrupt automatic parking by receiving the notification.

[0096] (7) A computer that automatically parks a vehicle (vehicle 1) in a designated parking position, The surrounding information of the aforementioned vehicle is acquired, The user of the aforementioned vehicle specifies a parking location. Based on the acquired surrounding information and the designated parking location, the vehicle is automatically moved to the parking location. When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle is stopped, the vehicle's doors are changed from a non-opening state to an opening state, and when a predetermined operation is received from the user of the vehicle, the vehicle is resumed from moving to the parking position. Control method.

[0097] According to (7), for example, if a user wants to get out of the vehicle while automatic parking is in progress due to personal reasons such as needing to go to the restroom, or due to environmental factors at the parking location such as a puddle, the user can get out of the vehicle without interrupting automatic parking. Furthermore, by resuming movement to the parking location when a predetermined operation is received from the user, it is possible to reduce the inconvenience to the user of having to start the process from the beginning, compared to a configuration that, for example, interrupts automatic parking and restarts it from the initial process.

[0098] (8) A computer that automatically parks the vehicle (vehicle 1) in a designated parking position, The surrounding information of the aforementioned vehicle is acquired, The user of the aforementioned vehicle specifies a parking location. Based on the acquired surrounding information and the designated parking location, the vehicle is automatically moved to the parking location. When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle is stopped, the vehicle's doors are changed from a non-opening state to an opening state, and when a predetermined operation is received from the user of the vehicle, the vehicle is made to resume moving to the parking position. Control program.

[0099] According to (8), for example, if a user wants to get out of the vehicle while automatic parking is in progress due to personal reasons such as needing to go to the restroom, or due to environmental factors at the parking location such as a puddle, the user can get out of the vehicle without interrupting automatic parking. Furthermore, by resuming movement to the parking location when a predetermined operation is received from the user, it is possible to reduce the inconvenience to the user of having to start the process from the beginning, compared to a configuration that, for example, interrupts automatic parking and restarts the automatic parking process from the beginning. [Explanation of Symbols]

[0100] 1 vehicle 30 Control device 31 Acquisition Department 32 Reception Department 33 Control Unit 34 Notification Control Unit Ps Shift Position

Claims

1. A control device that automatically parks a vehicle in a designated parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, A control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, The vehicle comprises a notification control unit that provides a predetermined notification to the user of the vehicle, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. The notification control unit, When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, the system will notify the user that automatic parking is being interrupted, or will notify the user to perform the predetermined operation. Control device.

2. A control device for automatically parking a vehicle in a predetermined parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, A control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, The vehicle comprises a notification control unit that provides a predetermined notification to the user of the vehicle, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. The notification control unit, When the vehicle is being moved to the parking position, if the user opens the door, the system will notify the user of an automatic parking interruption operation that will cause the vehicle to park automatically. Control device.

3. A control device for automatically parking a vehicle in a predetermined parking position, An acquisition unit that acquires information about the surroundings of the vehicle, A reception area that receives parking space designations from the user of the aforementioned vehicle, The system includes a control unit that automatically moves the vehicle to the designated parking location based on the acquired surrounding information and the designated parking location, The control unit, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an opening state, and when a predetermined restart operation is received from the user of the vehicle, the vehicle will resume moving to the parking position specified before stopping due to the stop request. Control device.

4. A control device according to any one of claims 1 to 3, The aforementioned request to stop is an operation to set the vehicle's shift position to park. Control device.

5. A control device according to any one of claims 1 to 3, The control unit, When the vehicle is being moved to the parking position, the doors will remain in a state where they cannot be opened until a request to stop is made. Control device.

6. A control device according to claim 3, The control unit, after stopping in response to the stop request, resumes movement to the parking position specified before stopping in response to the stop request, without accepting a request for a new parking position from the vehicle's user. Control device.

7. A computer that automatically parks a vehicle in a designated parking space, The surrounding information of the aforementioned vehicle is acquired, The user of the aforementioned vehicle specifies a parking location. Based on the acquired surrounding information and the designated parking location, the vehicle is automatically moved to the parking location. The user of the aforementioned vehicle will be given the prescribed notification, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, the system will perform a process that either notifies the user that automatic parking is being interrupted, or prompts them to perform the predetermined operation. Control method.

8. A computer that automatically parks a vehicle in a designated parking space, The surrounding information of the aforementioned vehicle is acquired, The user of the aforementioned vehicle specifies a parking location. Based on the acquired surrounding information and the designated parking location, the vehicle is automatically moved to the parking location. The user of the aforementioned vehicle will be given the prescribed notification, When the vehicle is being moved to the parking position, if the user of the vehicle requests that the vehicle be stopped, the vehicle will be temporarily stopped, the vehicle's doors will be changed from a non-opening state to an openable state, and when a predetermined operation is received from the user of the vehicle, the vehicle will resume moving to the parking position. When the vehicle is being moved to the parking position, if the vehicle is stopped in response to a stop request from the vehicle's user, the system will issue a notification that automatic parking is being interrupted, or issue a notification prompting the user to perform the predetermined operation, or initiate the execution of the process. Control program.

Images