Vehicle control device and vehicle

Abstract

The present invention provides a vehicle control device and a vehicle that can appropriately control the cleaning device during remote parking and exit of a vehicle, thereby suppressing malfunctions or damage to the cleaning device itself or the exterior of the vehicle. [Solution] A vehicle 2 configured to enable remote parking and exiting includes a control device 30 and a wiper 80 for cleaning predetermined parts of the exterior of the vehicle 2. The control device 30 enables the operation of the wiper 80 when parking remotely and restricts the operation of the wiper 80 when exiting remotely.

Description

Technical Field

[0007] ,

[0001] The present invention relates to a vehicle control device and a vehicle.

Background Art

[0002] In recent years, in order to make cities and human settlements inclusive, safe, resilient, and sustainable, improvement of traffic safety has been demanded. From the perspective of improving traffic safety, development of driving support technologies and autonomous driving technologies for moving bodies (e.g., vehicles) has been promoted. For example, Patent Document 1 below discloses a technology that automatically parks a vehicle in a parking space by moving the vehicle according to an operation of a terminal device by a driver who has gotten off the vehicle.

[0003] In addition, a vehicle may include a cleaning device that cleans a predetermined part of the exterior. As an example, a vehicle usually includes a wiper that wipes a front window.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the prior art, control of the cleaning device during parking and leaving the warehouse of a vehicle by remote operation has not been sufficiently studied.

[0006] The present invention provides a vehicle control device and a vehicle that can appropriately control a cleaning device during parking and leaving the warehouse of a vehicle by remote operation and suppress failures and damages of the cleaning device itself or the exterior of the vehicle.

Means for Solving the Problems

[0007] One aspect of the present invention is A vehicle control device for controlling a vehicle configured to enable remote parking and exiting, The vehicle is equipped with a cleaning device for cleaning a predetermined part of the exterior of the vehicle. The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed via remote control, the operation of the cleaning device is restricted. death , The cleaning device has an auto mode in which it operates based on the detection results of sensors provided by the vehicle. When the mode for operating the cleaning device is set to the auto mode, the cleaning device will not be activated when the vehicle is removed by remote control, regardless of the detection result. It is a vehicle control device.

[0008] Another aspect of the present invention is, A vehicle configured to enable remote parking and exiting, A cleaning device for cleaning a predetermined part of the exterior of the vehicle, A vehicle control device that controls the aforementioned vehicle, Equipped with, The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed via remote control, the operation of the cleaning device is restricted. death , The cleaning device has an auto mode in which it operates based on the detection results of sensors provided by the vehicle. When the mode for operating the cleaning device is set to the auto mode, the cleaning device will not be activated when the vehicle is removed by remote control, regardless of the detection result. It is a vehicle. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a vehicle control device and a vehicle that can appropriately control the cleaning device when parking and departing a vehicle via remote operation, thereby suppressing malfunctions or damage to the cleaning device itself or the exterior of the vehicle. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a block diagram showing an example of the movement control system 1 of this embodiment. [Figure 2] Figure 2 shows an example of remote parking. [Figure 3]FIG. 3 is a diagram showing an example of remote departure. [Figure 4] FIG. 4 is a diagram showing an example of the control of the wiper 80 during remote parking. [Figure 5] FIG. 5 is a diagram showing an example of the control of the wiper 80 during remote departure. [Figure 6] FIG. 6 is a diagram showing an example in the first modification when the driver performing the remote operation is far from the vehicle 2. [Figure 7] FIG. 7 is a diagram showing an example in the first modification when the driver performing the remote operation is close to the vehicle 2. [Figure 8] FIG. 8 is a diagram showing an example of the control of the wiper 80 in the second modification.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, a vehicle control device and an embodiment of a vehicle according to the present invention will be described with reference to the drawings. The drawings are to be viewed in the direction of the reference numerals. Note that the following embodiments do not limit the present invention, and not all of the elements described in the following embodiments are essential to the present invention. Hereinafter, the same or similar elements may be denoted by the same or similar reference numerals, and the description thereof may be omitted or simplified. Also, hereinafter, unless otherwise specified, the front-rear, left-right, and up-down directions will be described according to the directions as viewed from the occupant of the vehicle (vehicle 2 described later) in this embodiment.

[0012] [1. Movement Control System] Figure 1 is a block diagram showing an example of the movement control system 1 of this embodiment. The movement control system 1 shown in Figure 1 consists of a vehicle 2 and a terminal device 3 that can communicate with each other. The movement control system 1 is a system that can move the vehicle 2 to a predetermined target parking position by automatic steering and park it in that target parking position, or move a parked vehicle 2 from its parking position to a predetermined position by automatic steering and exit the parking space, using remote control via the terminal device 3. Hereinafter, parking the vehicle 2 by remote control using the terminal device 3 will also be referred to as "remote parking," and exiting the vehicle 2 by remote control using the terminal device 3 will also be referred to as "remote exit."

[0013] (vehicle) Vehicle 2 is an example of a vehicle according to the present invention, and is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels and steerable wheels that are driven by the power of the drive source. As an example, Vehicle 2 can be a four-wheeled automobile having a pair of left and right front wheels and a pair of rear wheels.

[0014] The power source for vehicle 2 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. Furthermore, the power source for vehicle 2 may drive a pair of front wheels, a pair of rear wheels, or each of the four wheels (a pair of front wheels and a pair of rear wheels). The front and rear wheels of vehicle 2 may be steerable wheels, either one of which is steerable, or both may be steerable.

[0015] Vehicle 2 is comprised of a sensor group 10, a navigation device 20, a control device 30, an EPS system 40 (EPS: Electric Power Steering), a drive force control system 50, a braking force control system 60, a communication unit 70, and wipers 80.

[0016] The sensor group 10 consists of an external sensor 11 that acquires information about the surroundings of the vehicle 2 (hereinafter also referred to as "surrounding information") and a vehicle sensor 12 that acquires information about the vehicle 2 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and used for the control of the vehicle 2 by the control device 30 (hereinafter also referred to as "vehicle control").

[0017] The external sensor 11 is composed of, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 captures images of the area around the vehicle 2, including the area in front of the vehicle 2, and outputs the image data of the obtained surrounding images to the control device 30. As the camera 111, for example, a digital camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0018] More specifically, the camera 111 includes, for example, a front camera 111a, a rear camera 111b, and a side camera 111c. The front camera 111a is, for example, mounted on the front grille (not shown) of the vehicle 2 and captures the scenery in front of the vehicle 2. The rear camera 111b is, for example, mounted near the license plate (in other words, the vehicle registration number plate) attached to the rear of the vehicle 2 and captures the scenery behind the vehicle 2. The side cameras 111c are, for example, mounted on the left and right side mirrors (not shown) and capture the scenery to the sides (i.e., left and right) of the vehicle 2.

[0019] The sonar 112 emits sound waves around the vehicle 2 (for example, in front of, behind, and to the sides of the vehicle 2) and receives reflected sound from objects present in the vicinity of the vehicle 2 to detect the distance and direction from the vehicle 2 to the object, and outputs the detection results to the control device 30. The radar 113 emits radio waves around the vehicle 2, including in front of the vehicle 2, and receives reflected waves from objects present in the vicinity of the vehicle 2 to detect the distance and direction to the object. For example, a millimeter-wave radar can be used as the radar 113.

[0020] Furthermore, the external sensor 11 may be configured to include LiDAR (Light Detection And Ranging) in place of or in addition to sonar 112 and radar 113. In this case, the LiDAR emits laser light around the vehicle 2, including in front of the vehicle 2, and detects the distance and direction from the vehicle 2 to the object by receiving reflected light from the object present around the vehicle 2.

[0021] The raindrop sensor 114 detects the presence or absence of raindrops and the amount of raindrops (in other words, the amount of rainfall) around the vehicle 2, and outputs the detection result to the control device 30. More specifically, the raindrop sensor 114 is composed of a light-emitting element such as an infrared light-emitting diode and a light-receiving element such as a photodiode, and is installed near the front windshield (not shown) of the vehicle 2. For example, if there are no raindrops on the front windshield, the light emitted from the light-emitting element of the raindrop sensor 114 is reflected by the surface of the front windshield and incident on the light-receiving element. On the other hand, if there are raindrops on the front windshield, the light emitted from the light-emitting element of the raindrop sensor 114 passes through the raindrops, so the amount of light incident on the light-receiving element is less than when there are no raindrops. Using this principle, the raindrop sensor 114 can detect the presence or absence of raindrops and the amount of raindrops.

[0022] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0023] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 2. For example, the wheel sensor 121 detects the rotation angles of the left rear wheel and the right rear wheel. The wheel sensor 121 can be, for example, an angle sensor or a displacement sensor.

[0024] The vehicle speed sensor 122 detects the vehicle speed VP, which is the vehicle's travel speed (in other words, the vehicle's movement speed). For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the rotation speed of a countershaft (not shown) provided by the vehicle 2.

[0025] The inertial measurement device 123 detects the angular velocities of the vehicle 2 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 2 in the longitudinal, lateral, and vertical directions. The vehicle sensor 12 may also include, instead of the inertial measurement device 123, an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 2, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 2.

[0026] The occupant camera 124 is a digital camera that captures images of the interior of vehicle 2 and outputs the image data of the interior images to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is positioned to capture images of the head of an occupant (for example, the driver of vehicle 2) seated in the driver's seat of vehicle 2 from the front. Similar to camera 111, the occupant camera 124 can be a digital camera that uses an image sensor such as a CCD or CMOS.

[0027] The operation detection unit 125 detects operations performed using an operation input unit 129 that is operated by the occupants of the vehicle 2 (hereinafter also simply referred to as "occupants"). The operation input unit 129 may include, for example, a start / stop switch (hereinafter also referred to as "SSSW"), an operation button that accepts an operation to perform remote parking, etc.

[0028] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 2 is being properly gripped. For example, the steering touch sensor 126 can be implemented using a capacitive sensor. In this case, the capacitive sensor is installed in the part that the driver touches when the steering wheel 46 is being properly gripped.

[0029] The navigation device 20 is comprised of, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) made of flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24, etc.

[0030] The map information database 24 is composed of road network information. Road network information is information that represents each road by a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on the road, such as an intersection, a bend, or a dead end. In the road network information, each node is set with information such as the location corresponding to that node (for example, coordinates that can identify a specific point on the map, such as latitude and longitude). In addition, in the road network information, each link is set with information such as the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, and the road type.

[0031] The GNSS receiver 21 determines the current position of the vehicle 2 (for example, the latitude and longitude of the location where the vehicle 2 is located) based on signals received from GNSS satellites. Alternatively, the navigation device 20 may acquire detection results from vehicle sensors 12 (for example, wheel sensors 121 or vehicle speed sensors 122) via the control device 30, and determine or supplement the current position of the vehicle 2 using an INS (Inertial Navigation System) that utilizes the detection values ​​from the vehicle sensors 12.

[0032] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (such as a touchpad). The speaker 23 is configured to output sound to the occupants.

[0033] For example, the navigation device 20 searches for a route from the vehicle 2's current location to a destination set by the driver using the touch panel 22, by referring to the map information database 24. Then, based on the searched route, the navigation device 20 provides route guidance using the touch panel 22 and speaker 23.

[0034] Furthermore, the navigation device 20 may display predetermined information on the touch panel 22 in accordance with instructions from the control device 30. In addition, the navigation device 20 may output predetermined information (for example, information indicating an operation received via the touch panel 22) to the control device 30. For example, the navigation device 20 may display information on the touch panel 22 to guide the driver to a parking position PS or a target parking position PT, which will be described later. The navigation device 20 may also receive an operation by the driver to specify a target parking position PT via the touch panel 22 and output information indicating the specified target parking position PT to the control device 30.

[0035] The control device 30 is an example of the vehicle control device of the present invention and is a computer that provides overall control of the entire vehicle 2. For example, the control device 30 comprises an input / output unit 31, an arithmetic unit 32, and a storage unit 33. The input / output unit 31 is an interface that performs input and output of information between the inside and outside of the control device 30 according to the control of the arithmetic unit 32. The storage unit 33 is composed of a non-volatile storage medium such as flash memory and stores various information (e.g., data and programs) necessary for vehicle control by the control device 30.

[0036] The calculation unit 32 is composed of a processor such as a CPU (Central Processing Unit) that performs various calculations, and controls the entire vehicle 2 by executing a program stored in the storage unit 33. A specific example of vehicle control by the control device 30 will be described later, so it will not be explained here. The control device 30 can be realized, for example, by one ECU (Electronic Control Unit) or by two or more ECUs working together.

[0037] The EPS system 40 is comprised of, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0038] The steering angle sensor 41 detects the steering angle θst of the steering 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering 46 of the vehicle 2, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0039] The EPS motor 43 assists the driver's operation of the steering wheel 46 by applying a driving force or reaction force to the steering column 47, which is connected to the steering wheel 46, according to instructions from the EPS ECU 45. The resolver 44 detects the rotation angle θm of the EPS motor 43 and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0040] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., EPS motor 43), and is implemented by one or more ECUs. For example, it includes a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the EPS ECU 45 (none of which are shown in the figure). For example, the EPS ECU 45 controls the EPS system 40 (e.g., EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. The EPS ECU 45 can also control the EPS system 40 according to instructions from the control device 30.

[0041] Furthermore, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, and the rotation angle θm detected by the resolver 44. In addition, the EPS system 40 (e.g., EPS ECU 45) may output to the control device 30 information indicating the steering speed ω of the steering 46. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0042] The drive force control system 50 includes a drive ECU 51 and is configured to control the drive force of the vehicle 2. The drive ECU 51 is a computer that controls the drive force control system 50 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the drive ECU 51 (none of which are shown). For example, the drive ECU 51 controls the power output from the drive source of the vehicle 2 based on the operation of the accelerator pedal 52 provided on the vehicle 2. The drive ECU 51 can also control the drive force control system 50 (for example, the drive source) according to instructions from the control device 30.

[0043] The braking force control system 60 includes a braking ECU 61 and is configured to control the braking force of the vehicle 2. The braking ECU 61 is a computer that controls the braking force control system 60 and is implemented by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transient storage medium for storing various information, and an input / output unit that controls the input and output of data between the inside and outside of the braking ECU 61 (none of which are shown). For example, the braking ECU 61 controls the braking force of the vehicle 2 by controlling the brake device (not shown) provided in the vehicle 2 based on the operation of the brake pedal 62 provided in the vehicle 2. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force is generated in accordance with the operation of the brake pedal 62. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0044] The communication unit 70 is a communication interface that performs wireless communication with the terminal device 3 according to the control of the control device 30. That is, the vehicle 2 (for example, the control device 30) can communicate with the terminal device 3 via the communication unit 70. For communication between the vehicle 2 and the terminal device 3, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark) may be used. Furthermore, the communication unit 70 may be configured to communicate with external devices other than the terminal device 3 (for example, a server device managed by the manufacturer of the vehicle 2).

[0045] The wiper 80 is an example of a cleaning device in the present invention, and is, for example, a cleaning device for cleaning the front windshield (not shown) of a vehicle 2. More specifically, the wiper 80 moves in close contact with the front windshield, for example, to wipe away water droplets, dirt, etc. that are attached to the surface to be wiped on the front windshield.

[0046] The wiper lever 90 is an operator that receives input related to the wiper 80, and is mounted on the steering column 47, for example, so that the driver can operate it with one hand. In this embodiment, the wiper lever 90 is configured to have four lever positions: "OFF," "AUTO," "LO," and "HI," and outputs information indicating the current lever position to the control device 30. The driver can switch the lever position by operating the wiper lever 90 to select the desired lever position from the four lever positions. The wiper lever 90 maintains its current lever position unless an operation to switch the lever position is performed. In the following, the lever position of the wiper lever 90 will also be simply referred to as the "lever position."

[0047] (Terminal device) Terminal device 3 is a computer comprising a control unit 3a, a communication unit 3b, and a touch panel 3c. Terminal device 3 can be implemented, for example, by a portable computer such as a smartphone on which a predetermined program, including the remote parking application software (hereinafter also referred to as "remote parking app") described later, is installed.

[0048] The control unit 3a is composed of, for example, a processor that performs various calculations and controls the entire terminal device 3 according to a program installed in the terminal device 3. The communication unit 3b is a communication interface that performs wireless communication with the vehicle 2 according to the control of the control unit 3a. In other words, the terminal device 3 (for example, the control unit 3a) can communicate with the vehicle 2 (for example, the control device 30) via the communication unit 3b.

[0049] The touch panel 3c functions as an input device that receives various types of information for the terminal device 3, and as a display device controlled by the control unit 3a. For example, the touch panel 22 displays a display screen (for example, the driving operation reception screen G1 shown in Figures 2 and 3) for receiving operations related to remote parking and remote exit, and also receives operations related to remote parking and remote exit through this display screen.

[0050] [2. Remote parking and remote exit] Next, we will explain remote parking and remote exit.

[0051] (Remote parking) Figure 2 shows an example of remote parking. When the control device 30 detects, for example, an operation to perform remote parking by the operation detection unit 125, it detects a parking position PS in which the vehicle 2 can be parked based on the detection result of the external sensor 11. At this time, the control device 30 may detect an area demarcated by white lines or the like where no other vehicles are parked as the parking position PS, or it may detect any area in which the vehicle 2 can be physically parked as the parking position PS.

[0052] Next, the control device 30 sets a target parking position PT based on the detected parking position PS. As an example, the control device 30 sets the parking position PS designated by the driver as the target parking position PT from among the detected parking positions PS. Furthermore, from the viewpoint of improving driver convenience, it is preferable that the driver be able to specify not only the target parking position PT but also the method of parking at the target parking position PT (for example, whether to park forward or reverse).

[0053] Next, the control device 30 creates an action plan for moving vehicle 2 from its current position to the target parking position PT. The action plan generated in this case includes a travel trajectory for moving vehicle 2 from its current position to the target parking position PT. In this case, it is preferable that the control device 30 also considers the parking method specified by the driver when generating the action plan. In the example shown in Figure 2, an action plan is created in which vehicle 2 is first moved forward along the travel trajectory TR1, and then reversed along the travel trajectory TR2 to the target parking position PT.

[0054] Next, the control device 30 displays a message on the touch panel 22, for example, "Put the shift lever in P and get out of the vehicle, and you can remotely park using your smartphone." This guides the driver through the procedure for performing remote parking. The driver then sets the vehicle 2's shift position to "P (parking)," launches the remote parking application on the terminal device 3, and gets out of the vehicle 2.

[0055] When the remote parking application is launched, terminal device 3 displays the driving operation reception screen G1 on the touch panel 3c. As shown in Figure 2, the driving operation reception screen G1 displays, for example, an arc-shaped arrow image G1a in the center of the screen, and below the arrow image G1a, driving operation guidance information G1b is displayed, which guides the user through the operation to drive (i.e., move) the vehicle 2 (hereinafter also referred to as "driving operation").

[0056] The arrow image G1a indicates the position and direction that the user should trace with their fingertip. In this embodiment, the operation of tracing the position indicated by the arrow image G1a (in other words, the area where the arrow image G1a is displayed) in the direction indicated by the arrow image G1a is considered the driving operation. Therefore, the driving operation guidance information G1b displays a message such as, "To move the car, please trace the arrow." By displaying such a driving operation reception screen G1 on the terminal device 3, it becomes possible to guide the driver through the driving operation in an intuitive and easy-to-understand manner.

[0057] When the terminal device 3 receives an operation on the driving operation reception screen G1 in which the user traces the position indicated by the arrow image G1a in the direction indicated by the arrow image G1a, the terminal device 3 accepts this operation as a driving operation. Upon receiving the driving operation, the terminal device 3 transmits information indicating that a driving operation has been performed to the control device 30 via the communication unit 3b.

[0058] When the control device 30 receives information indicating that a driving operation has occurred, it moves the vehicle 2 according to the action plan. At this time, the control device 30 automatically operates the steering 46 and other components so that the vehicle 2 moves along the driving trajectory included in the action plan. As a result, the vehicle 2 can be moved to the target parking position PT by automatic steering via remote control using the terminal device 3. When the vehicle 2 reaches the target parking position PT, the control device 30 stops the vehicle 2, locks the doors of the vehicle 2, and turns off the ignition power.

[0059] (Remote dispatch) Figure 3 shows an example of remote vehicle departure. When the control device 30 receives information from an external source (e.g., terminal device 3) to perform remote vehicle departure, for example, when the ignition power is off and vehicle 2 is parked, it turns on the ignition power and starts vehicle 2.

[0060] Next, the control device 30 creates an action plan to move the vehicle 2 from the parking position PP where the vehicle 2 is parked to a predetermined exit position PP'. The action plan generated in this case includes a travel path that moves the vehicle 2 from the parking position PP to the exit position PP'. In the example shown in Figure 3, an action plan is created to move the vehicle 2 forward along the travel path TR3 to the exit position PP'.

[0061] The exit position PP' is set based on, for example, the method of parking at the parking position PP (e.g., whether it was parked forward or in reverse) or the detection results of the external sensor 11. Alternatively, the control device 30 may select candidate positions that could be the exit position PP' based on the detection results of the external sensor 11, and set the candidate position specified by the driver as the exit position PP'. As another example, the control device 30 may have the driver specify the method of exiting from the parking position PP (e.g., whether to exit forward or in reverse), and set a candidate position corresponding to that exit method as the exit position PP'.

[0062] Once the control device 30 has created an action plan, it notifies the driver via the terminal device 3 that it is ready for remote departure and unlocks the doors of the vehicle 2. The driver then launches the remote parking application on the terminal device 3.

[0063] When the remote parking application is launched, terminal device 3 displays the driving operation reception screen G1 on the touch panel 3c. Then, when the user traces the position indicated by the arrow image G1a in the direction indicated by the arrow image G1a on the driving operation reception screen G1, terminal device 3 accepts this operation as a driving operation. Upon accepting the driving operation, terminal device 3 transmits information indicating that a driving operation has been performed to the control device 30 via the communication unit 3b.

[0064] When the control device 30 receives information indicating that a driving operation has been performed, it moves the vehicle 2 according to the action plan. At this time, the control device 30 automatically operates the steering 46 and other components so that the vehicle 2 moves along the driving trajectory included in the action plan. As a result, the vehicle 2 can be moved to the exit position PP' by automatic steering via remote control using the terminal device 3. When the vehicle 2 reaches the exit position PP', the control device 30 stops the vehicle 2. This allows the driver to board the vehicle 2 at the exit position PP'.

[0065] When the driver boards vehicle 2 at the exit position PP', they notify the control device 30 that they have boarded vehicle 2 by performing a predetermined operation inside vehicle 2. For example, the driver notifies the control device 30 that they have boarded vehicle 2 by operating a predetermined control element provided in vehicle 2 (e.g., SSSW, brake pedal 62, or steering wheel 46). In response to this notification, the control device 30 puts vehicle 2 into a state where it can be driven normally. Here, normal driving refers to driving using controls provided in vehicle 2, such as the steering wheel 46, accelerator pedal 52, and brake pedal 62.

[0066] [3. Wiper control] Next, the control of the wiper 80 by the control device 30 will be explained.

[0067] (Normal wiper control) The control device 30 controls the wipers 80 based on the lever position of the wiper lever 90, for example, when the ignition power is on (i.e., the vehicle 2 is running) and it is not remote parking or remote exiting. This makes it possible to operate the wipers 80 in the manner desired by the driver under normal circumstances.

[0068] More specifically, under normal conditions and with the lever in the "OFF" position, the control device 30 deactivates the wiper 80. Under normal conditions and with the lever in the "LO" position, the control device 30 operates the wiper 80 in a low-speed mode, performing a first number of wipes (for example, 45 times) per minute. Under normal conditions and with the lever in the "HI" position, the control device 30 operates the wiper 80 in a high-speed mode, performing a second number of wipes (for example, 70 times) per minute, which is more than the first number.

[0069] Furthermore, under normal conditions and when the lever position is "AUTO", the control device 30 sets the wiper 80's operating mode to auto mode and can operate the wiper 80 based on the detection result of the raindrop sensor 114. In this case, for example, if the raindrop sensor 114 detects that there are "no raindrops", the control device 30 deactivates the wiper 80. On the other hand, if the raindrop sensor 114 detects that there are "a small amount of raindrops", the control device 30 operates the wiper 80 intermittently. During intermittent operation, the wiper 80 operates less frequently than in low-speed operation mode. Also, if the raindrop sensor 114 detects that there are "a medium amount of raindrops", the control device 30 operates the wiper 80 in low-speed operation mode. And if the raindrop sensor 114 detects that there are "a lot of raindrops", the control device 30 operates the wiper 80 in high-speed operation mode.

[0070] (Wiper control during remote parking and remote exit) Remote parking is performed while the driver is in vehicle 2. Therefore, the lever position during remote parking is likely to be appropriate, taking into account the condition of vehicle 2 at that time. On the other hand, remote exit can be performed before the driver gets into vehicle 2. Therefore, it is quite possible that the lever position during remote exit is not appropriate.

[0071] For example, if remote vehicle departure is performed after snowfall, it is expected that the wiper 80 will remain in the raised position at the time of remote departure. Additionally, while vehicle 2 is parked, foreign objects such as debris may adhere to the windshield, or the wiper 80 may become stuck to the windshield due to snow or ice. In such situations, activating the wiper 80 may cause deterioration or damage to the wiper 80 (e.g., the wiper blade), or damage to the windshield.

[0072] Therefore, the control device 30 enables the operation of the wiper 80 when remotely parking, while restricting the operation of the wiper 80 when remotely retrieving the vehicle.

[0073] For example, during remote parking, the control device 30 controls the wiper 80 based on the lever position, just as in normal operation. On the other hand, during remote exit, the control device 30 prohibits wiping by the wiper 80, and deactivates the wiper 80 regardless of the lever position.

[0074] Since the driver has exited vehicle 2 during remote parking, the lever position during remote parking can be said to be the lever position set by the driver before parking began. Therefore, the control device 30 can operate the wiper 80 during remote parking based on the setting made before parking began. On the other hand, the control device 30 deactivates the wiper 80 during remote exit, regardless of the setting made before parking began.

[0075] In this way, by enabling the operation of the wiper 80 during remote parking, while restricting its operation during remote exit, it is possible to prevent the wiper 80 from malfunctioning or damaging the wiper 80 or the windshield when the vehicle is being remotely exited. Furthermore, during remote parking, when the likelihood of the wiper 80 malfunctioning or damaging the wiper 80 or the windshield is low, the wiper 80 can be used to wipe (i.e., clean) the windshield.

[0076] In particular, drivers often leave the lever position at "AUTO" and the wiper 80 operating mode at auto mode to reduce the effort of switching lever positions. However, with the control device 30, even when the wiper 80 operating mode is set to auto mode, the wiper 80 can be prevented from operating during remote parking, regardless of the detection result of the raindrop sensor 114. Therefore, it is possible to prevent the wiper 80 from operating and causing malfunction or damage to the wiper 80 or the front windshield during remote parking.

[0077] The following describes a specific example of the control of the wipers 80 by the control device 30 during remote parking and remote exit, with reference to Figures 4 and 5.

[0078] (An example of wiper control during remote parking) Figure 4 shows an example of wiper 80 control during remote parking. As shown in Figure 4, when performing remote parking, the driver drives the vehicle 2 normally (see "1A" in Figure 4), then specifies the target parking position PT and sets the vehicle 2's shift position to "P" (see "2A" in Figure 4). The driver then starts the remote parking application on the terminal device 3 (see "3A" in Figure 4). After that, the driver exits the vehicle 2 with the ignition power still on (see "4A" in Figure 4).

[0079] When the driver who has exited vehicle 2 performs a driving operation on terminal device 3, vehicle 2 will drive autonomously (see "5A" in Figure 4). In other words, vehicle 2 moves by automatic steering. Then, when vehicle 2 has completed parking at the target parking position PT, the control device 30 turns off the ignition power to vehicle 2 (see "6A" in Figure 4).

[0080] The control device 30 can operate the wiper 80 based on the lever position during the period from (1A) to (5A) in the series of periods from (1A) to (6A) shown in Figure 4. This makes it possible to wipe the front windshield with the wiper 80 when remote parking is performed, where there is a low possibility of the wiper 80 or the front windshield malfunctioning or being damaged. Also, as shown in (6A) in Figure 4, the wiper 80 stops when the ignition power is turned off.

[0081] (An example of wiper control during remote vehicle departure) Figure 5 shows an example of wiper 80 control during remote parking. As shown in Figure 5, when performing remote parking, the driver starts the vehicle 2, which has its ignition power turned off, from outside the vehicle using the terminal device 3 (see "1B" and "2B" in Figure 5). The driver then starts the remote parking application on the terminal device 3 (see "3B" in Figure 5). The control device 30 also unlocks the doors of the vehicle 2 (see "4B" in Figure 5).

[0082] Subsequently, when the driver, who is outside the vehicle, performs a driving operation on the terminal device 3, the vehicle 2 will drive autonomously (see "5B" in Figure 5). When the vehicle 2 reaches the exit position PP', the control device 30 stops the vehicle 2. This allows the driver to board the vehicle 2 at the exit position PP'.

[0083] Then, the driver boards vehicle 2 at the exit position PP' (see "6B" in Figure 5) and notifies the control device 30 that the driver has boarded vehicle 2 by, for example, operating SSSW (see "7B" in Figure 5). In response to this notification, the control device 30 puts vehicle 2 into a state where it can be operated normally (see "8B" in Figure 5).

[0084] The control device 30 prohibits wiping by the wiper 80 during the period from (2B) to (6B) in the series of periods from (1B) to (8B) shown in Figure 5, thereby keeping the wiper 80 inactive regardless of the lever position. This makes it possible to prevent the wiper 80 from operating and causing malfunction or damage to the wiper 80 or the front windshield when the vehicle is remotely pulled out of the parking space.

[0085] Then, as shown in (6B) in Figure 5, when the control device 30 is restricting the operation of the wiper 80, it releases the restriction on the operation of the wiper 80 based on a predetermined operation (in the example shown in Figure 5, the operation of the SSSW) performed inside the vehicle 2. As a result, when the driver gets into the vehicle 2 and drives it normally after remote departure, the wiper 80 can be operated in the manner desired by the driver.

[0086] Please note that, for example, in vehicle 2, since the front camera 111a is located on the front grille of vehicle 2, there is no impediment to acquiring information about the surroundings of vehicle 2 even if the wipers 80 are not operated during remote parking.

[0087] [Differentiation] Next, a modified example of the embodiment described above will be explained.

[0088] (First variation) First, let me explain the first modification. This modification is an example in which the control device 30 controls the wiper 80 differently in normal operation and in remote parking mode.

[0089] During remote parking, the driver may operate the terminal device 3 in the vicinity of vehicle 2 (in other words, in a location relatively close to vehicle 2). Therefore, if the wipers 80 are operated during remote parking as in normal operation, there is a risk that water and other splashes caused by the operation of the wipers 80 may splash onto the driver.

[0090] Therefore, in this modified example, the control device 30, when remote parking is performed, slows down the speed at which the wiper 80 moves and / or reduces the number of times the wiper 80 moves per unit time compared to normal operation.

[0091] For example, suppose the lever position is "LO," that is, the low-speed operation mode. In this case, under normal circumstances, the control device 30 will cause the wiper 80 to wipe a first number of times (for example, 45 times) per minute. On the other hand, when remote parking is enabled, the control device 30 will cause the wiper 80 to wipe a third number of times (for example, 15 times) per minute, which is fewer than the first number.

[0092] Furthermore, for example, suppose the lever position is "HI," that is, the high-speed operation mode. In this case, under normal circumstances, the control device 30 will cause the wiper 80 to wipe a second number of times (for example, 70 times) per minute. On the other hand, when remote parking is performed, the control device 30 will cause the wiper 80 to wipe a fourth number of times (for example, 25 times) per minute, which is fewer than the second number of times. The third and fourth numbers of wipes may be different from each other (for example, fourth number of wipes > third number of wipes), or they may be the same.

[0093] In the example described here, the number of times the wiper 80 moves per unit time is reduced during remote parking compared to normal operation, but this is not the only option. In addition to this, or instead, the speed at which the wiper 80 moves (i.e., when wiping) may be slowed down during remote parking compared to normal operation. For example, the control device 30 may move the wiper 80 slowly during remote parking, taking about three times longer to wipe than normal.

[0094] In this way, when remote parking, by slowing down the speed at which the wiper 80 moves and / or reducing the number of times the wiper 80 moves per unit time compared to normal operation, it is possible to suppress the water and other splashes caused by the operation of the wiper 80 when remote parking are applied to the driver operating the terminal device 3 (i.e., performing remote operation) around the vehicle 2.

[0095] Furthermore, during remote parking, the control device 30 may slow down the speed at which the wiper 80 moves and / or reduce the number of times the wiper 80 moves per unit time, based on the distance between the driver performing the remote operation and the vehicle 2.

[0096] Figure 6 shows an example in the first modified example where the remote operator is far from vehicle 2. Figure 7 shows an example in the first modified example where the remote operator is close to vehicle 2.

[0097] For example, as shown in Figure 6, if the distance between the driver performing remote control using the terminal device 3 and the vehicle 2 is greater than or equal to a predetermined distance L (i.e., the driver performing remote control is far from the vehicle 2), the control device 30 may operate the wipers 80 as in normal circumstances. This is because, if the driver performing remote control is far from the vehicle 2, even if the wipers 80 are operated as in normal circumstances, the possibility of water splashed by the operation of the wipers 80 getting on the driver is considered low.

[0098] On the other hand, as shown in Figure 7, if the distance between the driver performing remote control using the terminal device 3 and the vehicle 2 is less than a predetermined distance L (i.e., the driver performing remote control is close to the vehicle 2), the control device 30 may slow down the speed at which the wipers 80 move and / or reduce the number of times the wipers 80 move per unit time compared to normal. This makes it possible to prevent water splashed by the operation of the wipers 80 during remote parking from splashing onto the driver operating the terminal device 3 (i.e., performing remote control) around the vehicle 2.

[0099] The distance between the driver and vehicle 2 can be determined, for example, based on the radio wave strength (in other words, communication strength) used for communication between terminal device 3 and vehicle 2 (e.g., Bluetooth) or information acquired by external sensors 11 (e.g., camera 111).

[0100] Thus, during remote parking, the speed at which the wiper 80 moves and / or the number of times the wiper 80 moves per unit time is reduced based on the distance between the remotely operating driver and the vehicle 2, making it possible to operate the wiper 80 appropriately according to the distance between the remotely operating driver and the vehicle 2.

[0101] [Second variation] Next, a second modification will be described. This modification is an example in which the control device 30 can restrict the operation of the wiper 80 even when remote parking is performed. For example, one can imagine a case where vehicle 2 is remotely moved out of a parking space to retrieve luggage, and then immediately remotely parked again after retrieving the luggage. In such a case, if the wiper 80 did not operate when remotely moving the vehicle out, but then operated immediately afterward when remotely parking, it may give the driver a sense of unease.

[0102] Therefore, in this modified example, the control device 30 operates the wiper 80 based on the operating time of the wiper 80 or whether or not the wiper 80 is operating before remote parking is started.

[0103] Figure 8 shows an example of the control of the wiper 80 in the second modified example. In the example shown in Figure 8, it is assumed that the wiper 80 was operated for a predetermined time or longer (for example, 1 minute or more) during driving from time t1 to time t2. In this case, the control device 30 also operates the wiper 80 during remote parking from time t2 to time t3 immediately afterward.

[0104] Furthermore, the control device 30 restricts the operation of the wiper 80 during remote parking from time t4 to time t5, rendering the wiper 80 inoperable. Then, it is assumed that no operation to activate the wiper 80 is performed during the period immediately following, from time t5 to time t6 (the period when the driver or other person is in the vehicle 2). In this case, the control device 30 continues to restrict the operation of the wiper 80 during remote parking from time t6 to time t7, rendering the wiper 80 inoperable.

[0105] Thus, the control device 30 may operate the wipers 80 during remote parking based on the operating time of the wipers 80 or whether the wipers 80 were operated before the start of parking. In other words, the control device 30 may restrict the operation of the wipers 80 during remote parking if the operating time of the wipers 80 during a certain period (e.g., 10 minutes) before the start of remote parking is less than a predetermined time, or if the wipers 80 were not operated during that period. In this way, it is possible to suppress the operation of the wipers 80 in situations where the wipers 80 operating during remote parking could cause discomfort to the driver.

[0106] As described above, the control device 30 and vehicle 2 of this embodiment allow for the appropriate control of the wiper 80, which is an example of a cleaning device, when parking and exiting the vehicle 2 via remote control, thereby suppressing malfunctions or damage to the wiper 80 or the front windshield.

[0107] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to this embodiment. It is clear to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. Furthermore, the components of the embodiments described above may be combined in any way without departing from the spirit of the invention.

[0108] For example, in the embodiment described above, a wiper 80 that cleans (in other words, wipes) the front windshield was given as an example of a cleaning device, but it is not limited to this. For example, the cleaning device may be wipers provided at the front and rear of the vehicle 2, respectively. That is, the cleaning device may include a rear wiper that wipes the rear window in addition to the wiper 80 that wipes the front windshield. Furthermore, the control device 30 may restrict the operation of the front and rear wipers when the vehicle is remotely parked. In this way, by restricting the operation of the front and rear wipers when the vehicle is remotely parked, it is possible to prevent the front and rear wipers from operating and causing malfunction or damage to the front wiper or rear wiper, or to the front windshield or rear window, when the vehicle is remotely parked.

[0109] Furthermore, the cleaning device is not limited to wipers, but may also be, for example, a headlight washer for cleaning the headlights (not shown) of vehicle 2, or a rear camera washer for cleaning the lens portion of the rear camera 111b.

[0110] This specification contains 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.

[0111] (1) A vehicle control device (control device 30) that controls a vehicle (vehicle 2) configured to be able to park and exit by remote operation, The vehicle is equipped with a cleaning device (wiper 80) for cleaning a predetermined part of the exterior of the vehicle. The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed by remote control, the operation of the cleaning device is restricted. Vehicle control system.

[0112] According to (1), the cleaning device can be appropriately controlled remotely when parking and departing the vehicle, thereby suppressing malfunctions or damage to the cleaning device itself or the exterior of the vehicle.

[0113] (2) The vehicle control device described in (1), When parking is performed remotely, the cleaning device is activated based on the settings made before parking began. Vehicle control system.

[0114] According to (2), when parking remotely, the cleaning device can be operated in the manner desired by the driver.

[0115] (3) A vehicle control device as described in (1) or (2), The cleaning device has an auto mode in which it is activated based on the detection results of a sensor (raindrop sensor 114) provided by the vehicle. When the mode for operating the cleaning device is set to the auto mode, the cleaning device will not be activated when the vehicle is removed by remote control, regardless of the detection result. Vehicle control system.

[0116] According to (3), even when set to auto mode, the cleaning device can be prevented from malfunctioning or damaging the cleaning device itself or the exterior of the vehicle when the vehicle is taken out by remote control.

[0117] (4) A vehicle control device as described in any of (1) to (3), When the operation of the cleaning device is restricted, the restriction is released based on the fact that a predetermined operation is performed inside the vehicle. Vehicle control system.

[0118] According to (4), if the driver gets into the vehicle and drives it after it has been taken out of the parking lot by remote control, the cleaning device can be operated in the manner desired by the driver.

[0119] (5) A vehicle control device as described in any of (1) to (4), The cleaning device is a wiper (wiper 80), The vehicle control device, when parking by remote control, slows down the speed at which the wipers move and / or reduces the number of times the wipers move per unit time compared to normal operation. Vehicle control system.

[0120] According to (5), by activating the cleaning device when parking remotely, it is possible to prevent splashes of water from getting on the driver operating the vehicle remotely.

[0121] (6) The vehicle control device described in (5), When parking by remote control, the speed is reduced and / or the number of times the vehicle is parked is reduced based on the distance between the driver performing the remote control and the vehicle. Vehicle control system.

[0122] According to (6), the cleaning device can be operated appropriately depending on the distance between the remote operator and the vehicle 2.

[0123] (7) A vehicle control device according to any one of (1) to (6), When parking is performed remotely, the cleaning device is activated based on the operating time of the cleaning device or whether the cleaning device is operating before parking begins. Vehicle control system.

[0124] According to (7), in situations where the cleaning device may activate during remote parking and cause discomfort to the driver, it is possible to suppress the activation of the cleaning device.

[0125] (8) A vehicle control device as described in any of (1) to (7), The cleaning device is a wiper provided at the front and rear of the vehicle, The vehicle control device, when the vehicle is taken out of the parking lot by remote control, restricts the operation of the front and rear wipers. Vehicle control system.

[0126] According to (8), when the vehicle is taken out of the parking lot by remote control, the front and rear wipers will be activated to prevent malfunction or damage to the front and rear wipers or the exterior of the vehicle.

[0127] (9) A vehicle configured to enable remote parking and exiting, A cleaning device for cleaning a predetermined part of the exterior of the vehicle, A vehicle control device that controls the aforementioned vehicle, Equipped with, The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed by remote control, the operation of the cleaning device is restricted. vehicle.

[0128] According to (9), the cleaning device can be appropriately controlled remotely when parking and departing the vehicle, thereby preventing malfunctions or damage to the cleaning device itself or the exterior of the vehicle. [Explanation of Symbols]

[0129] 2 vehicles 30 Control device (vehicle control device) 80 Wiper (Cleaning device) 114 Raindrop Sensor (Sensor)

Claims

1. A vehicle control device for controlling a vehicle configured to enable remote parking and exiting, The vehicle is equipped with a cleaning device for cleaning a predetermined part of the exterior of the vehicle. The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed via remote control, the operation of the cleaning device is restricted. The cleaning device has an auto mode in which it operates based on the detection results of sensors provided by the vehicle. When the mode for operating the cleaning device is set to the auto mode, the cleaning device will not be activated when the vehicle is removed by remote control, regardless of the detection result. Vehicle control device.

2. A vehicle control device according to claim 1, When parking is performed remotely, the cleaning device is activated based on the settings made before parking began. Vehicle control device.

3. A vehicle control device according to claim 1 or 2, When the operation of the cleaning device is restricted, the restriction is released based on the fact that a predetermined operation is performed inside the vehicle. Vehicle control device.

4. A vehicle control device according to claim 1 or 2, The cleaning device is a wiper, The vehicle control device, when parking by remote control, slows down the speed at which the wipers move and / or reduces the number of times the wipers move per unit time compared to normal operation. Vehicle control device.

5. A vehicle control device according to claim 4, When parking by remote control, the speed is reduced and / or the number of times the vehicle is parked is reduced based on the distance between the driver performing the remote control and the vehicle. Vehicle control device.

6. A vehicle control device according to claim 1 or 2, When parking is performed remotely, the cleaning device is activated based on the operating time of the cleaning device or whether the cleaning device is operating before parking begins. Vehicle control device.

7. A vehicle control device according to claim 1 or 2, The cleaning device is a wiper provided at the front and rear of the vehicle, The vehicle control device, when the vehicle is taken out of the parking lot by remote control, restricts the operation of the front and rear wipers. Vehicle control device.

8. A vehicle configured to enable remote parking and exiting, A cleaning device for cleaning a predetermined part of the exterior of the vehicle, A vehicle control device that controls the aforementioned vehicle, Equipped with, The aforementioned vehicle control device is When parking is performed via remote control, the cleaning device is made operational. When the vehicle is removed via remote control, the operation of the cleaning device is restricted. The cleaning device has an auto mode in which it operates based on the detection results of sensors provided by the vehicle. When the mode for operating the cleaning device is set to the auto mode, the cleaning device will not be activated when the vehicle is removed by remote control, regardless of the detection result. vehicle.

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