Travel control method and travel control device

Abstract

This travel control method includes performing a travel control (S3) including at least one of a control to start, a control to move, and a control to stop a vehicle on the basis of an operation of a remote operation terminal connected via wireless communication with the vehicle. If there are other devices aside from the remote operation terminal that are connected via wireless communication with the vehicle when the travel control is started on the basis of the operation of the remote operation terminal, the wireless communication between the other devices and the vehicle is disconnected (S2), and the wireless communication between the other devices and the vehicle is prohibited until the travel control is completed (S4, S5).

Description

Driving control method and driving control device

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

[0002] The following Patent Document 1 describes a shared system in which key information is assigned to a plurality of mobile terminals, enabling vehicle operation using the plurality of mobile terminals.

[0003] Japanese Patent Application Laid-Open No. 2019-199724

[0004] When a vehicle is driven based on operation on a remote control terminal, if a large number of devices are connected to the vehicle, there is a risk of a decrease in communication performance between the vehicle and the remote control terminal used to drive the vehicle.The present invention aims to prevent a decrease in communication performance between the remote control terminal and the vehicle in a driving control system that controls the driving of a vehicle based on operation on a remote control terminal that communicates wirelessly with the vehicle.

[0005] According to one aspect of the present invention, there is provided a driving control method for performing driving control including at least one of control for starting, moving, and stopping a vehicle based on an operation on a remote control terminal that wirelessly communicates with the vehicle, wherein, when driving control is started based on the operation of the remote control terminal, if there is another device other than the remote control terminal that is wirelessly connected to the vehicle, wireless communication between the other device and the vehicle is disconnected, and wireless communication between the other remote control terminal and the vehicle is prohibited until driving control is completed.

[0006] According to the present invention, in a driving control system for starting, moving, and stopping a vehicle based on an operation on a remote control terminal that wirelessly communicates with the vehicle, it is possible to prevent a degradation in communication performance between the remote control terminal and the vehicle. The objects and advantages of the present invention are realized and achieved by using the elements and combinations thereof set forth in the claims. It should be understood that both the foregoing general description and the following detailed description are merely exemplary and explanatory and are not intended to limit the invention as defined by the claims.

[0007] It is a schematic configuration diagram of a vehicle equipped with a cruise control device of an embodiment. It is a flowchart of an example of a cruise control method of a first embodiment. It is a block diagram of an example of a functional configuration of a cruise control device of a second embodiment. It is a flowchart of an example of a cruise control method of a second embodiment.

[0008] First Embodiment (Configuration) FIG. 1 is a schematic diagram of a vehicle equipped with a cruise control device that performs parking assistance, which is one embodiment of cruise control. Cruise control here includes not only parking assistance but also at least one of control to start, move, and stop the vehicle 1. Starting refers to moving the vehicle 1 forward or backward from a stopped state, moving refers to moving the vehicle 1 from one position to another, and stopping refers to temporarily or permanently ceasing the vehicle's traveling state. In the following description, the control to start, move, and stop the vehicle 1 may be referred to as "start control," "movement control," and "stop control," respectively. The vehicle 1 includes a surrounding environment sensor 2, a vehicle sensor 3, a driving force source 4, a power transmission mechanism 5, a braking device 6, a steering mechanism 7, and a cruise control device 10. The surrounding environment sensor 2 is a sensor that detects the surrounding environment of the vehicle 1. For example, the surrounding environment sensor 2 may detect objects present around the vehicle 1 as the surrounding environment of the vehicle 1. The surrounding environment sensor 2 may include, for example, a camera that captures images of the surrounding conditions of the vehicle 1. The surrounding environment sensor 2 may also include, for example, a laser range finder (LRF), radar, a light detection and ranging (LiDAR) laser radar, sonar, or other distance measuring device. The surrounding environment sensor 2 outputs surrounding environment information, which is information about the detected surrounding environment of the vehicle 1, to the cruise control device 10.

[0009] The vehicle sensors 3 may include, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the vehicle 1, a wheel speed sensor that detects the rotational speed of each tire equipped on the vehicle 1, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) in three axial directions of the vehicle 1, a steering angle sensor that detects the steering angle (including the turning angle), a gyro sensor that detects the angular velocity generated in the vehicle 1, and a yaw rate sensor that detects the yaw rate. The vehicle sensors 3 output vehicle state information to the cruise control device 10.

[0010] The driving force source 4 is an electric motor, an engine, or a combination thereof that generates driving force to propel the vehicle 1. That is, the vehicle 1 may be an electric vehicle, a vehicle powered by a gasoline engine, or a hybrid vehicle powered by both an engine and a motor. The power transmission mechanism 5 is a device that transmits the rotational force generated by the driving force source 4 to the driving wheels, and includes a clutch, a transmission mechanism, etc. that connect and disconnect the driving force source 4 and the driving wheels. The braking device 6 is a device that generates braking force on the wheels of the vehicle 1 by friction braking force, and the steering mechanism 7 is a device that steers the steered wheels of the vehicle 1 to change the steering angle of the steered wheels and change the traveling direction of the vehicle 1.

[0011] The driving control device 10 executes the driving control described above to assist in starting, moving, or stopping the vehicle 1. For example, the driving control may be parking assistance control including at least one of entrance assistance control for moving the vehicle 1 to a target parking position (parking space or parking frame) and exit assistance control for moving the vehicle from the parking position to a target exit position. In this specification, "entrance assistance control" refers to control for moving the vehicle 1 from the current position of the vehicle 1 to a target parking position along an entrance route, and "exit assistance control" refers to control for moving the vehicle 1 from the parking position to a target exit position along an exit route. The driving control device 10 includes one or more controllers that execute driving control, similar to the second embodiment described below.

[0012] In the parking assistance control, the driving control device 10 detects a space where the vehicle 1 should be parked as a target parking position based on the surrounding environment information detected by the surrounding environment sensor 2, and also detects the drivable area around the vehicle 1. The driving control device 10 generates a target parking entry route from the current position to the target parking position based on the current position, the target parking position, and the drivable area, and controls the driving force source 4, the power transmission mechanism 5, the braking device 6, and the steering mechanism 7 so that the vehicle 1 drives along the target parking entry route to the target parking position.

[0013] On the other hand, in the leaving assistance control, the driving control device 10 detects the drivable area around the vehicle 1 based on the surrounding environment information detected by the surrounding environment sensor 2, and sets a target leaving position on a road near the parking position for the vehicle 1. The driving control device 10 generates a target leaving route from the parking position to the target leaving position based on the parking position, the target leaving position, and the drivable area, and controls the driving force source 4, the power transmission mechanism 5, the braking device 6, and the steering mechanism 7 so that the vehicle 1 travels along the target leaving route to the target leaving position.

[0014] The driving control device 10 has a communication function for wirelessly connecting to a remote control terminal 20 carried by a user U of the vehicle 1. For example, the driving control device 10 may perform short-range wireless communication using communication standards such as UWB (Ultra Wide Band) or Bluetooth (registered trademark). The remote control terminal may be a mobile terminal such as a mobile phone or a key fob, or a fixed terminal for remote control. The driving control device 10 performs driving control based on the operation of the remote control terminal 20 by the user U. To perform driving control by operating the remote control terminal 20, for example, a dedicated application program (hereinafter sometimes referred to as a "parking program") that accepts operations for driving control of the vehicle 1 is installed in the remote control terminal 20 in advance, and the remote control terminal 20 is registered with the vehicle 1 as an external connected device that accepts operations for executing driving control. In the following description, the external connected device that accepts operations for executing driving control may be referred to as a "remote parking terminal."

[0015] The remote control terminal 20 includes a controller, a communication device, and an HMI (Human Machine Interface), none of which are shown. When a user U outside the vehicle 1 performs a control start operation on the HMI of the remote control terminal 20, the remote control terminal 20 transmits a control start instruction signal to the driving control device 10 via wireless communication. The driving control device 10, which has received the control start instruction signal, starts driving control. When the user U performs a stop operation on the HMI, the driving control device 10 transmits a stop instruction signal to the driving control device 10. The driving control device 10, which has received the stop instruction signal, stops the vehicle 1.

[0016] The remote control terminal 20 also continues to send an operation detection signal to the driving control device 10 while it continues to detect on the HMI that the user U is performing a predetermined operation (for example, operating a deadman switch). While receiving the operation detection signal, the driving control device 10 continues driving control until driving control is completed. When the predetermined operation is no longer detected, the remote control terminal 20 stops the operation detection signal. When the operation detection signal is no longer received, the driving control device 10 stops the vehicle 1.

[0017] The vehicle 1 may also be connected via wireless communication to devices 30 (hereinafter, sometimes referred to as "other devices 30") other than the remote control terminal 20 used for driving control. For example, a user other than the user U may connect the other devices 30 to the vehicle 1 to operate the vehicle 1 (e.g., lock the doors or start the driving force source 4). Alternatively, the other devices 30 may be connected to the vehicle 1 to play audio content or video content stored in the other devices 30 on the AV equipment of the vehicle 1.

[0018] As the number of devices connected to the vehicle 1 via wireless communication increases, the communication performance between the driving control device 10 and the remote control terminal 20 for driving control may deteriorate. For example, delays or difficulties may occur in transmitting and receiving the stop instruction signal and operation detection signal. As a result, there is a risk of interference with driving control based on the operation of the remote control terminal 20. Therefore, when driving control is started based on the operation of the remote control terminal 20, if there is another device 30 connected to the vehicle 1 via wireless communication other than the remote control terminal 20, the driving control device 10 disconnects wireless communication between the other device 30 and the vehicle 1 and prohibits wireless communication between the other device 30 and the vehicle 1 until driving control is completed. A state connected via wireless communication refers to a state in which the devices are currently connected via wireless communication.

[0019] 2 is a flowchart illustrating an example of the driving control method according to the first embodiment. In step S1, the vehicle 1 wirelessly connects to the remote control terminal 20 as a remote parking terminal. In step S2, the vehicle 1 disconnects wireless communication between the vehicle 1 and another device 30 that is wirelessly connected to the vehicle 1.

[0020] In step S3, the driving control device 10 executes driving control. In step S4, the driving control device 10 determines whether driving control has been completed. If driving control has not been completed (step S4: N), the process returns to step S3. If driving control has been completed, the process proceeds to step S5. In step S5, the vehicle 1 resumes wireless communication between the other device 30 and the vehicle 1, which was disconnected when driving control was started. In other words, the wireless communication between the other device 30 and the vehicle 1 is automatically reconnected.

[0021] 3 is a block diagram showing an example of the functional configuration of a cruise control device 10 according to a second embodiment. The cruise control device 10 includes a virtual key module (VKM) 11, an in-vehicle infotainment (IVI) system 12, a cruise control controller 13, an electrical equipment controller 14, a driving assistance controller 15, a driving force controller 16, a shift controller 17, a braking force controller 18, and an electric power steering (EPS) system 19.

[0022] These functional modules 11 to 19 of the driving control device 10 are in an ON state when the power supply mode of the vehicle 1 is in an ON mode, and are in an OFF state when the power supply mode of the vehicle 1 is in a sleep mode. The power supply mode of the vehicle 1 may include multiple ON modes. For example, the power supply mode of the vehicle 1 may include three types of ON modes.

[0023] In the first on mode (AUTOACC on mode), the above-mentioned functional modules 11 to 19 are in the on state, and this is a power supply mode in which only some of the electrical equipment (e.g., door mirrors) of the vehicle 1 can be operated. In the second on mode (IGN on), this is a power supply mode in which all of the electrical equipment of the vehicle 1 can be operated. In the third on mode (powertrain running), the above-mentioned functional modules 11 to 19 are in the on state, and the driving force source 4 is in the on state (i.e., the vehicle 1 can run).

[0024] The VKM 11 is a module that wirelessly communicates with the remote control terminal 20 and other devices 30 and transmits and receives signals for operating the vehicle 1 by operating the remote control terminal 20 or other devices 30. To operate the vehicle 1 using the remote control terminal 20 or other devices 30, for example, pairing is performed between the remote control terminal 20 or other devices 30 and the VKM 11, and setting information for each device is registered in advance.

[0025] The operations of the vehicle 1 that can be performed by the remote control terminal 20 or other devices 30 via wireless communication with the VKM 11 include various operations such as executing or stopping the above-mentioned driving control, locking the doors, and starting the driving force source 4. The VKM 11 receives signals (hereinafter sometimes referred to as "user operation signals") from the remote control terminal 20 or other devices 30 to operate the vehicle 1 based on the operations of the remote control terminal 20 or other devices 30.

[0026] The VKM 11 may receive, as user operation signals, for example, the above-mentioned driving control start instruction signal, stop instruction signal, operation detection signal, door lock instruction signal, door unlock instruction signal, and start instruction signal for the driving force source 4. Furthermore, as user operation signals, the VKM 11 may receive connection request signals requesting wireless connection between the remote control terminal 20 or another device 30 and the driving control device 10. For example, the VKM 11 may receive user operation signals via wireless communication using Bluetooth (registered trademark).

[0027] When the VKM 11 receives a connection request signal from the remote control terminal 20 or another device 30, it establishes a wireless connection between the remote control terminal 20 or another device 30 and the VKM 11 (i.e., between the remote control terminal 20 or another device 30 and the driving control device 10). For example, the remote control terminal 20 may transmit a connection request signal to the driving control device 10 when the user U starts the parking program. As a result, when the parking program is started on the remote control terminal 20 while the power supply mode of the vehicle 1 is not in sleep mode, wireless communication between the remote control terminal 20 and the VKM 11 (i.e., between the remote control terminal 20 and the driving control device 10) is automatically established. Furthermore, the VKM 11 may automatically establish wireless communication between the remote control terminal 20 and the VKM 11 if pairing has already been established between the remote control terminal 20 and the VKM 11 (i.e., between the remote control terminal 20 and the driving control device 10).

[0028] The VKM 11 also measures the position of the remote control terminal 20 (i.e., the position of the user U) and the positions of the other devices 30 based on wireless communication signals with the remote control terminal 20 and the other devices 30. For example, the VKM 11 may measure the positions of the remote control terminal 20 and the other devices 30 using a positioning technology using UWM. The VKM 11 outputs user operation signals received from the remote control terminal 20 and the other devices 30 to the driving control controller 13. The VKM 11 also outputs a communication status signal indicating the communication status between the remote control terminal 20, the other devices 30, and the VKM 11 to the driving control controller 13.

[0029] For example, the communication status signal from the VKM 11 may be a signal indicating whether wireless communication with the remote control terminal 20 or other devices 30 is normal or a signal indicating whether positioning of the remote control terminal 20 or other devices 30 is normal. The VKM 11 also outputs positioning signals of the remote control terminal 20 and other devices 30 to the cruise control controller 13. On the other hand, when executing cruise control based on the operation of the remote control terminal 20, the VKM 11 receives display information to be displayed on the display device of the HMI of the remote control terminal 20 from the cruise control controller 13 and transmits it to the remote control terminal 20.

[0030] The IVI system 12 is an information processing device that provides various information and entertainment to the occupants of the vehicle 1 and also provides an HMI that accepts occupant operations on the vehicle 1. The IVI system 12 also has a communication function that connects to the remote control terminal 20 and other devices 30 via wireless communication. The IVI system 12 can transmit and receive various information to and from the remote control terminal 20 and other devices 30 via wireless communication. For example, the IVI system 12 outputs audio content and video content received from the remote control terminal 20 or other devices 30 from an audio device in the vehicle 1 or displays them on a display device of the HMI of the IVI system 12. When performing driving control, the IVI system 12 receives display information related to driving control from the driving control controller 13 and displays it on a display device of the HMI of the IVI system 12.

[0031] The driving control controller 13 is an electronic control unit (ECU) that executes various information processing related to driving control. For example, the driving control controller 13 may be an around view monitor (AVM) ECU that generates an image of the surroundings of the vehicle 1 to be used for driving control based on an image captured by a camera of the surrounding environment sensor 2.

[0032] In start control, movement control, or stop control (e.g., entry assistance control), the cruise controller 13 detects a space where the vehicle 1 should be parked as a target parking position based on the surrounding environment information detected by the surrounding environment sensor 2, and also detects a drivable area around the vehicle 1. The cruise controller 13 generates a target entry route from the current position to the target parking position based on the current position, the target parking position, and the drivable area. The cruise controller 13 also generates a target vehicle speed for the vehicle 1 to travel along the target entry route.

[0033] When the vehicle 1 starts traveling to the target parking position, the cruise control controller 13 outputs a driving force source start signal to the electrical equipment controller 14 to start the driving force source 4 (e.g., an engine). Next, the cruise control controller 13 calculates a target steering angle for the vehicle 1 traveling along the target parking path, and outputs information on the target steering angle and target vehicle speed to the driving assistance controller 15. When the vehicle 1 moves to the target parking position and stops, the cruise control controller 13 outputs to the driving assistance controller 15 a stop-hold request signal to maintain the stopped state of the vehicle 1 using the braking device 6, a shift request signal to set the shift position of the shift range of the transmission mechanism of the power transmission mechanism 5 to the parking range (P range), and a parking brake activation signal to activate the electric parking brake of the braking device 6. The cruise control controller 13 also outputs a driving force source stop signal to the electrical equipment controller 14 to stop the driving force source 4. This completes the start control, movement control, or stop control (e.g., parking assistance control).

[0034] Furthermore, in start control, movement control, or stop control (e.g., leaving assistance control), the cruise control controller 13 detects the drivable area around the vehicle 1 based on the surrounding environment information detected by the surrounding environment sensor 2, and sets a target leaving position for the vehicle 1 on a road near the parking position. The cruise control device 10 generates a target leaving route from the parking position to the target leaving position based on the parking position, the target leaving position, and the drivable area. It also generates a target vehicle speed for the vehicle 1 to travel along the target leaving route.

[0035] When the vehicle 1 starts traveling to the target departure position, the traveling control controller 13 outputs a driving force source start signal to the electrical equipment controller 14 to start the driving force source 4 (e.g., an engine). The traveling control controller 13 also outputs a shift request signal to release the shift position of the shift range of the transmission mechanism of the power transmission mechanism 5 from the P range, and a parking brake release signal to release the electric parking brake of the braking device 6 to the driving assistance controller 15.

[0036] The cruise control controller 13 calculates a target steering angle for the vehicle 1 to travel along the target departure route, and outputs information on the target steering angle and target vehicle speed to the driving assistance controller 15. When the vehicle 1 moves to the target departure position and stops, the cruise control controller 13 outputs a stop-hold request signal to the driving assistance controller 15 to maintain the stopped state of the vehicle 1 using the braking device 6. The cruise control controller 13 also outputs a drive power source stop signal to the electrical equipment controller 14 to stop the drive power source 4. This completes the start control, movement control, or stop control (for example, departure assistance control).

[0037] When driving control is started in response to a control start instruction signal received from the remote control terminal 20, the driving controller 13 monitors an operation detection signal included in the user operation signal and a communication status signal between the remote control terminal 20 and the VKM 11. If the driving controller 13 cannot receive an operation detection signal, it stops the vehicle 1 during driving control. In this case, the driving controller 13 may output a stop request signal to the braking force controller 18.

[0038] Furthermore, if the wireless communication between the remote control terminal 20 and the VKM 11 becomes abnormal or is cut off, the vehicle 1 is stopped during driving control. Furthermore, if the positioning of the remote control terminal 20 becomes abnormal, the vehicle 1 is stopped during driving control. The driving control controller 13 also stops the vehicle 1 during driving control when it receives a stop instruction signal from the remote control terminal 20. The vehicle 1 may also be stopped when the distance between the remote control terminal 20 and the VKM 11 becomes equal to or greater than a predetermined distance.

[0039] The electrical equipment controller 14 is an ECU (e.g., a BCM (Body Control Module)) that controls the electrical equipment of the vehicle 1. The electrical equipment controller 14 starts and stops the driving force source 4 (e.g., an engine) based on a driving force source start signal and a driving force source stop signal received from the driving control controller 13. The electrical equipment controller 14 also outputs information on the operating status of the turn signals and the operating status of the driving force source 4 to the driving control controller 13.

[0040] The driving assistance controller 15 is an ECU (for example, an ADAS (Advanced Driver-Assistance Systems)-ECU) that automatically controls at least one of the steering angle, driving force, and braking force of the vehicle 1 to assist the driver in driving the vehicle 1.

[0041] In the driving assist control, the driving assist controller 15 calculates a target driving force and a target braking force based on the information on the target vehicle speed received from the driving controller 13, outputs a target driving force signal to the driving force controller 16, and outputs a target braking force signal to the braking force controller 18. In addition, based on the information on the target steering angle received from the driving controller 13, the driving assist controller 15 generates a steering angle command signal and outputs it to the EPS system 19.

[0042] The driving assistance controller 15 also outputs a shift request signal received from the cruise control controller 13 to the driving force controller 16. The driving assistance controller 15 also outputs a stop-hold request signal, a parking brake activation signal, and a parking brake release signal received from the cruise control controller 13 to the braking force controller 18.

[0043] The driving force controller 16 is an ECU (for example, an HEVC (Hybrid Electric Vehicle)-ECU) that controls the driving force source 4 and the power transmission mechanism 5 of the vehicle 1. The driving force controller 16 controls the driving force source 4 based on the target driving force information received from the driving assistance controller 15, and causes the driving force source 4 to generate a driving force that achieves the target vehicle speed generated by the cruise control controller 13.

[0044] Furthermore, the driving force controller 16 outputs a shift position switching signal to the shift controller 17, which switches the shift position of the shift range of the transmission mechanism of the power transmission mechanism 5, based on the shift request signal received from the driving assistance controller 15. The driving force controller 16 also outputs shift position information and accelerator pedal opening information to the cruise control controller 13.

[0045] The shift controller 17 is an ECU that controls the shift range of the transmission mechanism of the power transmission mechanism 5. During driving control, the shift controller 17 sets the shift position to the P range or releases it from the P range in accordance with a shift switching signal from the driving force controller 16. The shift controller 17 also outputs information about the shift position changed by the driver's operation to the driving controller 13.

[0046] The braking force controller 18 is an ECU that controls the braking device 6 of the vehicle 1. For example, the braking force controller 18 may be an EPBi-ECU that integrates an electric parking brake (EPB) and an electronic stability control (ESC). The braking force controller 18 controls the braking device 6 based on information about the target braking force received from the driving assistance controller 15, and causes the braking device 6 to generate a braking force that achieves the target vehicle speed generated by the cruise control controller 13.

[0047] The braking force controller 18 also stops the vehicle 1 using the braking device 6 based on a stop request signal received from the cruise control controller 13. It also maintains the stopped state of the vehicle 1 using the braking device 6 based on a stop-maintenance request signal received from the driving assistance controller 15. It also activates the electric parking brake of the braking device 6 based on a parking brake activation signal received from the driving assistance controller 15, and releases the electric parking brake based on a parking brake release signal. The braking force controller 18 also outputs information on the activation state of the electric parking brake to the cruise control controller 13.

[0048] The EPS system 19 generates a steering force by an electric motor in the steering mechanism 7 to assist the driver in steering the steering wheel. The EPS system 19 controls the steering mechanism 7 based on a steering angle command received from the driving assistance controller 15, thereby realizing a steering angle that causes the vehicle 1 to travel along the target entrance route and target departure route generated by the cruise control controller 13. The EPS system 19 also detects the steering torque applied to the steering shaft and outputs it to the cruise control controller 13.

[0049] Next, a description will be given of the operation when cruise control is executed based on the operation of the remote control terminal 20. When cruise control is started, the remote control terminal 20 transmits a connection request signal to the VKM 11 to connect the remote control terminal 20 to the cruise control device 10 as a remote parking terminal that accepts operations to execute cruise control. The VKM 11 outputs the connection request signal from the remote control terminal 20 to the cruise control controller 13.

[0050] The driving control controller 13 determines whether another device 30 is already connected to the driving control device 10 as a remote parking terminal. If another device 30 is connected to the driving control device 10 as a remote parking terminal, the driving control controller 13 rejects the connection request from the remote operation terminal 20. In this case, driving control by the remote operation terminal 20 cannot be performed. If another device 30 is not connected to the driving control device 10 as a remote parking terminal, the driving control controller 13 connects the remote operation terminal 20 to the driving control device 10 as a remote parking terminal.

[0051] When the remote control terminal 20 is connected to the driving control device 10 as a remote parking terminal, the driving controller 13 outputs a connection completion notification of the remote control terminal 20 to the VKM 11 and the IVI system 12. Upon receiving the connection completion notification, the VKM 11 disconnects wireless communication with all other devices 30 except for the remote control terminal 20. In other words, the VKM 11 disconnects wireless communication with the other devices 30 while maintaining wireless communication with the remote control terminal 20.

[0052] On the other hand, the IVI system 12 that has received the connection completion notification disconnects wireless communication with all devices including the remote control terminal 20 (i.e., both the remote control terminal 20 and the other devices 30). Note that the VKM 11 and the IVI system 12 that have received the connection completion notification may disconnect wireless communication with other devices 30 that use a frequency band that is the same as or close to the frequency band of the wireless communication between the remote control terminal 20 and the driving control device 10, but may not need to disconnect wireless communication with other devices 30 that use a frequency band that is distant from the frequency band of the wireless communication between the remote control terminal 20 and the driving control device 10.

[0053] When the start control, movement control, or stop control (e.g., departure assistance control) is completed, the driving control controller 13 outputs a driving control completion notification (e.g., departure assistance control completion notification) to the VKM 11 and the IVI system 12. Upon receiving the driving control completion notification (e.g., departure assistance control completion notification), the VKM 11 reconnects (resumes) the wireless communication with the other device 30 that was disconnected when the departure assistance control was started. As a result, the VKM 11 does not reconnect the wireless communication with the other device 30 until the start control, movement control, or stop control (e.g., departure assistance control) is completed. Alternatively, the driving control controller 13 may output a reconnection permission signal to the VKM 11 that permits reconnection with the other device 30 when the start control, movement control, or stop control (e.g., departure assistance control) is completed. The VKM 11 may reconnect the wireless communication with the other device 30 based on the reconnection permission signal.

[0054] On the other hand, upon receiving the driving control completion notification (e.g., the leaving assistance control completion notification), the IVI system 12 reconnects wireless communication with the external connected device (i.e., the remote control terminal 20 itself or another device 30) the next time the driving force source 4 is restarted. As a result, the IVI system 12 does not reconnect wireless communication with the external connected device until the next time the driving force source 4 is restarted after the start control, movement control, or stop control (e.g., leaving assistance control) is completed. Alternatively, the driving controller 13 may output a reconnection permission signal to the IVI system 12 to permit reconnection with the external connected device the next time the driving force source 4 is restarted after the start control, movement control, or stop control (e.g., leaving assistance control) is completed. The IVI system 12 may reconnect wireless communication with the external connected device based on the reconnection permission signal.

[0055] Furthermore, when the start control, movement control, or stop control (e.g., warehousing assistance control) is completed, the driving control controller 13 outputs a driving control completion notification (e.g., warehousing assistance control completion notification) to the VKM 11 and the IVI system 12. Upon receiving the driving control completion notification (e.g., warehousing assistance control completion notification), the VKM 11 reconnects (resumes) the wireless communication with the other device 30 that was disconnected when the start control, movement control, or stop control (e.g., warehousing assistance control) was started, the next time the driving force source 4 is restarted. As a result, the VKM 11 will not reconnect the wireless communication with the other device 30 until the next time the driving force source 4 is restarted after the start control, movement control, or stop control (e.g., warehousing assistance control) is completed.

[0056] Alternatively, the driving controller 13 may output a reconnection permission signal to the VKM 11 to permit reconnection with the other devices 30 the next time the driving force source 4 is restarted after completion of start control, movement control, or stop control (e.g., warehousing assistance control). The VKM 11 may reconnect wireless communication with the other devices 30 based on the reconnection permission signal. Note that if the driving control is warehousing assistance control, the user U may be away from the vehicle 1 for a long time after warehousing, and therefore wireless communication with the remote control terminal 20 itself may be disconnected between the completion of driving control and the next restart of the driving force source 4. In this case, wireless communication with all connected devices may be reconnected the next time the driving force source 4 is restarted.

[0057] On the other hand, upon receiving the driving control completion notification (e.g., the warehousing assistance control completion notification), the IVI system 12 reconnects wireless communication with the external connected device (i.e., the remote control terminal 20 itself or another device 30) the next time the driving force source 4 is restarted. As a result, the IVI system 12 does not reconnect wireless communication with the external connected device until the next time the driving force source 4 is restarted after the start control, movement control, or stop control (e.g., warehousing assistance control) is completed. Alternatively, the driving controller 13 may output a reconnection permission signal to the IVI system 12 to permit reconnection with the external connected device the next time the driving force source 4 is restarted after the start control, movement control, or stop control (e.g., leaving assistance control) is completed. The IVI system 12 may reconnect wireless communication with the external connected device based on the reconnection permission signal.

[0058] 4 is a flowchart of an example of a cruise control method according to the second embodiment. In step S10, the remote control terminal 20 transmits a connection request signal to connect the remote control terminal 20 to the cruise control device 10 as a remote parking terminal. In step S11, the cruise controller 13 determines whether another device 30 is already connected to the cruise control device 10 as a remote parking terminal. If the other device 30 is not already connected (step S11: N), the process proceeds to step S13. If the other device 30 is already connected (step S11: Y), the process proceeds to step S12. In step S12, the cruise controller 13 rejects the connection request from the remote control terminal 20. The process then ends.

[0059] In step S13, the driving control controller 13 connects the remote control terminal 20 to the driving control device 10 as a remote parking terminal. In step S14, the driving control controller 13 outputs a connection completion notification for the remote control terminal 20 to the VKM 11 and the IVI system 12. In step S15, the VKM 11 disconnects wireless communication with all other devices 30 except the remote control terminal 20. The IVI system 12 disconnects wireless communication with all devices including the remote control terminal 20 (i.e., both the remote control terminal 20 and the other devices 30).

[0060] In step S16, the driving controller 13 starts the driving force source 4 to start driving control. When the driving control is completed in step S17, the driving controller 13 stops the driving force source 4. If the driving control is the entrance assistance control (step S18: N), the process proceeds to step S20. If the driving control is the exit assistance control (step S: Y), the process proceeds to step S19.

[0061] In step S19, the VKM 11 resumes wireless communication with the other devices 30 that was disconnected when driving control was initiated. The IVI system 12 resumes wireless communication with all connected devices the next time the driving power source 4 is restarted after driving control. The process then ends. In step S20, the VKM 11 and the IVI system 12 resume wireless communication with all connected devices the next time the driving power source 4 is restarted after driving control. The process then ends.

[0062] (Effects of the Embodiments) (1) In a driving control method for performing driving control, including at least one of starting, moving, and stopping a vehicle, based on the operation of a remote control terminal connected to the vehicle via wireless communication, if there is another device connected to the vehicle via wireless communication other than the remote control terminal when driving control is started based on the operation of the remote control terminal, wireless communication between the other device and the vehicle is disconnected and wireless communication between the other device and the vehicle is prohibited until driving control is completed. This prevents a deterioration in communication performance between the remote control terminal and the vehicle. As a result, driving control based on the operation of the remote control terminal can be smoothly executed.

[0063] (2) Driving control may be performed based on the operation of a remote control terminal by a user outside the vehicle. This allows driving control by a user outside the vehicle. (3) When driving control ends, the wireless communication that was disconnected when driving control started may be automatically reconnected. This reduces the effort required to manually connect other devices to the vehicle.

[0064] (4) When cruise control ends, the wireless communication that was disconnected when cruise control started may not be reconnected until the vehicle's driving force source is restarted. This eliminates unnecessary connection processing when reconnection is not required immediately after cruise control ends. (5) When the vehicle's power supply mode is not in sleep mode, and an application program installed on the remote control terminal that accepts cruise control operations is started, wireless communication between the remote control terminal and the vehicle may be automatically connected. This reduces the effort required to manually connect wireless communication.

[0065] (6) When pairing between the remote control terminal and the vehicle has been completed, wireless communication between the remote control terminal and the vehicle may be automatically established. This reduces the effort required to manually establish wireless communication. (7) When wireless communication between the remote control terminal and the vehicle is disconnected during driving control, the vehicle may be stopped. This prevents vehicle behavior unintended by the user during driving control.

[0066] (8) When starting driving control based on the operation of the remote control terminal, it is possible to disconnect wireless communication of other devices that use the same or a nearby frequency band as the frequency band of wireless communication between the remote control terminal and the vehicle, but not to disconnect wireless communication of other devices that use a frequency band distant from the frequency band of wireless communication between the remote control terminal and the vehicle. This allows wireless communication of other devices that is not related to the communication performance between the remote control terminal and the vehicle to be maintained.

[0067] (9) When starting driving control based on operation of the remote control terminal, wireless communication between a first module mounted on the vehicle and the remote control terminal may be maintained while wireless communication between the first module and other devices may be disconnected, and both wireless communication between a second module mounted on the vehicle and the remote control terminal and wireless communication between the second module and other devices may be disconnected. This prevents a degradation in communication performance between the remote control terminal and the vehicle due to wireless communication between the other devices. Furthermore, this prevents a degradation in communication performance between the first module and the remote control terminal due to wireless communication between the second module and the remote control terminal. (10) The first module may be a module that wirelessly receives instruction signals related to driving control in response to operation of the remote control terminal via wireless communication with the remote control terminal. This prevents a degradation in communication performance of the first module receiving instruction signals related to driving control in response to operation of the remote control terminal. As a result, driving control based on operation of the remote control terminal can be smoothly executed.

[0068] (11) The driving control may be parking assistance control including at least one of entrance assistance control for moving the vehicle to a target parking position and exit assistance control for moving the vehicle from the parking position to a target exit position. This allows for smooth execution of parking assistance control based on operations on a remote control terminal. (12) When the parking assistance control is entrance assistance control, once the entrance assistance control ends, the wireless communication disconnected when the entrance assistance control starts may not be reconnected until the vehicle's driving force source is restarted. This eliminates unnecessary connection processing when there is no need to reconnect immediately after the entrance assistance control ends. (13) When the parking assistance control is exit assistance control, the wireless communication disconnected when the exit assistance control starts may be automatically reconnected once the exit assistance control ends. This reduces the effort required to manually connect other devices to the vehicle.

[0069] All examples and conditional terms described herein are intended for educational purposes to aid the reader in understanding the present invention and the concepts provided by the inventor for the advancement of technology, and should be construed without limitation to the specifically described examples and conditions above, and the configuration of examples herein for illustrating the advantages and disadvantages of the present invention. Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present invention.

[0070] DESCRIPTION OF SYMBOLS 1...vehicle, 2...surrounding environment sensor, 3...vehicle sensor, 4...driving force source, 5...power transmission mechanism, 6...braking device, 7...steering mechanism, 10...cruising control device, 11...virtual key module, 12...in-vehicle infotainment system, 13...cruising control controller, 14...electrical equipment controller, 15...driving assistance controller, 16...driving force controller, 17...shift controller, 18...braking force controller, 19...electric power steering system, 20...remote control terminal, 30...other devices

Claims

1. A driving control method for performing driving control including at least one of control to start the vehicle, control to move the vehicle, and control to stop the vehicle based on an operation of a remote operation terminal connected to the vehicle by wireless communication, when there is another device connected to the vehicle by wireless communication other than the remote operation terminal when starting the driving control based on the operation of the remote operation terminal, disconnect the wireless communication between the other device and the vehicle, prohibit the wireless communication between the other device and the vehicle until the driving control is completed, A driving control method characterized by the above.

2. The driving control method according to claim 1, wherein the driving control is performed based on an operation of the remote operation terminal by a user outside the vehicle.

3. The driving control method according to claim 1 or 2, characterized in that when the driving control ends, the wireless communication disconnected when starting the driving control is automatically reconnected.

4. The driving control method according to claim 1 or 2, characterized in that when the driving control ends, the wireless communication disconnected when starting the driving control is not reconnected until the driving power source of the vehicle is restarted.

5. When an application program for receiving an operation for the driving control installed in the remote operation terminal is started in a state where the power mode of the vehicle is not in the sleep mode, automatically connect the wireless communication between the remote operation terminal and the vehicle. The driving control method according to any one of claims 1 to 4, characterized in that.

6. The driving control method according to any one of claims 1 to 5, characterized in that when the pairing between the remote operation terminal and the vehicle has been performed, the wireless communication between the remote operation terminal and the vehicle is automatically connected.

7. The driving control method according to any one of claims 1 to 6, characterized in that when the wireless communication between the remote operation terminal and the vehicle is disconnected during the execution of the driving control, the vehicle is stopped.

8. When starting the driving control based on the operation of the remote operation terminal, disconnect the wireless communication of another device using a frequency band identical to or close to the frequency band of the wireless communication between the remote operation terminal and the vehicle, and do not disconnect the wireless communication of another device using a frequency band away from the frequency band of the wireless communication between the remote operation terminal and the vehicle. The driving control method according to any one of claims 1 to 7, characterized in that.

9. When starting the driving control based on the operation of the remote operation terminal, while keeping the wireless communication between the first module mounted on the vehicle and the remote operation terminal connected, disconnect the wireless communication between the first module and other devices, and disconnect both the wireless communication between the second module mounted on the vehicle and the remote operation terminal and the wireless communication between the second module and other devices. The driving control method according to any one of claims 1 to 8, characterized in that.

10. The driving control method according to claim 9, characterized in that the first module receives an instruction signal regarding the driving control according to the operation of the remote operation terminal by wireless communication with the remote operation terminal.

11. The driving control method according to claim 1, characterized in that the driving control is a parking support control including at least one of an in-warehouse support control for moving the vehicle to a target parking position or an out-warehouse support control for moving the vehicle from a parking position to a target out-warehouse position.

12. When the parking support control is the in-warehouse support control, when the in-warehouse support control ends, the wireless communication disconnected when starting the in-warehouse support control is not reconnected until the driving power source of the vehicle is restarted. The driving control method according to claim 11, characterized in that.

13. When the parking support control is the out-warehouse support control, when the out-warehouse support control ends, the wireless communication disconnected when starting the out-warehouse support control is automatically reconnected. The driving control method according to claim 11, characterized in that.

14. A driving control device that performs driving control including at least one of control to start the vehicle, control to move the vehicle, and control to stop the vehicle based on the operation of a remote operation terminal connected to the vehicle by wireless communication. When there are other devices wirelessly connected to the vehicle other than the remote operation terminal when starting the driving control based on the operation of the remote operation terminal, disconnect the wireless communication between the other devices and the vehicle, and prohibit the wireless communication between the other devices and the vehicle until the driving control is completed. A driving control device characterized by comprising a controller.

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