Vehicle control system

Abstract

To provide a vehicle control device which can reduce a possibility that a user will not become aware of a notification and can reduce a possibility that the user will feel the notification to be troublesome, by providing an appropriate notification according to a situation of the user when a cancellation condition is established.SOLUTION: A vehicle control device performs automatic travel control which causes a vehicle to automatically travel toward a target space based on an instruction sent by a remote control device operated by a user outside the vehicle. The vehicle control device is configured to stop the vehicle and cause the remote control device to give a first notification if a predetermined cancellation condition is established while the automatic travel control is executed, and cause the remote control device to give a second notification in a mode different from the first notification if the user does not approach the vehicle after the first notification.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle control device that executes automatic driving control for automatically driving a vehicle toward a target space by an operator outside the vehicle operating a remote control device.

Background Art

[0002] Conventionally, a vehicle control device that executes automatic driving control, which is a type of autonomous driving, has been known. For example, the vehicle control device described in Patent Document 1 (hereinafter referred to as the "conventional device") executes remote parking control as automatic driving control. The remote parking control is control for moving and parking a vehicle to a target space in response to a parking command transmitted from a remote control device operated by an operator outside the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In such automatic driving control in which an operator outside the vehicle operates a remote control device to move the vehicle to a target space, when a predetermined stop condition is satisfied, the vehicle stops. For example, the stop condition is satisfied when the travel distance traveled under automatic driving control becomes equal to or greater than a threshold value. When the stop condition is satisfied and the vehicle stops, the operator needs to board the vehicle.

[0005] When the stop condition is satisfied, it has been considered that the remote control device notifies the operator to that effect. However, if this notification is made uniformly regardless of the operator's situation, an operator who is not approaching the vehicle may not notice the notification, and an operator who is approaching the vehicle may feel bothered by the notification.

[0006] This invention was made to address the aforementioned problems. Specifically, one of the objectives of this invention is to provide a vehicle control device that reduces the possibility of a user noticing a notification and the possibility of a user finding the notification bothersome, by providing an appropriate notification according to the user's situation when a termination condition is met.

[0007] The vehicle control device of the present invention (hereinafter referred to as "the present invention device") performs automatic driving control to automatically drive the vehicle toward a target space based on instructions transmitted by a remote control device operated by a user outside the vehicle (steps 200 to 295). The aforementioned vehicle control device is If a predetermined termination condition is met during the execution of the automatic driving control (step 230 "Yes"), the vehicle is stopped (step 255), and the remote control device is instructed to send a first notification (step 415 "Yes", step 420), If the user does not approach the vehicle after the first notification (step 315 "No", step 345), the remote control device is instructed to issue a second notification in a different manner from the first notification (step 415 "No", step 425). It is structured in this way.

[0008] According to the present invention, if the user does not approach the vehicle after the first notification, a second notification is issued in a different manner from the first notification, thereby reducing the possibility that the user who is not approaching the vehicle will not notice the notification. Furthermore, if the user is approaching the vehicle, the second notification is not issued, thus reducing the possibility that the user who is approaching the vehicle will find the notification bothersome. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic system configuration diagram of a vehicle control system according to an embodiment of the present invention. [Figure 2] Figure 1 is a flowchart of the summon control routine executed by the CPU of the ECU. [Figure 3]Figure 1 is a flowchart of the flag setting routine executed by the CPU of the ECU. [Figure 4] Figure 1 is a flowchart of the abort notification routine executed by the ECU's CPU. [Figure 5] This diagram summarizes the various notifications that will be issued if the conditions for cancellation are met. [Figure 6] This is a flowchart of the abort notification routine executed by the CPU of the ECU of a vehicle control device according to a modified embodiment of the present invention. [Modes for carrying out the invention]

[0010] As shown in Figure 1, the vehicle control system according to this embodiment comprises a "vehicle control device 10 applied to the vehicle VA" and a remote control device 40. The vehicle control device 10 and the remote control device 40 are connected to each other via a network NW.

[0011] The vehicle control device 10 comprises the components shown in Figure 1. In this specification, "ECU20" is an electronic control device that primarily comprises a microcomputer. The ECU20 is also referred to as a control unit, controller, and computer. The microcomputer includes a CPU (processor), ROM, RAM, and interfaces, etc. The functions realized by the ECU20 may be realized by multiple ECUs.

[0012] Camera 22 acquires image data by photographing the scenery around the vehicle VA. ECU 20 acquires image data from camera 22. Sonar 24 acquires sonar data regarding the position of objects present around the vehicle VA relative to the vehicle VA. ECU 20 acquires sonar data from sonar 24. Based on the image data and sonar data, ECU 20 detects the target space and objects located around the vehicle VA. Communication interface (I / F) 28 is an interface for connecting to the network NW.

[0013] The display 28 is installed inside the vehicle. For example, the display 28 is a multi-information display. The in-vehicle speaker 30 is installed inside the vehicle and emits a warning sound inside the vehicle. The horn 32 emits a warning sound outside the vehicle.

[0014] The remote control device 40 is a device that can be operated even when the user is outside the vehicle, and one example is a smartphone. The remote control device 40 includes a display 42, a GNSS (Global Navigation Satellite System) receiver 44, and a speaker 46. The display 42 is a touch panel display that allows the user to input to the remote control device 40 by touching the display 42. If the display 42 is not a touch panel, the remote control device 40 is equipped with an input device.

[0015] The GNSS receiver 44 receives signals from multiple satellites and determines the current position (latitude and longitude) of the remote control device 40 based on the received signals. The speaker 46 emits a warning sound. The vibration motor 48 is a motor for vibrating the remote control device 40.

[0016] (Summary of operation) This embodiment describes an example in which summon control is performed as automatic driving control. Summon control includes smart summon control and reverse summon control.

[0017] In smart summon control, the vehicle VA sets the current location of the remote control device 40 or a location specified by the user as the target space, automatically drives to that target space, and stops there. In reverse summon control, when the user gets out of the vehicle at the entrance of a parking lot, etc., and operates the remote control device 40, the vehicle VA automatically drives while searching for a parking space in which it can park, and parks in that space when it finds one. In other words, smart summon control and reverse summon control have in common that the vehicle VA automatically drives to the target space and stops there while the user is outside the vehicle.

[0018] When a user outside the vehicle operates the remote control device 40 to start the app for summon control and operates the start button for smart summon control, the vehicle control device 10 starts the smart summon control. Similarly, when the user operates the start button for reverse summon control, the vehicle control device 10 starts the reverse summon control. After the start of the summon control, a drive button is displayed on the display 42. When the user is operating the drive button, the remote control device 40 transmits a permission signal to the vehicle control device 10. The vehicle control device 10 automatically drives the vehicle VA based on this permission signal.

[0019] If a predetermined cancellation condition is satisfied while the vehicle control device 10 is executing the summon control, the vehicle control device 10 cancels the summon control and stops the vehicle VA. In this case, the vehicle control device 10 transmits a first notification signal to the remote control device 40. When the remote control device 40 receives the first notification signal, it performs a first notification. In the first notification, the remote control device 40 displays a first message on the display 42. The first message is a message saying "The summon control has been cancelled."

[0020] If a non-approach state where the user does not approach the vehicle VA (the remote control device 40 does not approach the vehicle VA) continues for a predetermined time or more after the cancellation condition is satisfied, the vehicle control device 10 transmits a second notification signal to the remote control device 40. When the remote control device 40 receives the second notification signal, it performs a second notification in a different manner from the first notification. In the second notification, the remote control device 40 displays a second message on the display 42. The second message is a message saying "The summon control has been cancelled. Please board the vehicle immediately." Further, the remote control device 40 controls the vibration motor 48 so that the remote control device 40 vibrates in a first vibration pattern described later and makes a warning sound be emitted from the speaker 46 in a first sound emission pattern described later.

[0021] The second message has the message prompting the user to board, "Please board the vehicle promptly," added to the first message. For this reason, the second notification is in a form that attracts the user's attention more than the first notification. Further, in the second notification, in order to attract the user's attention more, in addition to the display on the display 42, a warning sound is emitted and the remote control device 40 is vibrated.

[0022] As described above, since the vehicle control device 10 makes the second notification different from the first notification, it is possible to reduce the possibility that a user who does not approach the vehicle VA after the first notification will notice the "notification that the cancellation condition has been satisfied." Further, since the vehicle control device 10 gives the first notification without giving the second notification when the user is approaching the vehicle VA, it is possible to reduce the possibility that the user approaching the vehicle VA will feel bothered by the "notification that the cancellation condition has been satisfied."

[0023] (Specific operation) The CPU of the ECU 20 executes the routine shown by the flowchart in FIGS. 2 to 4 every time a predetermined time elapses.

[0024] When an appropriate time comes, the CPU starts processing from step S200 in FIG. 2, and determines whether or not the value of the execution flag Xexe is "0" in step S205. The value of the execution flag Xexe is set to "1" when starting the summons control, and is set to "0" when ending or canceling the reverse summons control. The value of the execution flag Xexe is set to "0" in the initial routine. The initial routine is executed by the CPU when an ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0025] If the value of the execution flag Xexe is "0", the CPU determines "Yes" in step 205, and the process proceeds to step 210. In step 210, the CPU determines whether the vehicle control device 10 has received the start signal transmitted by the remote control device 40. The remote control device 40 transmits a start signal to the vehicle control device 10 when the start button for smart summon control or reverse summon control is pressed.

[0026] If the vehicle control device 10 has not received a start signal, the CPU determines "No" in step 210, and the process proceeds to step 295, at which point the CPU terminates this routine. If the vehicle control device 10 has received a start signal, the CPU determines "Yes" in step 210, and the process proceeds to step 215. In step 215, the CPU sets the value of the execution flag Xexe to "1", and sets the values ​​of the abort flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0".

[0027] The value of the abort flag Xst is set to "1" when the summon control is aborted because the abort condition is met. The value of the first warning flag Xa1 is set to "1" if the non-approach state continues for a predetermined time or longer after the abort condition is met. The value of the second warning flag Xa2 is set to "1" if there is an approaching target approaching the vehicle VA after the abort condition is met. The values ​​of the abort flag Xst, the first warning flag Xa1, and the second warning flag Xa2 are set to "0" when a user boards the vehicle VA or when the next summon control is started. The value of the second warning flag Xa2 is also set to "0" when there are no longer any approaching targets.

[0028] After that, the process proceeds to step 295, and the CPU terminates this routine.

[0029] If the execution flag Xexe is set to "1" when the process proceeds to step 205, the CPU determines "No" in step 205, and the process executes steps 220 and 225.

[0030] Step 220: The CPU automatically drives the vehicle VA so that it stops in the target space. While the vehicle VA is driving automatically, the CPU acquires image data and sonar data and determines whether there are any objects that could potentially come into contact with the vehicle VA. If there are objects, the CPU determines whether the objects can be avoided. If the objects can be avoided, the CPU creates an avoidance route and drives the vehicle VA along that route. If the objects cannot be avoided, the CPU stops the vehicle VA.

[0031] Step 225: The CPU determines whether the vehicle VA has stopped in the target space. If the vehicle VA is not stopped in the target space, the CPU determines "No" in step 225, and the process proceeds to step 230.

[0032] In step 230, the CPU determines whether the termination condition has been met. For example, if the distance traveled from the start of summon control exceeds a threshold distance, the CPU determines that the termination condition has been met. Furthermore, if vehicle VA stops because it cannot avoid an object it comes into contact with, the CPU determines that the termination condition has been met. Furthermore, if the vehicle control device 10 does not receive a permission signal for a predetermined period of time or longer, the CPU determines that the termination condition has been met.

[0033] If the termination condition is not met, the CPU determines "No" in step 230, and the process proceeds to step 295, at which point the CPU terminates this routine.

[0034] If the vehicle VA stops in the target space when the process proceeds to step 225, the CPU determines "Yes" in step 225 and executes steps 235 and 240. Step 235: The CPU sets the value of the execution flag Xexe to "0". Step 240: The CPU sends a completion signal to the remote control device 40. When the remote control device 40 receives a completion signal, it issues a completion notification. In the completion notification, the remote control device 40 displays the message "Summon control is complete." on the display 42. After that, the process proceeds to step 295, and the CPU terminates this routine.

[0035] If the termination condition is met when the process proceeds to step 230, the CPU determines "Yes" in step 230 and executes steps 245 through 255. Step 245: The CPU sets the value of the execute flag Xexe to "0" and the value of the abort flag Xst to "1". Step 250: The CPU sets the value of Timer Ta to "0". Timer Ta is a timer used to count the duration of the non-proximity state. Step 255: The CPU controls a brake actuator (not shown) to bring the vehicle VA to a stop. After that, the process proceeds to step 295, and the CPU terminates this routine.

[0036] <Flag setting routine> When an appropriate time arrives, the CPU starts processing from step 300 in Figure 3, and in step 305, it determines whether the value of the abort flag Xst is "1".

[0037] If the value of the abort flag Xst is "0", the CPU determines "No" in step 305, and the process proceeds to step 395, terminating this routine. If the value of the abort flag Xst is "1", the CPU determines "Yes" in step 305, and the process proceeds to step 310. In step 310, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0038] If the value of the first warning flag Xa1 is "0", the CPU determines "Yes" in step 310, and the process proceeds to step 315. In step 315, the CPU determines whether the user is approaching the vehicle VA. Specifically, after the termination condition is met, the CPU obtains the current position of the remote control device 40 from the remote control device 40, and determines whether the remote control device 40 is approaching the vehicle VA based on the history of current positions. If the remote control device 40 is approaching the vehicle VA, the CPU determines that the user is approaching the vehicle VA.

[0039] If a user is approaching the vehicle VA, the CPU determines "Yes" in step 315 and executes steps 318 and 320. Step 318: The CPU sets the value of Timer Ta to "0". Step 320: The CPU determines whether the value of the second warning flag Xa2 is "0".

[0040] If the value of the second warning flag Xa2 is "0", the CPU determines "Yes" in step 320, and the process proceeds to step 325. In step 325, the CPU determines whether or not an approaching target exists based on the image data and sonar data.

[0041] If no approaching target exists, the CPU determines "No" in step 325, and the process proceeds to step 330. In step 330, the CPU determines whether or not the user has boarded the vehicle VA. Specifically, the CPU determines that the user has boarded the vehicle VA if the doors of the vehicle VA are unlocked after the current position of the remote control device 40 is within a predetermined distance from the vehicle VA.

[0042] If the user is not on board vehicle VA, the CPU determines "No" in step 330, and the process proceeds to step 395, at which point the CPU terminates this routine.

[0043] If no user is present when the process proceeds to step 315, the CPU determines "No" in step 315 and executes steps 335 and 340. Step 335: The CPU adds "1" to Timer Ta. Step 340: The CPU determines whether timer Ta is greater than or equal to threshold Tath. The threshold Tath is set to a value such that the non-proximity state continues for a predetermined period of time or longer when Timer Ta exceeds the threshold Tath.

[0044] If Timer Ta is less than the threshold Tath, the CPU determines "No" in step 340 and proceeds to step 320. On the other hand, if Timer Ta is greater than or equal to the threshold Tath, the CPU determines "Yes" in step 340 and proceeds to step 345. In step 345, the CPU sets the value of the first warning flag Xa1 to "1" and proceeds to step 320.

[0045] If an approaching target exists when the process proceeds to step 325, the CPU determines "Yes" in step 325, and the process proceeds to step 350. In step 350, the CPU sets the value of the second warning flag Xa2 to "1". The process then proceeds to step 330.

[0046] If the value of the second warning flag Xa2 is "1" when the process proceeds to step 320, the CPU determines "No" in step 320, and the process proceeds to step 355. In step 355, the CPU determines whether or not an approaching target exists.

[0047] If an approaching target exists, the CPU determines "Yes" in step 355, and the process proceeds to step 330. If no approaching target exists, the CPU determines "No" in step 355, and the process proceeds to step 360. In step 360, the value of the second warning flag Xa2 is set to "0". After that, the process proceeds to step 330.

[0048] If a user boards vehicle VA when the process proceeds to step 330, the CPU determines "Yes" in step 330, and the process proceeds to step 365. In step 365, the CPU sets the values ​​of the abort flag Xst, the first warning flag Xa1, and the second warning flag Xa2 to "0". After that, the process proceeds to step 395, and the CPU terminates this routine.

[0049] <Cancellation notification routine> When an appropriate time arrives, the CPU starts processing from step 400 in Figure 4, and in step 405 determines whether the value of the abort flag Xst is "1".

[0050] If the value of the abort flag Xst is "0", the CPU determines "No" in step 405, and the process proceeds to step 495, at which point the CPU terminates this routine. If the value of the abort flag Xst is "1", the CPU determines "Yes" in step 405, and the process proceeds to step 410.

[0051] In step 410, the CPU determines whether the value of the second warning flag Xa2 is "0". If the value of the second warning flag Xa2 is "0", the CPU determines "Yes" in step 410 and proceeds to step 415. In step 415, the CPU determines whether the value of the first warning flag Xa1 is "0".

[0052] If the value of the first warning flag Xa1 is "0", the CPU determines "Yes" in step 415, and the process proceeds to step 420. In step 420, the CPU sends a first notification signal to the remote control device 40. After that, the process proceeds to step 495, and the CPU terminates this routine. When the remote control device 40 receives the first notification signal, it issues a first notification. Specifically, as shown in Figure 5, the remote control device 40 displays the first message on the display 42. Note that when the remote control device 40 receives the first notification signal, it does not activate the speaker 46 and the vibration motor 48. Furthermore, when the CPU sends the first notification signal, it issues a first notification to the vehicle VA. In this first notification, the CPU causes the vehicle VA's in-cabin speaker 30 to emit a warning sound "ping", and displays the cancellation message "Control has been terminated." on the vehicle VA's display 28.

[0053] If the value of the first warning flag Xa1 is "1" when the process proceeds to step 415 shown in Figure 4, the CPU determines "No" in step 415 and the process proceeds to step 425. In step 425, the CPU sends a second notification signal to the remote control device 40. After that, the process proceeds to step 495 and the CPU terminates this routine. If the remote control device 40 receives the second notification signal, it issues a second notification.

[0054] In detail, as shown in Figure 5, the remote control device 40 displays the second message on the display 42. Furthermore, the remote control device 40 causes the speaker 46 to emit a warning sound in the first sounding pattern. When the remote control device 40 causes the speaker 46 to emit a warning sound, the remote control device 40 repeats a predetermined sounding time during which the speaker 46 emits a warning sound (beep) and a non-sounding time Ts during which the speaker 46 does not emit any sound. In the first sounding pattern, the non-sounding time Ts is set to the first time Ts1.

[0055] Furthermore, the remote control device 40 vibrates the vibration motor 48 in a first vibration pattern. When the remote control device 40 vibrates the vibration motor 48, it repeats a predetermined vibration time during which the vibration motor 48 is operated and a non-vibration time Tv during which the vibration motor 48 is not operated. In the first vibration pattern, the non-vibration time Tv is set to the first time Tv1.

[0056] When the CPU transmits a second notification signal, it issues a second notification to the vehicle VA. In this second notification, the CPU controls the in-vehicle speaker 30 and display 28 in the same way as the first notification, and activates the horn 32 in the first operating pattern. Specifically, the CPU repeats a predetermined operating time during which the horn 32 is activated and a warning sound (fan) is emitted, and a non-operating time To during which the horn 32 is not activated. In the first operating pattern, the non-operating time To is set to the first time To1.

[0057] If the value of the second warning flag Xa2 is "1" when the process proceeds to step 410 shown in Figure 4, the CPU proceeds to step 430. In step 430, the CPU sends a third notification signal to the remote control device 40. After that, the process proceeds to step 495 and the CPU terminates this routine. If the remote control device 40 receives the third notification signal, it issues a third notification.

[0058] More specifically, as shown in Figure 5, the remote control device 40 displays the third message on the display 42. The third message is: "Summon control has been canceled. Please get into the vehicle and move it immediately as it will obstruct the passage of other people."

[0059] Furthermore, the remote control device 40 causes the speaker 46 to emit a warning sound using a second sound pattern. In the second sound pattern, the non-sound time Ts is set to "second time Ts2, which is shorter than the first time Ts1". Therefore, in the second sound pattern, the time between sound times (non-sound time Ts) is shorter than in the first sound pattern. Generally, a shorter time between sound times tends to attract a person's attention more strongly. Thus, the second sound pattern is more likely to attract the user's attention than the first sound pattern.

[0060] Furthermore, the remote control device 40 vibrates the vibration motor 48 in a second vibration pattern. In the second vibration pattern, the non-vibration time Tv is set to "second time Tv2, which is shorter than the first time Tv1". For this reason, the second vibration pattern is more likely to attract the user's attention than the first vibration pattern.

[0061] Therefore, the third notification is delivered in a manner that attracts the user's attention more than the first and second notifications. Furthermore, if the value of the second warning flag Xa2 is "1", the third notification is delivered regardless of whether the value of the first warning flag Xa1 is "0" or "1". In other words, the third notification takes precedence over the second notification.

[0062] Furthermore, when the CPU transmits a third notification signal, it performs a third notification on the vehicle VA side. In this third notification, the CPU controls the in-vehicle speaker 30 and display 28 in the same way as the first notification, and activates the horn 32 in the second operating pattern. In the second operating pattern, the non-operating time To is set to "second time To2, which is shorter than the first time To1". Therefore, the third notification on the vehicle VA side is performed in a manner that attracts the user's attention more than the second notification on the vehicle VA side.

[0063] As described above, according to this embodiment, if the cancellation condition is met during the execution of summon control, the remote control device 40 is instructed to issue a first notification, and if the user does not then approach the vehicle VA, the remote control device 40 is instructed to issue a second notification in a different form from the first notification. This increases the likelihood that the user will realize that they need to get into the vehicle VA.

[0064] Furthermore, the third notification takes precedence over the second notification, allowing users to be informed as quickly as possible if they may be causing trouble for others.

[0065] (modified version) In this modified version, if the non-boarding condition is met, meaning the user does not board the vehicle VA within the predetermined boarding time after the cancellation condition is met (i.e., after the remote control device 40 issues the first notification), the first to third notifications are made in a manner that attracts the user's attention more than when the non-boarding condition is not met. The notification made when the non-boarding condition is met is referred to as the "emphasis notification."

[0066] More specifically, as shown in Figure 5, the remote control device 40 causes the speaker 46 to emit a warning sound in a third sound pattern. In the third sound pattern, the non-sound time Ts is set to "the third time Ts3, which is shorter than the second time Ts2". Furthermore, the remote control device 40 vibrates the vibration motor 48 in a third vibration pattern. In the third vibration pattern, the non-vibration time Tv is set to "the third time Tv3, which is shorter than the second time Tv2". In addition, for emphasized notifications, the remote control device 40 displays a message on the display 42 that is displayed in "any of the first to third notifications depending on the user's approach status and the presence status of the approaching target".

[0067] Furthermore, the vehicle control device 10 according to this modified example issues an emphasis notification to the vehicle VA when the non-boarding condition is met. As shown in Figure 5, in this emphasis notification, the CPU controls the in-vehicle speaker 30 and display 28 in the same way as the first notification, and activates the horn 32 in the third operating pattern. In the third operating pattern, the non-operating time To is set to "the third time To3, which is shorter than the second time To2".

[0068] In this modified example, the CPU of the ECU 20 of the vehicle control device 10 executes the routines shown in Figures 2 and 3, and instead of the routine shown in Figure 4, it executes the routine shown in Figure 6. In Figure 6, the same reference numerals are used for the same processes as in Figure 4, and their explanations are omitted.

[0069] When the appropriate time arrives, the CPU starts processing from step 600 in Figure 6. If the value of the abort flag Xst is "1" (step 405 "Yes" shown in Figure 6), the value of the second warning flag Xa2 is "0" (step 410 "Yes" shown in Figure 6), and the value of the first warning flag Xa1 is "0" (step 415 "Yes" shown in Figure 6), then processing proceeds to step 605.

[0070] In step 605, the CPU determines whether the value of the emphasis flag Xem is "0". The value of the emphasis flag Xem is set to "1" if the above non-boarding condition is met, and is set to "0" when the user boards the vehicle VA or when the next summon control is initiated.

[0071] If the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 605 and sends the first notification signal to the remote control device 40 in step 420 as shown in Figure 6. The process then proceeds to step 695, at which point the CPU terminates this routine.

[0072] On the other hand, if the value of the emphasis flag Xem is "1", the CPU determines "No" in step 605, and the process proceeds to step 610. In step 610, the CPU sends an emphasis first notification signal to the remote control device 40. After that, the process proceeds to step 695, and the CPU terminates this routine. When the remote control device 40 receives the emphasis first notification signal, it performs an emphasis first notification, which is an emphasis version of the first notification. The emphasis first notification is a type of the emphasis notification described above, and the first message is displayed on the display 42, the speaker 46 emits a warning sound in the third sound pattern, and the vibration motor 48 vibrates in the third vibration pattern.

[0073] If the value of the abort flag Xst is "1" (step 405 "Yes" shown in Figure 6), the value of the second warning flag Xa2 is "0" (step 410 "Yes" shown in Figure 6), and the value of the first warning flag Xa1 is "1" (step 415 "No" shown in Figure 6), the process proceeds to step 615. In step 615, the CPU determines whether the value of the highlighting flag Xem is "0".

[0074] If the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 615 and sends a second notification signal to the remote control device 40 in step 425. The process then proceeds to step 695, at which point the CPU terminates this routine.

[0075] If the value of the emphasis flag Xem is "1", the CPU determines "No" in step 615, and the process proceeds to step 620. In step 620, the CPU sends an emphasis second notification signal to the remote control device 40. After that, the process proceeds to step 695, and the CPU terminates this routine. When the remote control device 40 receives the emphasis second notification signal, it issues an emphasis first notification, which is an emphasis on the second notification. The emphasis second notification is a type of the emphasis notification described above, and the second message is displayed on the display 42, the speaker 46 emits a warning sound in the third sound pattern, and the vibration motor 48 vibrates in the third vibration pattern.

[0076] If the value of the abort flag Xst is "1" (step 405 "Yes" shown in Figure 6) and the value of the second warning flag Xa2 is "1" (step 410 "No" shown in Figure 6), the process proceeds to step 625. In step 625, the CPU determines whether the value of the highlight flag Xem is "0".

[0077] If the value of the emphasis flag Xem is "0", the CPU determines "Yes" in step 625 and sends a third notification signal to the remote control device 40 in step 430. The process then proceeds to step 695, at which point the CPU terminates this routine.

[0078] If the value of the emphasis flag Xem is "1", the CPU determines "No" in step 625, and processing proceeds to step 630. In step 630, the CPU sends an emphasis third notification signal to the remote control device 40. After that, processing proceeds to step 695, and the CPU terminates this routine. If the remote control device 40 receives the emphasis third notification signal, it performs an emphasis third notification, which is an emphasis version of the third notification. The emphasis third notification is a type of the above-mentioned emphasis notification, and the display 42 displays the third message, the speaker 46 emits a warning sound in the third sound pattern, and the vibration motor 48 vibrates in the third vibration pattern.

[0079] As described above, according to this modified version, when the non-boarding condition is met, the first to third notices are issued in a manner that attracts the user's attention more effectively than when the non-boarding condition is not met. This increases the likelihood that, even if the boarding time has elapsed after the cancellation condition is met, the user will not board the vehicle VA, and the system will prompt the user to proceed to the vehicle VA immediately.

[0080] Although the above embodiment described summon control as an example, the present invention is applicable to automatic driving control in which a user outside the vehicle operates a remote control device 40 to automatically drive the vehicle VA to a target space.

[0081] The vehicle device 10 is applicable to vehicles such as engine-powered vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. [Explanation of Symbols]

[0082] 10...Vehicle control device, 20...ECU, 22...Camera, 24...Sonar, 40...Remote control device, 42...Display, 46...Speaker, 48...Vibration motor.

Claims

1. In a vehicle control device that performs automatic driving control to automatically move the vehicle toward a target space based on instructions transmitted by a remote control device operated by a user outside the vehicle, The aforementioned vehicle control device is If a predetermined termination condition is met during the execution of the automatic driving control, the vehicle will be stopped and the remote control device will be instructed to send a first notification. If the user does not approach the vehicle after the first notification, the remote control device shall issue a second notification in a different manner from the first notification. A vehicle control device configured as follows.

2. In the vehicle control device according to claim 1, The vehicle control device is configured to cause the remote control device to issue the second notification in a manner that attracts the user's attention more than the first notification. Vehicle control system.

3. In the vehicle control device according to claim 1, The vehicle control device is configured to cause the remote control device to issue a third notification, which is different in nature from the first and second notifications, if there is a target approaching the vehicle after the first notification. Vehicle control system.

4. In the vehicle control device according to claim 3, The vehicle control device is configured such that, if the non-boarding condition is met (i.e., the user does not board the vehicle even after a predetermined time has elapsed since the first notification), the remote control device makes the first to third notifications in a manner that is more likely to attract the user's attention than if the non-boarding condition were not met. Vehicle control system.

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