Control device, control method, and control program

Abstract

To provide a control device, a control method, and a control program capable of appropriately notifying a user of a fact that software related to stop control of a movable body can be updated.SOLUTION: A control ECU 20 of a vehicle 10 includes: an operation part 52 that can perform stop control of stopping the vehicle 10 at a target position in a state where a user of the vehicle 10 is not on board; and a storage part 54 that stores software for movement control of the vehicle 10. When the stop control is executed in a state where the software can be updated, the operation part 52 performs a first notification for notifying the user of a fact that the software can be updated after determination of an information terminal 60 that instructs stop control.SELECTED DRAWING: Figure 3

Description

Technical Field

[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 people in vulnerable positions among traffic participants. Towards this realization, research and development focusing on further improving traffic safety and convenience through research and development related to autonomous driving technology has been underway.

[0003] Conventionally, a remote parking system is known in which a vehicle is remotely operated using a smartphone to park the vehicle in a designated predetermined parking space or to retrieve the vehicle from the parking space. Also, a method is known in which software related to remote parking is updated by a user inputting an answer to a data update proposal displayed on a vehicle navigation device.

[0004] For example, Patent Document 1 describes an automatic parking system in which when there is update information related to automatic parking in communication with the cloud, the vehicle owner is notified to that effect, and when the owner selects to download the update information, an upgrade package is downloaded to the vehicle control unit and the information is updated.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] Incidentally, in the method where the user updates the software by inputting a response to a data update suggestion displayed on the navigation system inside the vehicle, the software cannot be updated when the user is remotely operating the vehicle's remote parking function from outside the vehicle, because it is not possible to input a response to the data update suggestion inside the vehicle. It is also conceivable to notify a predetermined user when the remote parking instruction is received, but in that case, it may not be possible to notify the legitimate driver. Furthermore, Patent Document 1 does not disclose such a method for updating software during remote parking.

[0007] The present invention aims to provide a control device, a control method, and a control program that can appropriately notify the user that the software related to the stopping control of a moving object can be updated. [Means for solving the problem]

[0008] The present invention A control device for a mobile body, The moving body A communication unit that communicates with the user's information terminal, Based on the operation on the information terminal With the user not on board, the moving object is positioned at the target location. Parking Let Parking control Movement control of the moving body including A control unit capable of doing so, before Record transfer A memory unit where software for motion control is stored, An output device that outputs information to the user, or a notification unit that notifies the information terminal of the software update based on the communication, Equipped with, The aforementioned notification unit, When the aforementioned software is available for update, Parking When performing control, a first notification is given to inform the user that the software can be updated. The control unit, Regarding the above first notice Based on the user's operation, Determine whether to perform the aforementioned parking control or the aforementioned software update. The aforementioned Parking When performing control, When parking using the said parking control system Perform the aforementioned software update. figure , When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. A control device 。

[0009] The present invention relates to a moving object A communication unit that communicates with the user's information terminal, and based on operations performed on the information terminal, to control the moving object to a target position when the user is in a non-boarded state Parking causing Parking control The movement control including a control unit capable of performing the control, a storage unit storing software for controlling the movement of the moving object, An output device that outputs information to the user, or a notification unit that notifies the information terminal of the software update based on the communication, A control method by the control device of the moving object including the above, when the processor of the control device executes the control in a state where the software can be updated, a first notification is given to the user that the software can be updated, Parking Based on the operation of the user, Regarding the above first notice when performing the control, Determine whether to perform the aforementioned parking control or the aforementioned software update. the above Parking control is performed, When parking using the said parking control system the software is not updated figure , When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. It is a control method 。

[0010] The present invention relates to a moving object A communication unit that communicates with the user's information terminal, and based on operations on the information terminal, to control the moving object to a target position when the user is in a non-boarded state Parking causing Parking control The movement control including a control unit capable of performing the control, a storage unit storing software for controlling the movement of the moving object, An output device that outputs information to the user, or a notification unit that notifies the information terminal of the software update based on the communication, A control program of the control device of the moving object including the above, to the processor of the control device, when the processor executes the control in a state where the software can be updated, a first notification is given to the user that the software can be updated, Parking Based on the operation of the user, Regarding the above first notice when performing the control, Determine whether to perform the aforementioned parking control or the aforementioned software update. The aforementioned Parking When performing control, When parking using the said parking control system Perform the aforementioned software update. figure , When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. This is a control program that executes a process. [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 appropriately notify the user that the software related to the stopping control of a moving object can be updated. [Brief explanation of the drawing]

[0012] [Figure 1] This is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. [Figure 2] Figure 1 is a top view of the vehicle 10 shown in Figure 1. [Figure 3] Figure 1 is a block diagram showing an example of the internal configuration of vehicle 10. [Figure 4] This figure shows an example of the configuration of a Function on Demand (FoD) system 1 including the control device of this embodiment. [Figure 5] This figure shows an example of the hardware configuration of an information terminal 60 owned by a user of vehicle 10. [Figure 6] This figure shows an example of how the movement of vehicle 10 is controlled from outside the vehicle using an information terminal 60. [Figure 7] This is a sequence diagram (part 1) showing a first example of operation of the vehicle 10 and the information terminal 60. [Figure 8] This is a sequence diagram (part 2) showing a first example of operation of vehicle 10 and information terminal 60. [Figure 9] This figure shows an example of a disclaimer screen 72 displayed on the information terminal 60. [Figure 10] This figure shows an example of the update request screen 73 displayed on the information terminal 60. [Figure 11]This figure shows an example of a disembarkation guidance screen 74 displayed on the information terminal 60. [Figure 12] This figure shows an example of a reception screen 75 displayed on the information terminal 60. [Figure 13] This is a sequence diagram showing a second example of operation of the vehicle 10 and the information terminal 60. [Figure 14] This figure shows an example of the update completion screen 76 displayed on the information terminal 60. [Figure 15] This is a sequence diagram (part 1) showing a third example of operation for vehicle 10 and information terminal 60. [Figure 16] This is a sequence diagram (part 2) showing a third example of operation for vehicle 10 and information terminal 60. [Figure 17] This figure shows an example of an update notification screen 77 displayed on the information terminal 60. [Figure 18] This figure shows an example of the update request screen 78 displayed on the information terminal 60. [Figure 19] This is a sequence diagram (part 1) showing the fourth operation example of vehicle 10 and information terminal 60. [Figure 20] This is a sequence diagram (part 2) showing the fourth example of operation of the vehicle 10 and the information terminal 60. [Figure 21] This figure shows an example of a power-on screen 79 displayed on the information terminal 60. [Figure 22] This figure shows an example of the departure direction reception screen 80 displayed on the information terminal 60. [Figure 23] This is a sequence diagram showing the fifth example of operation of the vehicle 10 and the information terminal 60. [Figure 24] This is a sequence diagram showing the sixth operation example of the vehicle 10 and the information terminal 60. [Figure 25] This figure shows an example of a remote delivery unavailable screen 81 displayed on the information terminal 60. [Modes for carrying out the invention]

[0013] Hereinafter, an embodiment of the control device, control method, and control program of the present invention will be described based on the attached drawings. The drawings should be viewed in the direction of the reference numerals. Furthermore, in order to simplify and clarify the explanation in this specification, the front, rear, left, right, and up directions will be described according to the direction as seen from the driver of the vehicle 10 shown in Figures 1 and 2, and in the drawings, the front of the vehicle 10 will be 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> Figure 1 is a side view showing an example of a vehicle 10 equipped with the control device of the present invention. Figure 2 is a top view of the vehicle 10 shown in Figure 1. Vehicle 10 is an example of the "mobile body" of the present invention.

[0015] Vehicle 10 is an automobile having a drive source (not shown) and wheels including drive wheels and steerable wheels that are driven by the power of the drive source. In this embodiment, vehicle 10 is a four-wheeled automobile having a pair of left and right front wheels and rear wheels. The drive source of vehicle 10 is, for example, an electric motor. The drive source of vehicle 10 may be 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 drive source of 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 rear wheels may be steerable wheels, or either one of them may be a steerable wheel.

[0016] Vehicle 10 is further equipped with side mirrors 11L and 11R. Side mirrors 11L and 11R are mirrors (rearview mirrors) provided on the outside of the front passenger doors of vehicle 10 for the driver to check the area behind and to the rear side. Side mirrors 11L and 11R are each fixed to the body of vehicle 10 by a vertically extending pivot axis, and can be opened and closed by rotating around this pivot axis.

[0017] 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 (for example, a digital camera) located in front of vehicle 10 that images the area in front of vehicle 10. The rear camera 12Rr is a digital camera located behind vehicle 10 that images the area behind vehicle 10. The left-side camera 12L is a digital camera located on the left side mirror 11L of vehicle 10 that images the area to the left of vehicle 10. The right-side camera 12R is a digital camera located on the right side mirror 11R of vehicle 10 that images the area to the right of vehicle 10.

[0018] <Internal configuration of vehicle 10> Figure 3 is a block diagram showing an example of the internal configuration of the vehicle 10 shown in Figure 1. As shown in Figure 3, the vehicle 10 includes a sensor group 16, a navigation device 18, a control ECU (Electronic Control Unit) 20, an EPS (Electric Power Steering) system 22, and a communication unit 24. The vehicle 10 further includes a drive 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. Furthermore, the sensor group 16 includes wheel sensors 34a and 34b, a vehicle speed sensor 36, and an operation detection unit 38.

[0020] The front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R acquire recognition data (e.g., surrounding images) for recognizing the outside world of the vehicle 10 by imaging the area around the vehicle 10. The images of the area around 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. The image composed of the left-side image and the right-side image may also be referred to as the side image. The 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 view image of the vehicle 10.

[0021] The forward sonar group 32a, the rear sonar group 32b, the left-side sonar group 32c, and the right-side sonar group 32d emit sound waves around the vehicle 10 and receive reflected sound from other objects. The forward sonar group 32a includes, for example, four sonars. The sonars constituting the forward sonar group 32a are located on the left front, front left, front right, and right front of the vehicle 10, respectively. The rear sonar group 32b includes, for example, four sonars. The sonars constituting the rear sonar group 32b are located on the left rear, rear left, rear right, and right rear of the vehicle 10, respectively. The left-side sonar group 32c includes, for example, two sonars. The sonars constituting the left-side sonar group 32c are located on the left front and left rear of the vehicle 10, respectively. The right-side sonar group 32d includes, for example, two sonars. The sonars constituting the right-side sonar group 32d are located on the front right side and the rear right side of the vehicle 10, respectively.

[0022] Wheel sensors 34a and 34b detect the rotation angle of the wheels of the vehicle 10. Wheel sensors 34a and 34b may be composed of angle sensors or displacement sensors. Wheel sensors 34a and 34b output a detection pulse each time the wheel rotates by a predetermined angle. The detection pulses output from wheel sensors 34a and 34b are used to calculate the rotation angle and rotation speed of the wheels. Based on the rotation angle of the wheels, the distance traveled by the vehicle 10 is calculated. Wheel sensor 34a detects, for example, the rotation angle θa of the left rear wheel. 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 vehicle body 10, i.e., 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, for example, on the rotation of the transmission countershaft.

[0024] The operation detection unit 38 detects the user's operation using the operation input unit 14 and outputs the detected operation to the control ECU 20. The operation input unit 14 includes various user interfaces, such as a side mirror switch for switching the open / closed state of the side mirrors 11L and 11R, and a shift lever (selector lever or selector).

[0025] The navigation device 18 detects the current location of the vehicle 10, for example, using GPS (Global Positioning System), and guides the user on the route to the destination. The navigation device 18 has a storage device (not shown) equipped with a map information database.

[0026] The navigation device 18 includes a touch panel 42 and a speaker 44. The touch panel 42 functions as an input and display device for the control ECU 20. The speaker 44 outputs various guidance information to the user of the vehicle 10 by voice.

[0027] The touch panel 42 is configured to allow input of various commands to the control ECU 20. For example, a user can input commands related to vehicle movement assistance for the vehicle 10 via the touch panel 42. This movement assistance includes parking assistance and vehicle 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 screens related to vehicle movement assistance for the vehicle 10. Specifically, the touch panel 42 displays a parking assistance button to request parking assistance for the vehicle 10 and a vehicle exit assistance button to request vehicle exit assistance. The parking assistance buttons include a remote parking button to request parking by automatic steering of the control ECU 20 and an auxiliary parking button to request assistance when parking by the user. The vehicle exit assistance buttons include a remote vehicle exit button to request vehicle exit by automatic steering of the control ECU 20 and an auxiliary vehicle exit button to request assistance when vehicle exit by the user. Other components besides the touch panel 42, such as information terminals like smartphones or tablets, may be used as input or display devices.

[0028] The control ECU 20 includes an input / output unit 50, an arithmetic unit 52, and a storage unit 54. The arithmetic unit 52 is configured, for example, by a CPU (Central Processing Unit). The arithmetic unit 52 performs various controls by controlling each unit based on a program stored in the storage unit 54. The arithmetic 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 control ECU 20 is an example of the "control device" of the present invention. The arithmetic unit 52 is an example of the "control unit" of the present invention.

[0029] The calculation unit 52 includes a reception unit 55 that receives instructions from the user's terminal of the vehicle 10 to perform movement control of the vehicle 10 from outside the vehicle 10, a movement control unit 56 that performs movement control of the vehicle 10, a drive control unit 57 that drives the vehicle 10 and stops the vehicle 10 from driving, and a notification unit 58.

[0030] The reception unit 55 receives instructions to execute movement control from outside the vehicle 10 by communicating with the user's terminal in the vehicle 10, for example, via the communication unit 24.

[0031] The movement control unit 56 provides remote parking and remote exit assistance for the vehicle 10 by automatic steering, which automatically operates the steering wheel 110 under the control of the movement control unit 56. During remote parking and remote exit assistance, the accelerator pedal (not shown), brake pedal (not shown), and operation input unit 14 are operated automatically. The movement control unit 56 also provides auxiliary parking and auxiliary exit assistance when the user (driver) operates the accelerator pedal, brake pedal, and operation input unit 14 to manually park and exit the vehicle 10. During remote parking and remote exit assistance, the user may be in the vehicle 10 or may be outside the vehicle (unoccupied). Being in the vehicle is one example of "boarding" in this invention.

[0032] For example, the movement control unit 56 performs movement control to move the vehicle 10 based on recognition data of the vehicle 10's external environment acquired by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R, and a predetermined parking space specified by the user. Movement control includes parking control to remotely park the vehicle 10 in a predetermined parking space (target parking position) and exit control to remotely exit the vehicle 10 from the predetermined parking space to a target position (target movement position). The movement control unit 56 can perform parking control and exit control according to instruction signals input from the outside via the input / output unit 50. External input includes wireless communication input from an information terminal or the like that the user of the vehicle 10 can carry. The movement control unit 56 can also transmit information related to parking control and exit control to an external information terminal via the input / output unit 50.

[0033] Specifically, when the movement control unit 56 receives an operation from the user of the vehicle 10 to transition to remote parking control or remote exit control, it transmits inquiry information necessary to determine the driver who will perform the remote parking or remote exit instruction operation to information terminals around the vehicle 10. The movement control unit 56 transmits the inquiry information to the information terminal among the information terminals around the vehicle 10 that has been activated by user operation with an application for issuing instructions to execute movement control of the vehicle 10. The movement control unit 56 also determines the driver terminal that will issue instructions to execute movement control of the vehicle 10 based on predetermined operations on the information terminal held by the user. The movement control unit 56 receives predetermined response information from the user to the inquiry information of the movement control unit 56 and determines the information terminal that first received the response information as the driver terminal. The movement control unit 56 performs movement control of the vehicle 10 based on the movement instruction information, which is the instruction to execute movement control from that driver terminal. The predetermined response information is, for example, information on the agreed response to the disclaimer. The driver terminal is an example of the "instruction terminal" of the present invention.

[0034] Furthermore, the movement control unit 56 registers a predetermined parking space specified by the user as a designated parking space in the storage unit 54. Based on the recognition data of the vehicle 10's external environment acquired by the front camera 12Fr, rear camera 12Rr, left-side camera 12L, and right-side camera 12R, the movement control unit 56 registers feature points related to the designated parking space in the storage unit 54. Based on the recognition data of the vehicle 10's external environment and the feature points of the designated parking space specified by the user, the movement control unit 56 controls remote parking to park the vehicle 10 in the designated parking space and remote exit to exit the designated parking space.

[0035] The drive control unit 57 starts the vehicle 10 (e.g., turns the ignition on) and stops the vehicle 10 from starting (e.g., turns the ignition off) in response to user operation (e.g., pressing the ignition button). The drive control unit 57 can also be set to an automatic stop mode that automatically stops the vehicle 10 from starting based on the completion of movement control (e.g., the remote parking described above).

[0036] The notification unit 58 communicates with the user's information terminal in the vehicle 10, for example via the communication unit 24, to provide various notifications to the user of the vehicle 10. The notification unit 58 also provides various notifications to the user of the vehicle 10 by controlling, for example, the touch panel 42 or speaker 44 of the navigation device 18.

[0037] Specifically, when the notification unit 58 performs stop control to stop the vehicle 10 at a target position while the software for vehicle movement control (parking control, exit control) is available for update, it makes a first notification to the user that the software is available for update after the driver terminal that will instruct the stop control has been determined. Similarly, when the notification unit 58 performs stop control while the software is available for update, it may make the first notification after the driver terminal has been determined and before the start of the stop control. The time after the driver terminal has been determined is, for example, after the disclaimer has been agreed upon. Stop control refers to remote parking, but in this example, remote parking refers to remote parking. The state in which the software is available for update means, for example, that there is newer version software on the server than the software currently installed on the vehicle 10 and that it is available for download. Alternatively, the state in which the software is available for update may also mean that the new software has already been downloaded to the storage unit 54 of the vehicle 10, but the update has not yet been performed. The update means making the vehicle 10 available for movement control using that software.

[0038] The first notification from the notification unit 58 is a notification that a software update is possible if, for example, the stop control that stops the vehicle 10 at the target position is canceled and the vehicle 10 is powered off. Powering off means turning off the ignition. The movement control unit 56 receives an instruction from the user's information terminal (driver terminal) in response to the first notification, asking whether or not to perform the software update. If the instruction is to perform the software update, that is, if the stop control of the vehicle 10 is canceled and the vehicle 10 is powered off, the movement control unit 56 performs the software update.

[0039] The first notification from the notification unit 58 may be a notification that a software update is possible if a response is made to the second notification, which is sent when the stop control that stops the vehicle 10 at the target position is completed and the power of the vehicle 10 is turned off. The second notification is a notification that the system is accepting instructions on whether or not to perform a software update. When the movement control unit 56 receives an instruction to update the software in response to the second notification, it performs the software update.

[0040] Furthermore, if the movement control unit 56 does not receive a software update instruction within a predetermined period after issuing a notification to accept a software update instruction, it will perform a software update. The predetermined period may be real time (for example, 10 minutes, or a predetermined number of notifications) or the accumulated time of the driving cycle. The movement control unit 56 will update the software even without a software update instruction, for example, if no update instruction is received within 10 minutes after issuing a notification to accept a software update instruction. Note that the movement control unit 56 will not accept instructions from the user to control the movement of the vehicle 10 during the period in which the software is being updated.

[0041] Furthermore, when the movement control unit 56 performs exit control to move the vehicle 10 from the stopping position to the target position while the software update is available, it does not perform the software update even after the exit control is completed and the vehicle 10 is powered off. The stopping position refers to the parking position of the vehicle 10.

[0042] Even when the notification unit 58 is in a state where a software update is possible and is performing exit control to move the vehicle 10 from the stopping position to the target position, if the target position of the vehicle 10 is a predetermined position, it will issue a third notification indicating that a software update is possible when the exit control is completed and the vehicle 10 is powered off. When the movement control unit 56 receives an instruction to update the software in response to the third notification, it will perform the software update. A predetermined position is, for example, a charging position inside the home for charging the vehicle 10, the location of a charging station located near the stopping position where the vehicle 10 was parked, or a car wash position inside the home for washing the vehicle 10. In other words, a predetermined position is the position where the vehicle 10 is moved for charging, etc., and is a position where it is assumed that the vehicle 10 will not start driving after that move.

[0043] If the notification unit 58 receives a command from the user's information terminal to control the vehicle 10's departure from the depot during a software update, it will issue a fourth notification indicating that vehicle 10 cannot be depot-bound. In this case, the movement control unit 56 will not attempt to depot vehicle 10 until the software update is complete.

[0044] 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 the steering 110. The torque sensor 102 detects the torque TQ applied to the steering 110.

[0045] The EPS motor 104 provides driving force or reaction force to the steering column 112 connected to the steering 110, thereby enabling assistance for the occupant's operation of the steering 110 and automatic steering during parking assistance. The resolver 106 detects the rotation angle θm of the EPS motor 104. The EPS ECU 108 controls the entire 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).

[0046] The communication unit 24 enables wireless communication with other communication devices 120. Other communication devices 120 include base stations, communication devices in other vehicles, and information terminals such as smartphones or tablets that can be carried by the user of vehicle 10. For example, the communication unit 24 is equipped with a UWB interface that enables UWB (Ultra Wide Band: registered trademark) communication with information terminals.

[0047] The drive force control system 26 includes a drive ECU 130. The drive force control system 26 controls the drive force of the vehicle 10. The drive ECU 130 controls the drive force of the vehicle 10 by controlling an engine (not shown) and other components (not shown) based on user operation of an accelerator pedal (not shown).

[0048] 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 braking mechanism (not shown) and the like based on user operation of a brake pedal (not shown).

[0049] <Fod system including the control device of the present invention> Figure 4 shows an example of the configuration of a Function on Demand (FoD) system 1 including the control device of this embodiment. As shown in Figure 4, the FoD system 1 comprises a server 90, a vehicle 10 capable of communicating with the server 90, and an information terminal 60. In this example, one vehicle 10 is shown, but the number of vehicles may be multiple.

[0050] Server 90 is an external server installed in a facility such as a management center. Server 90 manages permission information regarding the execution rights of a vehicle, which is acquired when a user uses vehicle 10, and associates it with the user (user ID). The software for controlling the movement of vehicle 10 is managed by this server 90. Using this software is one of the permission pieces of information regarding the execution rights of vehicle 10. Users can download update software from this server 90.

[0051] Server 90 controls the enabling / disabling (ON / OFF) of functions provided by vehicle 10 when a user uses vehicle 10. Specifically, Server 90 controls the enabling / disabling of functions in vehicle 10 by sending function ON signals to enable functions and function OFF signals to disable functions.

[0052] The information terminal 60 is, for example, a smartphone or tablet owned by the user. After purchasing the vehicle 10, the user purchases execution rights for specific functions of the vehicle 10 online, for example, using the information terminal 60. By sending the execution rights ID obtained through the purchase from the information terminal 60 to the server 90, the user becomes able to use the purchased functions in the vehicle 10.

[0053] Vehicle 10 is a vehicle capable of so-called autonomous driving or assisted driving. Vehicle 10 may be a vehicle whose users are limited, for example, a vehicle owned by an individual, or it may be a vehicle whose users are not limited, for example, a vehicle owned by a corporation. Those who can use a vehicle owned by an individual include, for example, the vehicle owner themselves, their family, relatives, and friends. Vehicles owned by a corporation include vehicles that can be used by an unspecified number of users under a prescribed contract, such as rental cars and car-sharing vehicles.

[0054] <Hardware configuration of user's information terminal 60> Figure 5 shows an example of the hardware configuration of an information terminal 60 owned by a user of vehicle 10. The information terminal 60 comprises a processor 61, memory 62, a communication interface 63, and a user interface 64. The processor 61, memory 62, communication interface 63, and user interface 64 are connected, for example, by a bus 65.

[0055] 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 also be implemented using other digital circuits such as an FPGA (Field Programmable Gate Array) or a DSP (Digital Signal Processor). Furthermore, the processor 61 may be implemented by combining multiple digital circuits.

[0056] Memory 62 includes, for example, main memory and auxiliary memory. Main memory is, for example, RAM (Random Access Memory). Main memory is used as the work area of ​​processor 61.

[0057] Auxiliary memory is non-volatile memory such as magnetic disks, optical disks, or flash memory. Various programs for operating the information terminal 60 are stored in the auxiliary memory. The programs stored in the auxiliary memory are loaded into main memory and executed by the processor 61.

[0058] Furthermore, the auxiliary memory may include portable memory that can be removed from the information terminal 60. Portable memory may include USB (Universal Serial Bus) flash drives, memory cards such as SD (Secure Digital) memory cards, and external hard disk drives.

[0059] The communication interface 63 is a communication interface that performs wireless communication between the information terminal 60 and an external party (for example, the communication unit 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.

[0060] The user interface 64 includes, for example, an input device that accepts user input and an output device that outputs information to the user. The input device can be implemented by, for example, a touch panel. The output device can be implemented by, for example, a display or a speaker. The user interface 64 is controlled by the processor 61.

[0061] The processor 61 performs movement control to instruct the movement of the vehicle 10. For example, the processor 61 performs movement control of the vehicle 10 (including parking control and exit control) based on specific user operations on the terminal screen of the information terminal 60. Specific operations include, for example, a slide operation to move the vehicle 10, and a tap operation to reserve parking and exit plans. Slide operations include continuous position instruction operations (e.g., swipe operations) and rotation instruction operations in a predetermined rotation direction (e.g., rotation swipe operations). The processor 61 also generates guidance images to prompt user instruction operations on the terminal screen of the information terminal 60 and controls the display of the generated guidance images on the terminal screen.

[0062] The processor 61 transmits parking instructions for remote parking and exit instructions for remote exit to the vehicle 10 based on specific operations on the terminal screen of the information terminal 60. The information terminal 60 has an application installed that enables movement control of the vehicle 10 by sending and receiving information related to the movement control of the vehicle 10 to and from the vehicle 10.

[0063] <Control by information terminal 60> Figure 6 shows an example of controlling the movement of vehicle 10 from outside the vehicle using an information terminal 60. User M of vehicle 10 is issuing a command to remotely park vehicle 10 in parking space P from outside the vehicle 10 using an information terminal 60 carried by user M. The command to execute the movement control includes, for example, a parking command to remotely park vehicle 10 in parking space P and an exit command to remotely exit vehicle 10 from parking space P. The example shown in Figure 6 shows the process of issuing a parking command to vehicle 10.

[0064] When the terminal screen 71 of the information terminal 60 is operated by user M, the information terminal 60 transmits an instruction signal to the vehicle 10 via wireless communication to instruct the vehicle 10 to remotely park. In addition to UWB communication, other wireless communication methods such as BLE (Bluetooth Low Energy: registered trademark) and NFC (Near Field Communication: registered trademark) may be used for wireless communication with the vehicle 10. The vehicle 10 receives the instruction signal transmitted from the information terminal 60 via the communication unit 24. The movement control unit 56 of the vehicle 10 controls the remote parking of the vehicle 10 according to the received instruction signal.

[0065] [Example of first action] Figures 7 and 8 are sequence diagrams showing a first example of operation of the vehicle 10 and the information terminal 60. Each operation in the vehicle 10 is performed by control from the control ECU 20.

[0066] First, in Figure 7, the vehicle 10 receives a remote parking instruction from user M to park the vehicle 10 in the parking space P using remote parking control (step S11). The remote parking instruction is an operation to set the state of the vehicle 10 to a state where it can be parked using remote parking control. This instruction is received by user M touching a remote parking button (not shown) inside the vehicle 10. The remote parking button may be provided as a touch button displayed on the touch panel 42 of the navigation device 18, for example, or as a mechanical vehicle switch, etc.

[0067] Next, vehicle 10 transitions to a standby state where it can receive instruction signals from information terminal 60 (step S12). Vehicle 10 transmits inquiry information regarding the remote parking disclaimer to an information terminal in the vicinity of vehicle 10 (for example, an information terminal 60 carried by user M) (step S13). An information terminal 60 in the vicinity of vehicle 10 is, for example, an information terminal whose communication quality with the communication unit 24 of vehicle 10 is above a certain level. Specifically, the information terminal 60 is a smartphone or the like carried by user M who is within 5 to 10 meters of vehicle 10. The inquiry information regarding the disclaimer is, for example, information asking user M whether they agree to the precautions stipulated regarding remote parking.

[0068] The information terminal 60 accepts a startup operation from user M to launch an application for issuing instructions to execute movement control of the vehicle 10 (step S14). The information terminal 60 displays a disclaimer (a set of precautions specified regarding remote parking) on ​​the terminal screen 71 and accepts a confirmation operation from user M who agrees to the disclaimer (step S15). An example of a disclaimer screen is the disclaimer screen 72, which will be described later in Figure 9.

[0069] Next, the information terminal 60 transmits the agreement response information received in step S15, based on the user M's operation, to the vehicle 10 (step S16). The agreement response information is, for example, information indicating agreement to the precautions regarding remote parking that were inquired about.

[0070] Next, vehicle 10 selects the information terminal that first sent the agreed response information, in this example, information terminal 60, as the driver terminal (step S17). The driver terminal is an information terminal that is authorized to control the remote parking of vehicle 10. As a result, information terminal 60 becomes a driver terminal capable of instructing vehicle 10 to remotely park, and is connected to vehicle 10 via communication.

[0071] Next, vehicle 10 determines whether or not there is software to be updated (step S18). Having software to be updated means that the new software is available for download on server 90, or that the new software has been downloaded to vehicle 10 but has not yet been updated. Here, we will assume that there is software to be updated. Vehicle 10 sends update inquiry information to information terminal 60, asking whether or not to perform the software update (step S19).

[0072] Next, the information terminal 60 displays on the terminal screen 71 that a software update is available and notifies user M of this, and accepts user M's response regarding whether or not to update (step S20). Here, we will explain assuming that user M continues remote parking without updating the software. An example of a screen that accepts the decision to update is the update confirmation screen 73, which will be described later in Figure 10.

[0073] Next, the information terminal 60 transmits the non-update response information from user M, who has indicated that he will not perform a software update, to the vehicle 10 (step S21).

[0074] Next, vehicle 10, having received non-updated response information from information terminal 60, sends disembarkation guidance information to information terminal 60 to prompt user M to disembark (step S22).

[0075] Next, the information terminal 60 displays a disembarking guidance screen on the terminal screen 71 prompting the user M of the information terminal 60 to disembark (step S23). The user M of the information terminal 60 opens the door of the vehicle 10 and disembarks, and then closes the door of the vehicle 10, following the instructions on the disembarking guidance screen. An example of a disembarking guidance screen is the disembarking guidance screen 74, which will be described later in Figure 11.

[0076] In this example, disembarking guidance information is sent in step S22 to prompt user M to disembark, but this is not limited to this. For example, disembarking guidance information may be sent in step S12 to prompt user M to disembark, and then the system may proceed to step S13 once it is detected that the doors of vehicle 10 have been opened.

[0077] Next, in Figure 8, vehicle 10 detects that the door of vehicle 10 is open (step S24). Here, "door open" may mean that the door of vehicle 10 is opened, or it may include the door of vehicle 10 being opened and then closed. The opening and closing of the door of vehicle 10 is performed, for example, by the operation of user M. In this case, the detection of door open is performed using a sensor that detects the opening and closing of the door. Alternatively, the opening and closing of the door of vehicle 10 may be performed automatically using an actuator provided in vehicle 10. In this case, the detection of door open is performed by determining whether or not the automatic opening and closing of the door of vehicle 10 has been performed.

[0078] Next, vehicle 10 sends a message to information terminal 60 to display the screen for receiving instructions to execute movement control (step S25).

[0079] The information terminal 60 displays a screen for receiving instructions to execute movement control on the terminal screen 71 and receives instructions to execute movement control from user M (step S26). An example of a screen for receiving instructions to execute movement control is the reception screen 75, which will be described later in Figure 12.

[0080] Next, the information terminal 60 sends a movement control execution instruction to the vehicle 10 in response to user M's operation on the reception screen 75 (step S27). For example, while the information terminal 60 is accepting a specific operation (rotate swipe operation) on the reception screen 75, it sends a movement control execution instruction to instruct the vehicle 10 to move, and when the rotation swipe operation on the reception screen 75 stops, it sends a movement control execution instruction to instruct the vehicle 10 to stop.

[0081] Vehicle 10 starts movement control (remote parking) in response to an instruction to execute movement control transmitted from the information terminal 60 (step S28). When vehicle 10 completes movement control (step S29), it turns off the ignition (stops starting) (step S30).

[0082] Thus, if the information terminal 60 responds to the update inquiry information, which asks whether or not to perform a software update, with a response indicating that the remote parking will continue without performing a software update, the vehicle 10 will perform remote parking in accordance with the movement control execution instruction from the information terminal 60, and will not perform a software update during that remote parking operation of the vehicle 10.

[0083] Furthermore, if, for example, no response from the user regarding the update request information in step S19 is received in step S20 within 10 minutes (a predetermined period), vehicle 10 may temporarily suspend accepting remote parking requests and perform the software update. Also, if, for example, vehicle 10 performs remote parking multiple times, and the user repeatedly responds in step S20 that they will not update the software in response to the update request information in step S19 within a predetermined period, vehicle 10 may temporarily suspend accepting remote parking requests and perform the software update.

[0084] Figure 9 shows an example of a disclaimer screen 72 displayed on the information terminal 60. The disclaimer screen 72 is displayed on the terminal screen 71 of the information terminal 60, for example, when it receives disclaimer inquiry information regarding remote parking. The disclaimer screen 72 is displayed, for example, in step S15 of Figure 7.

[0085] As shown in Figure 9, the disclaimer screen 72 includes an agreement statement 72a that represents the agreed content, for example, "Note: This function is not fully autonomous driving." The disclaimer screen 72 also includes an agreement button 72b that the user M operates when agreeing to the notes. Furthermore, the disclaimer screen 72 includes a statement such as "I agree to the notes" that is displayed when the agreement button 72b is swiped (a specific operation) to indicate that the user has agreed to the notes.

[0086] Figure 10 shows an example of an update request screen 73 displayed on the information terminal 60. The update request screen 73 is displayed on the terminal screen 71 of the information terminal 60, for example, when it receives inquiry information regarding whether or not to update the software. The update request screen 73 is displayed, for example, in step S20 of Figure 7.

[0087] As shown in Figure 10, the update request screen 73 includes an update message 73a that represents the update requirements, for example, "A software update is available. The software update will not be performed after parking by remote parking. To update the software, you must cancel remote parking and power off." The update request screen 73 also includes an inquiry message such as "Do you want to continue remote parking?", a continue button 73b that the user M operates when continuing remote parking, and a message indicating the action to take after continuing remote parking, such as "Please perform the software update the next time you get out of the vehicle." The update request screen 73 also includes a cancel button 73c that the user M operates when canceling remote parking, and a message indicating the action to take after canceling remote parking, such as "The software update will be performed." The notification by the update request screen 73 is an example of the "first notification" of the present invention.

[0088] Figure 11 shows an example of a passenger disembarkation guidance screen 74 displayed on the information terminal 60. The passenger disembarkation guidance screen 74 is displayed on the terminal screen 71 of the information terminal 60 when it receives passenger disembarkation guidance information prompting passengers to disembark from the vehicle 10. The passenger disembarkation guidance screen 74 is displayed, for example, in step S23 of Figure 7.

[0089] As shown in Figure 11, the disembarkation guidance screen 74 includes a message urging passengers to disembark, such as "Please disembark."

[0090] Figure 12 shows an example of a reception screen 75 displayed on the information terminal 60. The reception screen 75 is displayed on the terminal screen 71 of the information terminal 60, for example, when it receives a display instruction for a reception screen that accepts an execution instruction for movement control. The reception screen 75 is displayed, for example, in step S26 of Figure 8.

[0091] As shown in Figure 12, the reception screen 75 includes a movement icon 75a that moves in accordance with the touch position of user M, for example, by a rotational swipe operation. The reception screen 75 also includes guidance messages 75b for initiating or temporarily pausing remote parking of vehicle 10, such as "Park by rotating and swiping" or "Stop when you release your finger." The movement icon 75a and guidance messages 75b are examples of notifications (guidance images) that prompt user M to execute instructions for movement control. The reception screen 75 also includes an execution status image 75c above the area where the movement icon 75a is displayed, showing the execution status of parking control for vehicle 10 (how the vehicle is moving). Furthermore, the reception screen 75 includes a warning message 75d, for example to the right of the execution status image 75c, such as "Please check your surroundings directly," to alert user M who is performing the instruction operation. For example, while the information terminal 60 is accepting a rotational swipe operation of the movement icon 75a, it sends an execution command for movement control that instructs the vehicle 10 to move, and when the rotational swipe operation of the movement icon 75a stops, it sends an execution command for movement control that instructs the vehicle 10 to stop.

[0092] [Example of second action] Figure 13 is a sequence diagram showing a second example of operation of the vehicle 10 and the information terminal 60. As shown in Figure 13, each process from step S11 to step S20 is the same as each process from step S11 to step S20 in the first example of operation described in Figure 7.

[0093] In this second operational example, we will explain that in step S20, user M's response to the software update is to "perform the software update" by canceling remote parking. The screen for receiving the update confirmation is the same as the update confirmation screen 73 shown in Figure 10 above.

[0094] Next, the information terminal 60 transmits the update response information from user M, who has requested a software update, to the vehicle 10 (step S31).

[0095] Next, after turning off the ignition of vehicle 10 (stopping startup) (step S32), vehicle 10 performs a software update (step S33). Once vehicle 10 has completed the software update, it sends an update completion notification to the information terminal 60 to inform it that the update has been completed (step S34).

[0096] When the information terminal 60 receives an update completion notification from the vehicle 10, it displays an update completion screen on the terminal screen 71 to notify the user M that the software update is complete (step S35). An example of a screen indicating that the software update is complete is the update completion screen 76, which will be described later in Figure 14.

[0097] Thus, if the information terminal 60 responds to the software update inquiry, which asks whether or not to perform a software update, with a response indicating that remote parking should be stopped and the software should be updated, the vehicle 10 turns off the ignition and performs the software update.

[0098] For example, if, in response to the update inquiry information in step S19 described above, no response regarding whether or not to update is received from the user in step S20 within 10 minutes (a predetermined period), the vehicle 10 may temporarily suspend the acceptance of remote parking requests and perform the software update.

[0099] Figure 14 shows an example of an update completion screen 76 displayed on the information terminal 60. The update completion screen 76 is displayed, for example, on the terminal screen 71 of the information terminal 60 after it receives notification that the software update has been completed. The update completion screen 76 is displayed, for example, in step S35 of Figure 13.

[0100] As shown in Figure 14, the update completion screen 76 includes an update message 76a that indicates that the update has been completed and shows the update details, such as "Software update completed. Update details:..." The update completion screen 76 also includes an OK button 76b that is operated by user M who has confirmed the update details.

[0101] According to the first and second operation examples described above, after the vehicle 10 determines which information terminal 60 is authorized to issue a remote parking instruction, it displays an update request acceptance screen 73 on the information terminal 60, thereby notifying user M that a software update is possible by canceling the remote parking of the vehicle 10 and powering off the vehicle 10. This allows the vehicle 10 to notify legitimate user M of the existence of any update software related to remote parking at an appropriate time.

[0102] [Example of the third action] Figures 15 and 16 are sequence diagrams showing a third operation example of the vehicle 10 and the information terminal 60. As shown in Figure 15, each process from step S41 to step S48 is the same as each process from step S11 to step S18 of the first operation example described in Figure 7.

[0103] In this third example of operation, if there is software to update in step S48, the vehicle 10 sends update availability notification information to the information terminal 60 to notify it that the software update is available (step S49).

[0104] When the information terminal 60 receives update availability notification information from the vehicle 10, it displays on the terminal screen 71 that the software can be updated after remote parking and notifies the user M of this (step S50). An example of a screen that notifies that an update is possible after remote parking is the update availability notification screen 77, which will be described later in Figure 17.

[0105] After the information terminal 60 notifies the user M of the information terminal 60 that it can be updated after remote parking, it displays an exit guidance screen on the terminal screen 71 prompting the user M to exit the vehicle (step S51). The user M of the information terminal 60 opens the door of the vehicle 10 and exits, and then closes the door of the vehicle 10, following the instructions on the exit guidance screen. The exit guidance screen is the same as the exit guidance screen 74 shown in Figure 11 above.

[0106] In this example, step S51 displays a disembarkation guidance screen to prompt user M to disembark, but this is not limited to this. For example, disembarkation guidance information could be sent from vehicle 10 to information terminal 60 at step S42 to prompt user M to disembark, and then the system could proceed to step S43 once it is detected that the doors of vehicle 10 have been opened.

[0107] Next, in Figure 16, each process from step S52 to step S58 is the same as each process from step S24 to step S30 in the first operation example described in Figure 8.

[0108] In this third example of operation, after the ignition is turned off in step S58, the vehicle 10 sends update inquiry information to the information terminal 60 asking whether or not to perform a software update (step S59).

[0109] The information terminal 60 receives a response from the vehicle 10 regarding the update request, confirming whether user M wants to update (step S60). An example of a screen for confirming whether to update the software is the update confirmation screen 78, which will be described later in Figure 18. Here, we will assume that user M has responded that they want to update the software.

[0110] Next, the information terminal 60 transmits the update response information from user M, who has requested a software update, to the vehicle 10 (step S61).

[0111] When vehicle 10 receives update response information from information terminal 60, it performs a software update (step S62). Once vehicle 10 has completed the software update, it sends an update completion notification to information terminal 60 to inform it that the update has been completed (step S63).

[0112] When the information terminal 60 receives an update completion notification from the vehicle 10, it displays an update completion screen on the terminal screen 71 to notify the user M that the software update is complete (step S64). The screen indicating that the software update is complete is the same as the update completion screen 76 shown in Figure 14 above.

[0113] In this way, vehicle 10 notifies user M in advance that a software update is possible after remote parking, and when the remote parking is complete, it asks user M whether or not to perform the software update, and if the user responds that they want to perform the update, it executes the software update.

[0114] Furthermore, if, for example, the user does not respond to the update inquiry information in step S59 within 10 minutes (a predetermined period) in step S60, vehicle 10 may temporarily suspend remote parking acceptance and perform the software update. Also, although step S60 above was explained assuming that user M responded that they would update the software, if, for example, user M responded that they would not update the software, and then vehicle 10 performs remote parking multiple times, with user M repeatedly responding that they would not update the software each time, vehicle 10 may temporarily suspend remote parking acceptance and perform the software update.

[0115] Figure 17 shows an example of an update availability notification screen 77 displayed on the information terminal 60. The update availability notification screen 77 is displayed on the terminal screen 71 of the information terminal 60 when it receives a notification that a software update is available, for example, after remote parking. The update availability notification screen 77 is displayed, for example, in step S50 of Figure 15.

[0116] As shown in Figure 17, the update notification screen 77 includes an update message 77a that represents the update requirements, for example, "A software update is available. After completing moat parking, you can perform the software update by responding to the inquiry." The update notification screen 77 also includes an OK button 77b that is operated by user M who has confirmed the update details. The notification from the update notification screen 77 is an example of the "first notification" of the present invention.

[0117] Figure 18 shows an example of an update request screen 78 displayed on the information terminal 60. The update request screen 78 is displayed, for example, on the terminal screen 71 of the information terminal 60 that has received inquiry information regarding whether or not to update the software. The update request screen 78 is displayed, for example, in step S60 of Figure 16.

[0118] As shown in Figure 18, the update confirmation screen 78 includes an update confirmation message 78a, such as "Do you want to perform the software update?", which indicates the confirmation of the update. The update confirmation screen 78 also includes an "Perform" button 78b, which the user M operates if they wish to perform the update, and a "Do not perform" button 78c, which the user M operates if they do not wish to perform the update. The notification provided by the update confirmation screen 78 is an example of the "second notification" of the present invention.

[0119] According to the third example of operation described above, after the vehicle 10 determines which information terminal 60 is authorized to issue remote parking instructions, it displays an update available notification screen 77 on the information terminal 60, thereby notifying user M that a software update is available after the vehicle 10 has completed remote parking. This allows legitimate user M to be notified at an appropriate time that an update software related to remote parking is available.

[0120] [Example of the fourth action] Figures 19 and 20 are sequence diagrams showing a fourth operational example of the vehicle 10 and the information terminal 60. The fourth operational example is an operational example of the remote departure of the vehicle 10.

[0121] First, as shown in Figure 19, the information terminal 60 accepts a startup operation from user M to launch an application for issuing instructions to execute movement control of the vehicle 10 (step S71). The information terminal 60 displays a disclaimer (a set of precautions specified regarding remote vehicle departure) on the terminal screen 71 and accepts a confirmation operation from user M who agrees to the disclaimer (step S72). The disclaimer screen is the same as the disclaimer screen 72 shown in Figure 9 above.

[0122] Next, after receiving the user M's disclaimer agreement operation, the information terminal 60 accepts a power-on operation to start the vehicle 10 (step S73). An example of a screen for accepting the power-on operation is the power-on screen 79, which will be described later in Figure 21. The information terminal 60 transmits the power-on instruction received in step S73 and the disclaimer agreement response information received in step S72 to the vehicle 10 (step S74).

[0123] Vehicle 10 selects the information terminal that first sent the agreed response information, in this example, information terminal 60, as the driver terminal (step S75). As a result, information terminal 60 becomes a driver terminal capable of instructing vehicle 10 to remotely exit the parking lot and is connected to vehicle 10 via communication. Vehicle 10 sends an instruction to the information terminal 60, which was selected as the driver terminal, to display a reception screen that accepts instructions for the direction of vehicle 10's exit (step S76).

[0124] When the information terminal 60 receives a display instruction for the reception screen from the vehicle 10, it displays the departure direction instruction reception screen on the terminal screen 71 and receives the departure direction instruction from user M (step S77). An example of a screen for receiving departure direction instructions is the departure direction reception screen 80, which will be described later in Figure 22. In response to user M's operation on the departure direction reception screen 80, the information terminal 60 transmits the departure direction instruction to the vehicle 10 (step S78).

[0125] Next, vehicle 10 sends a message to information terminal 60 to display the screen for receiving instructions to execute movement control (step S79).

[0126] When the information terminal 60 receives a command from the vehicle 10 to display a reception screen, it displays the reception screen on the terminal screen 71 and receives a command from user M to execute movement control (step S80). The screen for receiving the command to execute movement control is the same as the reception screen 75 shown in Figure 12 above.

[0127] Next, the information terminal 60 sends an instruction to the vehicle 10 to execute movement control in response to user M's operation on the reception screen 75 (step S81).

[0128] Vehicle 10 starts movement control (remote departure) in response to an execution instruction for movement control transmitted from the information terminal 60 (step S82). When vehicle 10 completes movement control (step S83), it turns off the ignition (stops startup) (step S84).

[0129] Next, in Figure 20, vehicle 10 determines whether or not there is software to be updated (step S85). Here, we will explain assuming that there is software to be updated. Vehicle 10 determines whether the current stopping position of vehicle 10 after remote departure, that is, the target position where user M intended to have vehicle 10 depart, is a predetermined position (step S86). A predetermined position is, as mentioned above, a charging position to which vehicle 10 is moved in order to charge vehicle 10. Here, we assume that the stopping position of vehicle 10 is not a predetermined position. Since the stopping position of vehicle 10 is not a predetermined position, vehicle 10 terminates the process without updating the software during vehicle 10's movement control (remote departure) at this time.

[0130] In this manner, when vehicle 10 is remotely released, vehicle 10 determines whether the location from which it was released is a designated location such as a charging location. If it is determined that the location is not a designated location, it is determined that the remote release of vehicle 10 is for the purpose of driving vehicle 10, and the software is not updated.

[0131] Figure 21 shows an example of a power-up screen 79 displayed on the information terminal 60. The power-up screen 79 is displayed, for example, on the terminal screen 71 of the information terminal 60 when user M agrees to a disclaimer during remote delivery. The power-up screen 79 is displayed, for example, in step S73 of Figure 19.

[0132] As shown in Figure 21, the power-on screen 79 includes, for example, a vehicle image 79a of vehicle 10 and a power-on button 79b to proceed with remote vehicle departure. The power-on screen 79 also includes a close button 79c to close the power-on screen 79 when the remote vehicle departure is to be canceled.

[0133] Figure 22 shows an example of the departure direction reception screen 80 displayed on the information terminal 60. The departure direction reception screen 80 is displayed on the terminal screen 71 of the information terminal 60, for example, when it receives a display instruction for the departure direction instruction reception screen. The departure direction reception screen 80 is displayed, for example, in step S77 of Figure 19.

[0134] As shown in Figure 22, the exit direction selection screen 80 includes a guidance message 80a, such as "Please select your exit direction," which prompts the user to select an exit direction. The exit direction selection screen 80 also includes, for example, forward exit 80b, where the vehicle moves forward and exits the parking space and then stops; forward left turn exit 80c, where the vehicle moves forward and turns left and exits the parking space and then stops; forward right turn exit 80d, where the vehicle moves forward and turns right and exits the parking space and then stops; reverse exit 80e, where the vehicle reverses and exits the parking space and then stops; reverse left turn exit 80f, where the vehicle reverses and turns left and exits the parking space and then stops; and reverse right turn exit 80g, where the vehicle reverses and turns right and exits the parking space and then stops. On this exit direction selection screen 80, the user M selects the desired exit direction (80b~80g) for the vehicle 10 by touching the screen.

[0135] [Example of the fifth action] Figure 23 is a sequence diagram showing a fifth operation example of the vehicle 10 and the information terminal 60. The fifth operation example is an example of operation when the vehicle 10, which was remotely released in the fourth operation example described above, is parked at a predetermined location.

[0136] First, in the fifth operation example, similar to steps S71 to S86 of the fourth operation example described in Figures 19 and 20, the remote exit of the vehicle 10 is completed and the ignition is turned off. Then, it is determined whether the current stopping position of the vehicle 10 is the predetermined position.

[0137] Next, in Figure 23, in the case of the fifth operation example, the stopping position determined in step S86A is assumed to be a predetermined position, for example, a charging position for charging the vehicle 10. In this case, the vehicle 10 sends update inquiry information to the information terminal 60 to inquire whether or not to perform a software update (step S91).

[0138] The information terminal 60 receives a response from the vehicle 10 regarding the update request, confirming whether user M will update (step S92). The screen for confirming whether to update the software is the same as the update confirmation screen 78 shown in Figure 18 above. The notification on the update confirmation screen 78 in the fifth operation example is an example of the "third notification" of the present invention. Here, it is explained that user M has responded that he will update the software.

[0139] Next, the information terminal 60 transmits the update response information from user M, who has requested a software update, to the vehicle 10, which was received in step S92 (step S93).

[0140] When vehicle 10 receives update response information from information terminal 60, it performs a software update (step S94). Once vehicle 10 has completed the software update, it sends an update completion notification to information terminal 60 to inform it that the update has been completed (step S95).

[0141] When the information terminal 60 receives an update completion notification from the vehicle 10, it displays an update completion screen on the terminal screen 71 to notify the user M that the software update is complete (step S96). The screen indicating that the software update is complete is the same as the update completion screen 76 shown in Figure 14 above.

[0142] Thus, if the stopping position of the remotely retrieved vehicle 10 is, for example, a charging position (a predetermined position) for charging the vehicle 10, the vehicle 10 will not start moving until the charging is complete. Therefore, the vehicle 10 will inquire with the information terminal 60 (driver terminal) whether or not to perform a software update, and if the driver replies that they will perform the update, the software update will be executed. This allows the legitimate user M to be notified at an appropriate time that an update software related to remote parking is available.

[0143] [Example of the 6th action] Figure 24 is a sequence diagram showing a sixth operation example for vehicle 10 and information terminal 60. The sixth operation example is an example of operation when, in the fourth operation example described above, an instruction to remotely dispatch vehicle 10 is received from information terminal 60, but vehicle 10 is undergoing a software update.

[0144] First, vehicle 10 begins updating the software that is available for update (step S100).

[0145] The information terminal 60 starts the preparation process for remote shipment. Each step from step S101 to step S104 in the preparation process for remote shipment is the same as each step from step S71 to step S74 in the fourth operation example described in Figure 19.

[0146] Upon receiving a power-on instruction and agreed response information from the information terminal 60, the vehicle 10 sends a remote departure unavailable notification to the information terminal 60 informing it that it is currently unable to remotely depart because it is undergoing a software update (step S105).

[0147] Next, the information terminal 60 displays on the terminal screen 71 that remote dispatch is unavailable due to a software update, and notifies the user M of this (step S106). An example of a screen that notifies that remote dispatch is unavailable is the remote dispatch unavailable screen 81, which will be described later in Figure 25.

[0148] The software update initiated in step S100 is completed for vehicle 10 (step S107). After the software update is complete, remote departure is possible if vehicle 10 sends a message to the information terminal 60 indicating the display of a reception screen that accepts instructions for the vehicle's departure direction.

[0149] Figure 25 shows an example of a remote dispatch unavailable screen 81 displayed on the information terminal 60. The remote dispatch unavailable screen 81 is displayed on the terminal screen 71 of the information terminal 60 when it receives a remote dispatch unavailable notification indicating that remote dispatch is not possible. The remote dispatch unavailable screen 81 is displayed, for example, in step S106 of Figure 24.

[0150] As shown in Figure 25, the Remote Dispatch Unavailable screen 81 includes a dispatch unavailable message 81a that notifies the user that remote dispatch is not possible, for example, "Remote dispatch is unavailable due to software updates. Remote dispatch will be terminated." The Remote Dispatch Unavailable screen 81 also includes an OK button 81b that is operated by user M after confirming the termination of the remote dispatch. The notification by the Remote Dispatch Unavailable screen 81 is an example of the "fourth notification" of the present invention.

[0151] In this way, if an instruction to remotely dispatch vehicle 10 is received from the information terminal 60 during a software update, vehicle 10 can notify user M that it cannot be remotely dispatched by displaying a remote dispatch unavailable screen 81 on the information terminal 60.

[0152] The control method described in the above-mentioned embodiment can be implemented by executing a pre-prepared control program on a computer. This control program is recorded on a computer-readable storage medium and executed when read 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.

[0153] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and modifications, improvements, etc., can be made as appropriate.

[0154] In the above embodiment, an example was described in which the moving body is a vehicle (a four-wheeled automobile), but it is not limited to this. For example, it may be a motorcycle, a Segway, or other type of vehicle. Furthermore, the concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc., that are equipped with a drive source and are able to move using the power of the drive source.

[0155] Furthermore, this specification includes at least the following information. Note that the components etc. in parentheses indicate those corresponding to the embodiments described above, but are not limited thereto.

[0156] (1) A control device (control ECU 20) for a mobile body (vehicle 10), A control unit (calculation unit 52) ​​capable of stopping the mobile body at a target position when the user is not on board, The system includes a storage unit (storage unit 54) that stores software for controlling the movement of the aforementioned mobile body, When the control unit executes the stop control while the software is updateable, after determining the instruction terminal to instruct the stop control, it makes a first notification to the user that the software is updateable. Control device.

[0157] According to (1), when the software for controlling the movement of a mobile body is in a state where it can be updated, and when performing stop control to stop a mobile body that is not on board at a target position, it is possible to notify the legitimate user of the mobile body that the software can be updated after determining the instruction terminal that will instruct the stop control of the mobile body. This makes it possible to appropriately notify the user that the software related to the stop control of the mobile body can be updated.

[0158] (2) The control device described in (1), When the control unit executes the stop control while the software is updatable, it makes the first notification after the instruction terminal is determined and before the start of the stop control. Control device.

[0159] According to (2), by setting the timing of notification to the user to after the instruction terminal is determined and before the stop control is initiated, the user can be notified more appropriately that there is an update software.

[0160] (3) A control device as described in (1) or (2), The control unit determines the instruction terminal based on the operation performed on the information terminal held by the user. Control device.

[0161] According to (3), the instruction terminal that will instruct the stopping control of the mobile body is determined by the user's operation of the information terminal, so the user of the mobile body can be notified more appropriately that there is an update software.

[0162] (4) A control device according to any one of (1) to (3), The control unit, The stop control is executed based on the movement instruction from the instruction terminal. Control device.

[0163] (4) Preferably, the stopping control of the moving object is performed based on a movement instruction from the instruction terminal.

[0164] (5) A control device according to any one of (1) to (4), The control unit, The system transmits inquiry information regarding the determination of the instruction terminal to information terminals in the vicinity of the mobile body. Upon receiving the predetermined response information to the aforementioned inquiry information, The information terminal that first received the aforementioned response information is determined to be the instruction terminal. Control device.

[0165] According to (5), the information terminal that first sends response information to the inquiry information from the mobile device is determined to be the instruction terminal, so that the user of the mobile device can be notified more appropriately that there is updated software.

[0166] (6) A control device according to any one of (1) to (5), The first notification is a notification that the software can be updated when the stop control is canceled and the mobile unit is powered off. Control device.

[0167] As in (6), in order to perform a software update, it is preferable to, for example, cancel the stop control of the mobile unit and power off the mobile unit.

[0168] (7) The control device described in (6), The aforementioned first notification accepts the instruction to update the software, When the control unit receives an instruction to update the software in response to the first notification, it executes the software update. Control device.

[0169] As in (7), when performing a software update, it is preferable to receive instructions from the user regarding the requirements for updating the software.

[0170] (8) A control device according to any one of (1) to (5), The control unit makes a second notification when the stop control is completed and the moving body is powered off. The first notification is a notification that the software can be updated in response to the second notification. Control device.

[0171] (8) In order to perform a software update, it is preferable to require, for example, a user response to a notification issued when the stopping control of the mobile device is completed and the mobile device is powered off.

[0172] (9) The control device described in (8), The second notification acknowledges the instruction to update the software, When the control unit receives an instruction to update the software in response to the second notification, it executes the software update. Control device.

[0173] As in (9), when performing a software update, it is preferable to receive instructions from the user regarding the requirements for updating the software.

[0174] (10) A control device according to any one of (1) to (9), The control unit, If, after issuing a notification to accept instructions for updating the software, instructions for updating the software are not accepted within a predetermined period, the software update will be performed. Control device.

[0175] As in (10), if a notification is sent to accept instructions for a software update, but no instructions are received from the user within a specified period, it is preferable to perform the software update.

[0176] (11) A control device according to any one of (1) to (10), The control unit, The movement control is capable of moving the aforementioned moving body from a stopping position to a target position. When the motion control is performed while the software update is available, the software update is not performed even after the motion control is completed and the moving object is powered off. Control device.

[0177] As in (11), when performing movement control to move the moving object from a stopping position to a target position, it is preferable not to perform a software update because it can be predicted that the moving object will start moving again after the movement control is completed.

[0178] (12) The control device described in (11), The control unit, If the software is in a state where it can be updated and the target position is at a predetermined position, when the movement control is completed and the moving body is powered off, a third notification is made informing that the software can be updated, and the software update is performed in response to the third notification. Control device.

[0179] As in (12), if the target position for moving the moving body from the stopping position is a predetermined position, it is preferable to perform a software update because it can be predicted that the moving body will not start moving after the movement control is performed.

[0180] (13) A control device according to any one of (1) to (12), The control unit, The movement control is capable of moving the aforementioned moving body from a stopping position to a target position. If, during the software update, the user receives a command to perform the movement control from their information terminal, the movement control will not be performed, and a fourth notification will be issued informing the user that the movement control is not possible. Control device.

[0181] As in (13), if a movement control instruction is given to move the mobile object from the stopping position to the target position while the software is being updated, it is preferable to notify that the movement control of the mobile object is not possible.

[0182] (14) A control method by a control device for a mobile body, comprising a control unit capable of stopping the mobile body at a target position when the user of the mobile body is not on board, and a storage unit that stores software for controlling the movement of the mobile body, The processor of the control device When the stop control is executed while the software update is available, a first notification is given to the user informing them that the software update is available, after the instruction terminal that commands the stop control is determined. Control method.

[0183] According to (14), when the software for controlling the movement of a mobile body is in a state where it can be updated, and when stop control is performed to stop a mobile body that is not on board with a user at a target position, it is possible to notify the legitimate user of the mobile body that the software can be updated after determining the instruction terminal that will instruct the stop control of the mobile body. This makes it possible to appropriately notify the user that the software related to the stop control of the mobile body can be updated.

[0184] (15) A control program for a control device for a mobile body, comprising: a control unit capable of stopping the mobile body at a target position when the user of the mobile body is not on board; and a storage unit that stores software for controlling the movement of the mobile body, The processor of the control device, When the stop control is executed while the software update is available, a first notification is given to the user informing them that the software update is available, after the instruction terminal that commands the stop control is determined. A control program that executes a process.

[0185] According to (15), when the software for controlling the movement of a mobile body is in a state where it can be updated, and when stop control is performed to stop a mobile body that is not on board with a user at a target position, it is possible to notify the legitimate user of the mobile body that the software can be updated after determining the instruction terminal that will instruct the stop control of the mobile body. This makes it possible to appropriately notify the user that the software related to the stop control of the mobile body can be updated. [Explanation of symbols]

[0186] 10. Vehicles (mobile devices) 20 Control ECU (Control Unit) 52. Calculation Unit (Control Unit) 54 Memory section

Claims

1. A control device for a mobile body, A communication unit that communicates with the user's information terminal of the aforementioned mobile device, A control unit capable of controlling the movement of the mobile body, including parking control that causes the user to park the mobile body at a target position when not in use, based on an operation on the information terminal, A storage unit in which the software for the aforementioned movement control is stored, The system comprises an output device that outputs information to the user regarding the software update, or a notification unit that sends a notification to the information terminal based on the communication, When the notification unit executes the parking control while the software is available for update, it makes a first notification to inform the user that the software is available for update. The control unit, Based on the user's response to the first notification, it is determined whether to perform the parking control or the software update. When performing the aforementioned parking control, the software is not updated during parking using the said parking control. When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. Control device.

2. A control device according to claim 1, The aforementioned movement control includes exit control that causes the mobile body to move from the parking position to the exit position while the user of the mobile body is not inside the vehicle. When the control unit performs the outbound control, it does not update the software. Control device.

3. A control device according to claim 1, When the notification unit performs the parking control while the software is updatable, it makes the first notification before the system begins to accept the user's movement command to the information terminal during the parking control. Control device.

4. A control device according to claim 1, The control unit, The parking control is executed based on the user's movement instruction operation to the information terminal. Control device.

5. A control device according to claim 1, The control unit stops the movement of the moving body after the parking control is completed. Control device.

6. A control device according to claim 1, The first notification is a notification that the software can be updated when the parking control is stopped and the movement of the mobile body is stopped. Control device.

7. A control device according to claim 6, When the control unit receives an instruction to update the software in response to the first notification, it executes the software update. Control device.

8. A control device according to claim 1, The control unit, If the notification unit does not receive an instruction to update the software within a predetermined period after issuing the first notification, the software update will be performed. Control device.

9. A control device according to claim 1, The control unit, If, during the software update, the user requests the movement control from their information terminal, the movement control will not be performed, and a fourth notification will be issued informing the user that the movement control is not possible. Control device.

10. A control method for a mobile body comprising: a communication unit that communicates with the user's information terminal of the mobile body; a control unit capable of controlling the movement of the mobile body, including parking control that parks the mobile body at a target position when the user is not on board, based on operations on the information terminal; a storage unit that stores software for the movement control; and an output device that outputs information to the user regarding updates to the software, or a notification unit that notifies the information terminal based on the communication, wherein the control device for the mobile body comprises: a communication unit that communicates with the user's information terminal of the mobile body; a control unit that enables movement control of the mobile body, including parking control that parks the mobile body at a target position when the user is not on board; a storage unit that stores software for the movement control; and an output device that outputs information to the user regarding updates to the software, or a notification unit that notifies the information terminal based on the communication, The processor of the control device When the parking control is executed while the software is available for update, a first notification is given to inform the user that the software is available for update. Based on the user's response to the first notification, it is determined whether to perform the parking control or the software update. When performing the aforementioned parking control, the software is not updated during parking using the said parking control. When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. Control method.

11. A control program for a control device for a mobile body, comprising: a communication unit that communicates with the user's information terminal of the mobile body; a control unit capable of controlling the movement of the mobile body, including parking control that parks the mobile body at a target position when the user is not on board, based on operations on the information terminal; a storage unit that stores software for the movement control; and an output device that outputs information to the user regarding updates to the software, or a notification unit that notifies the information terminal based on the communication, wherein The processor of the control device, When the parking control is executed while the software is available for update, a first notification is given to inform the user that the software is available for update. Based on the user's response to the first notification, it is determined whether to perform the parking control or the software update. When performing the aforementioned parking control, the software is not updated during parking using the said parking control. When performing the aforementioned software update, the parking control is stopped, and the software update is performed after the movement of the mobile body has been stopped. A control program that executes a process.

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