Parking control method and parking control apparatus

Abstract

When a host vehicle (2) is in line with other vehicles and stands by in order to park the host vehicle in a parking lot, a controller (100) mounted on the host vehicle (2) permits another vehicle located immediately before or immediately after the host vehicle (2) among at least the other vehicles to remotely operate the host vehicle, and controls the host vehicle (2) in accordance with a command of the remote operation of the host vehicle (2) from the other vehicle permitted to perform the remote operation.

Description

Parking control method and parking control device

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

[0002] A technology is known in which a control device is granted remote control authority, which is the authority to remotely operate a vehicle within a parking lot, and the vehicle's operation is controlled in accordance with remote control signals transmitted from the control device (Patent Document 1).

[0003] International Publication No. 2020 / 129688

[0004] However, the technology described in Patent Document 1 is a technology that controls the operation of a vehicle according to remote control by equipment installed in the parking lot, so there is a problem that in parking lots that do not have equipment for remotely controlling vehicles, it is not possible to control the vehicle remotely.

[0005] The problem to be solved by the present invention is to provide a parking control method and a parking control device that can remotely control a vehicle in a parking lot that does not have equipment for remotely controlling the vehicle.

[0006] The present invention solves the above problem by allowing at least one of the other vehicles located immediately before or immediately after the vehicle to remotely control the vehicle when the vehicle is waiting in a line with other vehicles to park in a parking lot, and controlling the vehicle in response to a remote control command from the other vehicle that has been permitted to remotely control the vehicle.

[0007] According to the present invention, vehicles can be remotely controlled in parking lots that are not equipped with facilities for remotely controlling vehicles.

[0008] Fig. 1 is a block diagram showing a parking control system including a parking control device according to an embodiment of the present invention. Fig. 2 is a diagram showing an example of a situation in which a parking control method according to this embodiment is executed. Fig. 3 is a diagram showing an example of a situation in which a waiting space guidance method according to this embodiment is executed. Fig. 4 is an example of a flowchart showing the steps of the parking control method according to this embodiment.

[0009] An embodiment of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing a parking control system including a parking control device according to an embodiment of the present invention. The parking control system 1 includes a parking control device 10 mounted on a host vehicle 2, a first terminal device 11 carried and operated by a user such as an occupant of the host vehicle 2, and a second terminal device 12 carried and operated by a user such as an occupant of another vehicle (hereinafter also referred to as another user). The parking control system 1 of this embodiment is a system that performs the control necessary for parking (entering or parking into a garage) a host vehicle 2 in a parking space in a parking lot that can accommodate multiple vehicles, using autonomous driving control. The parking lot may be, for example, a mechanical parking lot. The parking lot includes a parking space, a waiting space, and a movement path for the vehicle 20 to enter and exit. If the parking lot is a mechanical parking lot, mechanical parking equipment is installed in the parking space to allow the vehicle 20 to enter and exit. The mechanical parking equipment includes a pallet on which the vehicle is placed and a transport mechanism for transporting the vehicle on the pallet. The waiting space includes a waiting queue in which multiple vehicles wait in a line. In the following embodiments, a specific example of the present invention will be described by taking an example in which the parking control method and parking control device according to the present invention are applied to a parking control system. Autonomous driving control refers to controlling a vehicle by automatic control of an on-board parking control device 10 without relying on driving operations by a user who is a driver.

[0010] In the parking control system 1, after the user of the host vehicle 2 gets out of the host vehicle 2 in a parking lot, autonomous driving control of the host vehicle 2 is performed in a remote operation mode. The remote operation mode is a mode in which autonomous driving control is performed in response to remote operation by a remote operation command from outside the host vehicle 2. The remote operation operator is the user of the host vehicle 2, another vehicle, or a user of the other vehicle. In the parking control system 1, the parking control device 10 performs autonomous driving control by remote operation when the user of the host vehicle 2 continues to send remote operation commands using the first terminal device 11. Furthermore, when the host vehicle 2 permits the other vehicle to remotely operate the host vehicle 2, the authority to perform remote operation (hereinafter also referred to as remote operation right) is granted to the other vehicle. The parking control device 10 performs autonomous driving control by remote operation when the other vehicle continues to send remote operation commands using the second terminal device 12. Note that in the following description, granting remote operation right will be used as an example of permission for remote operation, but the specific method for permitting remote operation is not limited to this. In this embodiment, when the user gets off the vehicle 2 while the vehicle 2 is waiting in a queue to park in a parking lot, the control required for parking is executed in the remote operation mode. The control required for parking includes parking control that controls the vehicle 2 so that the vehicle 2 moves from the front of the queue to a parking space, and standby control that controls the vehicle 2 so that the vehicle 2 moves to the front of the queue.

[0011] Here, referring to FIG. 2, a scenario in which the parking control method according to this embodiment is executed will be described. FIG. 2 is a diagram showing an example of a scenario in which the parking control method according to this embodiment is executed. FIGS. 2(A) to 2(D) chronologically illustrate the various scenarios from when the host vehicle enters a parking lot to when the host vehicle enters a parking space. FIG. 2(A) shows a scenario in which the host vehicle enters a parking lot and waits in a waiting queue. FIG. 2(B) shows a scenario in which the waiting queue moves forward after the host vehicle has lined up in the waiting queue. FIG. 2(C) shows a scenario in which the host vehicle has advanced to the front of the waiting queue. FIG. 2(D) shows a scenario in which parking control is executed as the host vehicle moves toward a parking space. The parking lot P is a parking lot that can accommodate multiple vehicles, such as a mechanical parking lot. The parking lot P has a parking space S into which the host vehicle V1 will enter. When the host vehicle V1 enters the parking lot P, the parking control device 10 sets the target parking space for the host vehicle V1 to the parking space S. In the parking lot P, multiple other vehicles that entered before the host vehicle V1 are waiting in a queue L for their turn to park. In FIG. 2, the left side of the figure is the front of the queue L, and the right side of the figure is the rear of the queue L. As shown in FIG. 2(A), the host vehicle V1 needs to wait in a queue at the end of the queue L in order to park in the parking space S1. At this time, the user U, who is an occupant of the host vehicle V1, may get off the host vehicle V1 and leave the host vehicle V1. By allowing the other vehicle V2 located immediately in front of the host vehicle V1 to remotely operate the host vehicle V1, the user U is no longer required to operate or monitor the host vehicle V1, and can leave the host vehicle V1.

[0012] As a specific example of remote control, as shown in FIG. 2(B), when the waiting line L moves forward and the other vehicle V2 moves forward, the host vehicle V1 is controlled to move forward by remote control of the other vehicle V2. Furthermore, as shown in FIG. 2(C), when the waiting line L moves forward and the other vehicle V2 leaves the waiting line L, the host vehicle V1 moves to the front of the waiting line L. In this case, the host vehicle V1 allows the other vehicle V3 located immediately behind the host vehicle V1 to remotely control the host vehicle V1. Then, as shown in FIG. 2(D), the host vehicle V1 is remotely controlled by the other vehicle V3, and parking control is performed so that the host vehicle V1 enters the parking space. As described above, in the parking control method according to this embodiment, the host vehicle 2 is remotely controlled by the other vehicle located immediately before or immediately behind the host vehicle 2, so there is no need to provide equipment for remotely controlling the host vehicle 2, such as a control device, in the parking lot.

[0013] The parking control device 10 is a device mounted on the host vehicle 2 and controls the host vehicle 2 so that the host vehicle 2 parks in a parking space within a parking lot. When the host vehicle 2 enters a parking lot, the parking control device 10 starts controlling the host vehicle 2 using autonomous driving control and causes an actuator 200 of the host vehicle 2 to control the operation of the host vehicle 2. The parking control device 10 includes a controller 100, a communication device 101, and a detection device 102. The parking control device 10 is communicatively connected to a first terminal device 11 and a second terminal device 12 via the communication device 101 over a network 3. The network 3 includes, for example, a mobile communication network such as Bluetooth (registered trademark), Wi-Fi (Wireless Fidelity) (registered trademark), UWB, a 4G line, or a 5G line, as well as the Internet. Note that the communication device 101 and the detection device 102 are not limited to devices provided in the parking control device 10, and may be devices mounted on the host vehicle 2.

[0014] The controller 100 includes a computer having hardware and software, including a ROM storing a program, a CPU executing the program stored in the ROM, and a RAM functioning as an accessible storage device. The controller 100 includes functional blocks, such as an authorization unit 103, a restriction unit 104, a parking position setting unit 105, a route generation unit 106, a control unit 107, and a privilege granting unit 108. The controller 100 executes each function through cooperation between the hardware and software for realizing each function or executing each process. In this embodiment, the functions of the controller 100 are divided into six blocks, and the functions of each functional block are described. However, the functions of the controller 100 do not necessarily have to be divided into six blocks; they may be divided into five or fewer functional blocks, or seven or more functional blocks.

[0015] The authorization unit 103 executes authorization processing to permit other vehicles located around the host vehicle 2 to remotely control the host vehicle 2. For example, as an authorization method, remote control rights indicating that the host vehicle 2 is permitted to remotely control the host vehicle 2 may be granted. The remote control rights are normally granted to the user of the host vehicle 2. The authorization unit 103 starts the authorization processing, for example, when the host vehicle 2 enters a parking lot and waits in a queue with other vehicles after entering the parking lot. The authorization unit 103 may start the authorization processing when the user permits remote control from the other vehicle while waiting in a queue with other vehicles. For example, the authorization unit 103 transmits a confirmation signal to the first terminal device 11 to confirm whether or not to permit remote control from the other vehicle. Upon receiving the confirmation signal, the first terminal device 11 displays a selection screen for selecting whether or not to permit remote control from the other vehicle. The user selects whether or not to permit remote control from the other vehicle. The first terminal device 11 transmits the user's selection result to the communication device 101. The authorization unit 103 acquires the user's selection result via the communication device 101, and executes authorization processing if the user permits remote control from another vehicle.

[0016] In the authorization process, first, the authorization unit 103 acquires detection information from the detection device 102. Based on the detection information, the authorization unit 103 determines whether or not another vehicle is present immediately before or immediately after the host vehicle 2. The other vehicle present immediately before or immediately after the host vehicle 2 is, for example, another vehicle lined up immediately before or immediately after the host vehicle 2 in a waiting queue.

[0017] When another vehicle is located immediately before or immediately after the host vehicle 2, the authorization unit 103 determines whether the other vehicle will accept remote control of the host vehicle 2, and when it determines that the other vehicle will accept remote control of the host vehicle 2, it permits the other vehicle to remotely control the host vehicle 2. For example, the authorization unit 103 transmits a remote control request to the second terminal device 12 of the other vehicle located immediately before or immediately after the host vehicle 2 via the communication device 101, to request remote control of the host vehicle 2. When the second terminal device 12 receives the remote control request, it prompts the user of the other vehicle to select whether to accept remote control of the host vehicle 2. When the authorization unit 103 receives from the second terminal device 12 a remote control acceptance indicating that the other vehicle will accept remote control of the host vehicle 2, it determines that the other vehicle will accept remote control of the host vehicle 2. For example, when the authorization unit 103 does not grant remote control authority to the other vehicle, it outputs a signal indicating that the user has remote control authority to the control unit 107. When the authorization unit 103 has granted the remote control right to another vehicle, the authorization unit 103 may output a signal indicating that the other vehicle has the remote control right to the restriction unit 104 and the control unit 107 .

[0018] In this embodiment, the method of determining whether the other vehicle will accept remote operation of the vehicle 2 is not limited to the method of having the other user select whether to accept the remote operation after the second terminal device 12 receives the remote operation request. The user of the other vehicle may set in advance whether to accept remote operation. In this case, the authorization unit 103 checks the setting of whether to accept remote operation in the second terminal device 12, and determines that the other vehicle will accept remote operation of the vehicle 2 if the setting indicates that the other vehicle will accept remote operation.

[0019] Furthermore, in this embodiment, when another vehicle is located immediately behind the host vehicle 2, the authorization unit 103 permits remote control to the other vehicle located immediately behind the host vehicle 2. For example, when there are other vehicles both immediately before and immediately after the host vehicle 2, the authorization unit 103 preferentially permits remote control to the other vehicle located immediately behind the host vehicle 2. When there is no other vehicle immediately behind the host vehicle 2 and there is another vehicle immediately before the host vehicle 2, the authorization unit 103 permits remote control to the other vehicle located immediately before the host vehicle 2. Then, when remote control is permitted to the other vehicle located immediately before the host vehicle 2 and a new other vehicle forms a line immediately after the host vehicle 2, the authorization unit 103 does not permit remote control to the other vehicle located immediately before the host vehicle 2, but permits remote control to the new other vehicle in the line.

[0020] In this embodiment, the parking lot may be provided with a standby space for remote control and a normal standby space. The standby space is, for example, a standby line where multiple vehicles wait their turn. That is, the parking lot may be provided with two standby lines: a standby line for remote control and a normal standby line. In the standby space for remote control, vehicles that wish to be remotely controlled by another vehicle and vehicles that accept remote control can wait side by side. In the normal standby space, vehicles that are not involved in remote control wait side by side. Vehicles that are not involved in remote control include vehicles that do not wish to be remotely controlled and vehicles that do not accept remote control. When the host vehicle 2 is waiting in the standby space for remote control, the authorization unit 103 determines whether another vehicle newly entering the parking lot will accept remote control of the host vehicle 2. Then, the authorization unit 103 notifies the other vehicle that accepts remote control of the host vehicle 2 of guidance information via the second terminal device 12, instructing the other vehicle to wait immediately behind the host vehicle 2 in the standby space for remote control. The authorization unit 103 notifies the other vehicle that does not accept remote operation of the vehicle 2 of guidance information via the second terminal device 12 to guide the other vehicle to wait in a normal waiting space.

[0021] Here, a waiting space guidance method according to this embodiment will be described with reference to FIG. 3 . FIG. 3 is a diagram illustrating an example of a scene in which the waiting space guidance method according to this embodiment is executed. In the example of FIG. 3 , as in FIG. 2 , a parking space S is provided in a parking lot P. The parking lot P is provided with a normal waiting line L1 and a remote control waiting line L2. Each waiting line is an example of a waiting space. As shown in FIG. 3 , when the host vehicle V1 is waiting in the remote control waiting line L2, if another vehicle V2 that will take over remote control newly enters the parking lot P, the authorization unit 103 notifies the other vehicle V2 of guidance information to wait in the waiting line L2. When the other vehicle V2 waits immediately behind the host vehicle V1 in the waiting line L2, the authorization unit 103 permits the other vehicle V2 to remotely control the host vehicle V1. As a result, the host vehicle V1 is remotely controlled by the other vehicle V2.

[0022] When the authorization unit 103 permits the other vehicle to remotely control the vehicle, the restriction unit 104 restricts the control operations that can be performed by remote control. In this embodiment, when the user of the vehicle 2 is permitted to remotely control the vehicle, the operations that can be performed by remote control include steering, accelerator, brake, shift position, locking or unlocking doors or windows, and changing the target route or target parking position of the vehicle 2. In contrast, when the other vehicle is permitted to remotely control the vehicle, the restriction unit 104 prohibits remote operations that perform at least one of locking or unlocking doors or windows and changing the target parking position. Alternatively, the operations that can be remotely controlled by the other vehicle are limited to steering, accelerator, brake, and shift position operations of the vehicle 2. In other words, only steering, accelerator, brake, and shift position operations of the vehicle 2 are permitted as remote operations by the other vehicle. For example, the restriction unit 104 outputs a prohibition signal to the control unit 107 that prohibits at least one of locking or unlocking doors or windows and changing the target parking position. In addition, the restriction unit 104 may transmit a control signal to the second terminal device 12 to hide at least one of the operations that can be selected by other users on the remote operation screen displayed on the second terminal device 12, namely locking or unlocking the doors or windows and changing the target parking position, and to display that steering operation, accelerator operation, brake operation, and shift position operation can be performed.

[0023] The parking position setting unit 105 sets a target parking position where the vehicle 2 is to be parked. For example, the parking position setting unit 105 searches for parking spaces in the parking lot where the vehicle 2 is located, and sets a parking space selected by the user from among the available parking spaces as the target parking space (an example of a target parking position according to the present invention). In this embodiment, an image of the parking lot including available parking spaces is displayed on the application screen of the first terminal device 11. The user selects the target parking space using an input switch via the application screen. The first terminal device 11 outputs position information of the target parking space selected by the user (such as relative position coordinates from the current position of the vehicle 2, latitude and longitude, etc.) to the route generation unit 106.

[0024] The route generation unit 106 generates a target route from the current position of the vehicle 2 to the target parking space. The target route includes a waiting route for the vehicle 2 to travel from the current position to the front of the waiting queue, and a parking route for the vehicle 2 to park from the front of the waiting queue to the target parking space. The route generation unit 106 then outputs the generated target route to the control unit 107.

[0025] The control unit 107 generates a control command for controlling the host vehicle 2 and outputs it to the actuator 200, thereby controlling the host vehicle 2. The control unit 107 controls the traveling of the host vehicle 2 along the target route. The control unit 107 calculates a target vehicle speed and a target steering angle for traveling along the target route, and generates a control command for traveling the host vehicle 2 based on the calculated target vehicle speed and target steering angle. The generated control command is output to the actuator 200.

[0026] In this embodiment, the control unit 107 controls the host vehicle 2 in response to a remote operation command from the user of the host vehicle or the user of the other vehicle. Specifically, when remote operation is permitted for the other vehicle, the control unit 107 generates a control command to control the host vehicle 2 in response to the remote operation command from the user of the other vehicle and outputs the control command to the actuator 200. When remote operation is not permitted for the other vehicle, that is, when remote operation is permitted for the user of the host vehicle, the control unit 107 generates a control command to control the host vehicle 2 in response to the remote operation command from the user of the host vehicle and outputs the control command to the actuator 200. The remote operation method is such that, when the operator inputs an execution command to execute a selected operation by, for example, pressing an execution command switch on a remote operation screen displayed on the terminal device, the terminal device transmits the remote operation command to the controller 100 via the communication device 101. The remote operation command continues to be transmitted while the operator continues to input the execution command.

[0027] For example, when the host vehicle 2 is waiting in a waiting queue and another vehicle located immediately in front of the host vehicle 2 moves forward, the user of the other vehicle inputs an execution instruction to move the host vehicle 2 forward to the second terminal device 12. The second terminal device 12 transmits a remote operation command to move the host vehicle 2 forward to the communication device 101. When the control unit 107 receives the remote operation command to move the host vehicle 2 forward from the second terminal device 12 via the communication device 101, the control unit 107 generates a control command to move the host vehicle 2 forward and outputs it to the actuator 200. The control command includes a target vehicle speed and a target steering angle for moving the host vehicle 2 forward along the waiting route.

[0028] Furthermore, when the host vehicle 2 moves to the front of the waiting queue, the user of the other vehicle inputs an execution instruction to the second terminal device 12 to execute parking control of the host vehicle 2. The second terminal device 12 transmits a remote operation command to the communication device 101 to execute parking control of the host vehicle 2. When the control unit 107 receives the remote operation command to execute parking control of the host vehicle 2 from the second terminal device 12, it generates a control command to execute parking control of the host vehicle 2 and outputs it to the actuator 200. The control command includes a target vehicle speed and a target steering angle for controlling parking of the host vehicle 2 along the parking path. The control unit 107 determines whether the parking control of the host vehicle 2 by remote operation of the other vehicle has been completed, and when the parking control of the host vehicle 2 has been completed, it outputs a parking completion signal to the benefit granting unit 108, indicating that the parking control of the host vehicle 2 by remote operation of the other vehicle has been completed.

[0029] Furthermore, in the present embodiment, when the user of the other vehicle who has been permitted to remotely control the vehicle is located outside a predetermined distance range from the vehicle 2, the control unit 107 prohibits the second terminal device 12 carried by the user of the other vehicle from remotely controlling the vehicle 2. For example, the control unit 107 acquires position information of the second terminal device 12, along with a remote control command, from the second terminal device 12 via the communication device 101. Based on the position information of the vehicle 2 and the position information of the second terminal device 12, when the position of the second terminal device 12 is away from the vehicle 2 by a predetermined distance or more, the control unit 107 determines that the user of the other vehicle is located outside a predetermined distance range from the vehicle 2, and prohibits the control of the vehicle 2 based on the remote control command.

[0030] When parking control of the vehicle 2 is completed in response to a remote control command from the other vehicle, the privilege granting unit 108 grants a privilege to the other vehicle that performed the remote control. For example, the privilege is a priority right that allows the other vehicle that has been permitted to be remotely controlled to enter and exit the parking lot preferentially. The priority right may be granted per user or per vehicle. When a user who has the priority right enters or leaves the parking lot, the user can use the priority right when entering or leaving the parking lot, giving the user priority over other vehicles waiting to enter or leave.

[0031] The priority right is not limited to a right to use the priority right or not, but may be a right in the form of points that are accumulated as points. When parking control of the host vehicle 2 is completed in response to a remote control command from another vehicle, the reward granting unit 108 grants points that can be used to select a priority to the other vehicle. The priority indicates the degree to which the host vehicle's entry and exit are prioritized over other vehicles. Specifically, each time parking control of the host vehicle 2 is completed in response to a remote control command from the other vehicle, the reward granting unit 108 grants one point to the other vehicle. That is, points are awarded according to the number of remote operations performed. A user can select a higher priority by consuming more points. A user who selects a higher priority can enter and exit the parking lot with priority over a user who selects a lower priority. For example, priority is divided into multiple levels (e.g., five levels). A user can select priority "3" by consuming three points. In this case, if another user has selected priority "2" by consuming two points, the user who selected priority "3" can enter and exit the parking lot with priority.

[0032] The communication device 101 is communicatively connected to the first terminal device 11 and the second terminal device 12 via the network 3, and transmits and receives information. For example, the communication device 101 transmits a remote control request to the second terminal device 12. The communication device 101 receives a remote control acceptance from the second terminal device 12. The communication device 101 receives a remote control command from the first terminal device 11 or the second terminal device 12. The communication device 101 also receives position information of a target parking space selected by the user from the first terminal device 11. The information received by the communication device 101 is output to the controller 100.

[0033] The detection device 102 is a device that detects surrounding information of the host vehicle 2. In this embodiment, the detection device 102 detects the surrounding environment in the parking lot. The surrounding environment in the parking lot includes white lines, road markings, signs, and parking lot structures. The detection device 102 also detects other vehicles located around the host vehicle 2. The other vehicles are, for example, vehicles located in front of or behind the host vehicle 2. The detection device 102 includes sensors such as sonar, cameras, and radar. For example, the detection device 102 detects the presence and distance of other vehicles located around the host vehicle 2 using sonar, radar, or the like. The detection device 102 uses a camera to capture images of the surroundings of the host vehicle 2 and performs image recognition processing on the captured images to recognize other vehicles located around the host vehicle 2. The detection device 102 also detects other vehicles located around the vehicle 2 by using a radio wave positioning method such as Bluetooth (registered trademark), Wi-Fi (Wireless Fidelity) (registered trademark), UWB, or GPS. Detection information detected by the detection device 102 is output to the controller 100.

[0034] The first terminal device 11 is a computer including a ROM storing a program, a CPU as an operating circuit that executes each function by executing the program stored in the ROM, and a RAM that functions as an accessible storage device. The first terminal device 11 is a terminal device operated by a user, such as a portable terminal device such as a smartphone or a key fob. The first terminal device 11 is a device that can communicate with the communication device 101 of the parking control device 10 and exchanges information with the parking control device 10. The first terminal device 11 may be equipped with a touch panel display. When an application for remote control is executed on the first terminal device 11, an application screen is displayed on the display. The user can remotely control the host vehicle 2 via the first terminal device 11. For example, the user selects an operation to be executed on the host vehicle 2 on the application screen displayed on the display of the first terminal device 11 and inputs an execution instruction to execute the selected operation. The operations that the user can select include steering, accelerating, braking, and shift position operation of the vehicle 2, locking and unlocking doors and windows, and changing the target route and target parking position. The first terminal device 11 transmits a remote operation command to the communication device 101 of the vehicle 2 to execute the operation selected by the user. The first terminal device 11 also accepts a selection input by the user as to whether or not to allow remote operation of the vehicle 2, and transmits the user's selection result to the communication device 101.

[0035] The second terminal device 12 is a computer including a ROM storing a program, a CPU as an operating circuit that executes each function by executing the program stored in the ROM, and a RAM that functions as an accessible storage device. The second terminal device 12 is, for example, a terminal device located in a vehicle in which a user of the other vehicle is riding. The second terminal device 12 may be a terminal device mounted on the other vehicle, or a portable terminal device such as a smartphone that can be operated by the user of the other vehicle while inside the vehicle. The user of the other vehicle is permitted to remotely control the parking control device 10 from the terminal device mounted on the other vehicle or a mobile terminal carried by the user of the other vehicle via the other vehicle system. The second terminal device 12 is a device that can communicate with the communication device 101 of the parking control device 10 and exchanges information with the parking control device 10. The second terminal device 12 may be equipped with a touch panel display. When an application for remote control is executed on the second terminal device 12, an application screen is displayed on the display. The application screen includes a selection screen for whether to accept remote control, a remote control screen for performing remote control, and a management screen for managing points. The user of the other vehicle can select whether or not to accept remote control on the selection screen for accepting remote control.

[0036] After remote control of the vehicle 2 is permitted, the other vehicle can remotely control the vehicle 2 via the second terminal device 12. For example, the user of the other vehicle selects various operations to be performed by the vehicle 2 on an operation screen of an application executed on the second terminal device 12 and inputs an execution instruction to execute the selected operation. Operations that the other user can select include steering, accelerating, braking, and shift position operation of the vehicle 2. Operations that the other user can select do not include locking or unlocking doors or windows, or changing a target route or target parking position. The second terminal device 12 transmits a remote control command to the communication device 101 of the vehicle 2 to execute the operation selected by the other user. If the second terminal device 12 is a terminal device within the other vehicle, the user of the other vehicle can remotely control the vehicle 2 while inside the other vehicle.

[0037] The actuator 200 receives control commands from the parking control device 10 and drives various parts of the host vehicle 2, such as the accelerator, brake, and steering. For example, when the host vehicle 2 is traveling at a target vehicle speed due to the autonomous speed control function, the actuator 200 controls the operation of the drive mechanism (including the operation of the internal combustion engine in an engine vehicle, the operation of the traction motor in an electric vehicle, and the torque distribution between the internal combustion engine and the traction motor in a hybrid vehicle) and the brake operation to accelerate and decelerate the host vehicle 2 so that the vehicle speed becomes the target vehicle speed, and to maintain the target speed.

[0038] In addition to controlling the operation of the drive mechanism and brakes described above, the actuator 200 uses an autonomous steering control function to control the operation of the steering actuator, thereby performing steering control of the host vehicle 2. For example, when the host vehicle 2 travels along a target route using the autonomous steering control function, the actuator 200 autonomously controls the operation of the steering actuator so that the steering angle of the host vehicle 2 becomes the target steering angle.

[0039] Next, a procedure by which the controller 100 executes the parking control method according to this embodiment will be described with reference to Fig. 4. Fig. 4 is an example of a flowchart showing the procedure of the parking control method according to this embodiment. In this embodiment, when the host vehicle 2 enters a parking lot, the controller 100 starts the control flow from step S1.

[0040] In step S1, the controller 100 determines whether or not another vehicle is present immediately before or immediately after the host vehicle 2. If it is determined that another vehicle is present immediately before or immediately after the host vehicle 2, the controller 100 proceeds to step S2. If it is determined that another vehicle is not present immediately before or immediately after the host vehicle 2, the controller 100 returns to step S1, and thereafter repeats the flow until another vehicle arrives immediately after the host vehicle 2.

[0041] In step S2, the controller 100 determines whether the other vehicle located immediately before or immediately after the host vehicle 2 will accept remote control of the host vehicle 2. If it is determined that the other vehicle will accept remote control of the host vehicle 2, the controller 100 proceeds to step S3. If it is determined that the other vehicle will not accept remote control of the host vehicle 2, the controller 100 ends the control flow. For example, the controller 100 transmits a remote control request to the second terminal device 12 of the other vehicle. If the controller 100 receives remote control acceptance from the second terminal device 12, the controller 100 determines that the other vehicle will accept remote control of the host vehicle 2.

[0042] In step S3, the controller 100 permits one of the other vehicles located immediately before or after the host vehicle 2 to remotely control the host vehicle 2. In step S4, the controller 100 controls the host vehicle 2 in response to a command to remotely control the host vehicle 2 from the other vehicle that has been permitted to remotely control the host vehicle 2. Note that in the flowchart of FIG. 4, if it is determined in step S2 that the other vehicle will not remotely control the host vehicle 2, the control flow is terminated. However, the present invention is not limited to this, and for example, the controller 100 may output notification information to the user of the host vehicle 2 indicating that the other vehicle cannot remotely control the host vehicle 2.

[0043] As described above, in the parking control method and parking control device according to this embodiment, when the host vehicle is waiting in a line with other vehicles to park in a parking lot, the controller mounted on the host vehicle and controlling the host vehicle allows at least one of the other vehicles located immediately before or immediately after the host vehicle to remotely control the host vehicle, and controls the host vehicle in response to a remote control command from the other vehicle that has been permitted to remotely control the host vehicle. This makes it possible to remotely control a vehicle in a parking lot that does not have equipment for remotely controlling vehicles.

[0044] Furthermore, in the parking control method and parking control device according to this embodiment, if there is another vehicle immediately behind the host vehicle, the controller permits remote control to the other vehicle immediately behind the host vehicle, if there is no other vehicle immediately behind the host vehicle but there is another vehicle immediately before the host vehicle, the controller permits remote control to the other vehicle immediately before the host vehicle, and if a new other vehicle forms a line immediately behind the host vehicle after permitting remote control to the other vehicle immediately before the host vehicle, the controller does not permit remote control to the other vehicle immediately before the host vehicle but permits remote control to the new other vehicle. This makes it possible to reliably permit remote control to the other vehicle immediately behind the host vehicle that is to move forward in the parking waiting line, and to appropriately move the host vehicle forward by remote control when the line ahead of the host vehicle moves forward.

[0045] In addition, in the parking control method and parking control device according to this embodiment, when the user of the other vehicle who has been permitted to remotely control the other vehicle is located outside a predetermined distance from the host vehicle, the controller prohibits the control of the host vehicle in response to remote control of the host vehicle by a terminal device carried by the user of the other vehicle. This allows the host vehicle to be remotely controlled within a distance where remote control is possible.

[0046] In addition, in the parking control method and parking control device according to this embodiment, when the controller receives a remote control command from a terminal device installed in another vehicle that has been permitted to be remotely controlled, the controller controls the vehicle in accordance with the remote control command, thereby allowing the user of the other vehicle to remotely control the vehicle while remaining inside the vehicle.

[0047] Furthermore, in the parking control method and parking control device according to this embodiment, when there is another vehicle that has been remotely controlled, the controller only allows the other vehicle to remotely control the subject vehicle to perform steering, accelerator, brake, and shift position operations, thereby preventing the user of the other vehicle from performing operations other than moving the subject vehicle for parking.

[0048] In addition, in the parking control method and parking control device according to this embodiment, when there is another vehicle that has been remotely controlled, the controller prohibits at least one of the following operations from the other vehicle: locking or unlocking the doors or windows of the vehicle, or changing the target parking position where the vehicle will be parked, by remote control from the other vehicle. This prevents a user of the other vehicle from unlocking the vehicle and getting into the vehicle compartment, or moving the vehicle to a location other than the target parking position.

[0049] Furthermore, in the parking control method and parking control device according to this embodiment, when the parking control of the subject vehicle is completed in response to a command from another vehicle that has been remotely operated, the controller grants the user of the other vehicle that has been remotely operated a priority right to allow the other vehicle that has been remotely operated to enter and exit the parking lot first. This allows an increase in the number of other vehicles that can be remotely operated, improving convenience for all users.

[0050] Furthermore, in the parking control method and parking control device according to this embodiment, when the host vehicle is located in a waiting space for remote control in the parking lot, the controller determines whether another vehicle newly entering the parking lot will take over remote control of the host vehicle, and notifies the other vehicle that will take over remote control of the host vehicle of guidance information instructing the other vehicle to wait immediately behind the host vehicle in the waiting space. This makes it possible to guide the other vehicle that will take over remote control to the vehicle that wishes to be remotely controlled, improving convenience for all users.

[0051] It should be noted that the above-described embodiments have been described to facilitate understanding of the present invention, and are not intended to limit the present invention. Therefore, each element disclosed in the above-described embodiments is intended to include all design modifications and equivalents that fall within the technical scope of the present invention.

[0052] REFERENCE SIGNS LIST 1... Parking control system 2... Own vehicle 10... Parking control device 100... Controller 103... Authorization granting unit 104... Restriction unit 105... Parking position setting unit 106... Route generation unit 107... Control unit 108... Benefit granting unit 101... Communication device 102... Detection device 200... Actuator 11... First terminal device 12... Second terminal device 3... Network

Claims

1. A parking control method executed by a controller mounted on a host vehicle and controlling the host vehicle, wherein the controller, when the host vehicle is waiting in a line with other vehicles to park in a parking lot, permits at least one of the other vehicles located immediately before or immediately after the host vehicle to remotely operate the host vehicle, and controls the host vehicle in response to a remote operation command from the other vehicle that has been permitted to remotely operate the host vehicle.

2. A parking control method as claimed in claim 1, wherein the controller: when there is another vehicle positioned immediately behind the host vehicle, permits the remote operation to the other vehicle positioned immediately behind the host vehicle; when there is no other vehicle positioned immediately behind the host vehicle and there is another vehicle positioned immediately before the host vehicle, permits the remote operation to the other vehicle positioned immediately before the host vehicle; and when a new other vehicle is formed in the platoon immediately after the host vehicle after permitting the remote operation to the other vehicle positioned immediately before the host vehicle, does not permit the remote operation to the other vehicle positioned immediately before the host vehicle, and permits the remote operation to the new other vehicle.

3. A parking control method as claimed in claim 1 or 2, wherein the controller prohibits control of the subject vehicle in response to remote operation of the subject vehicle by a terminal device carried by the user of the other vehicle when the user of the other vehicle who has been permitted to remotely operate the subject vehicle is located outside a predetermined distance from the subject vehicle.

4. A parking control method according to any one of claims 1 to 3, wherein the controller controls the subject vehicle in accordance with the remote control command when the controller receives the remote control command from a terminal device mounted on another vehicle that has been permitted to be remotely controlled.

5. A parking control method according to any one of claims 1 to 4, wherein, when there is another vehicle that has been permitted to be remotely operated, the controller only permits steering, accelerator, brake and shift position operations to be performed remotely on the subject vehicle from the other vehicle that has been permitted to be remotely operated.

6. A parking control method as claimed in any one of claims 1 to 5, wherein, when there is another vehicle that has been permitted to perform the remote operation, the controller prohibits at least one of the following from remotely operating the host vehicle from the other vehicle that has been permitted to perform the remote operation: locking or unlocking the doors or windows of the host vehicle; or changing the target parking position at which the host vehicle will be parked.

7. A parking control method as claimed in any one of claims 1 to 6, wherein the controller, in response to a command from the other vehicle that has been permitted to remotely operate the subject vehicle, when parking control of the subject vehicle is completed, grants the user of the other vehicle that has been permitted to remotely operate the subject vehicle priority in entering and exiting the parking lot.

8. A parking control method as claimed in any one of claims 1 to 7, wherein the controller, when the host vehicle is located in a waiting space for remote control in the parking lot, determines whether or not another vehicle newly entering the parking lot will take over remote control of the host vehicle, and notifies the other vehicle that will take over remote control of the host vehicle of guidance information guiding it to wait immediately behind the host vehicle in the waiting space.

9. A parking control device comprising a controller mounted on a host vehicle for controlling the host vehicle, wherein the controller, when the host vehicle is waiting in a line with other vehicles to park in a parking lot, permits at least one of the other vehicles located immediately before or immediately after the host vehicle to remotely control the host vehicle, and controls the host vehicle in response to a remote control command from the other vehicle that has been permitted to remotely control the host vehicle.

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