JP2006306233A - Parking position adjustment system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a parking position adjustment system of secured safety. <P>SOLUTION: A vehicle motion control device 100 adjusts the parking position while visually checking the gap between the vehicle and an obstacle directly by using a remote operation device 200 operated outside of a vehicle cabin, and controls the speed of the vehicle so that it travels at an extremely low speed range (preferably, in a speed range of not faster than 1 km/h). Thereby, the travelling distance of the vehicle after the operator of the operation device 200 determines to stop the vehicle at the desired parking position until the vehicle actually stops can be shortened, so that the operator can simply and closely adjust the parking position thereof. The vehicle travelling in the extremely low speed range, the safety is also assured. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a parking position adjustment system that adjusts the parking position of a vehicle such as an automobile.

Conventionally, a garage entry remote control device for entering a vehicle into a garage by remote control has been proposed (see, for example, Patent Document 1). According to the garage compartment remote control device disclosed in Patent Document 1, for example, the vehicle is provided with a control unit for controlling engine start / stop, accelerator, brake, steering device, forward / reverse switching device, lamp extinction / lighting, etc. Then, the vehicle is moved into the garage by remote operation with a remote controller. In addition, the vehicle is equipped with a position recognition device that detects the position of the vehicle, and the remote controller enters the garage while checking the position information recognized by the position recognition device, so that the vehicle can be received from a position where the vehicle cannot be directly seen. Work is possible.
JP-A-9-136660

  For example, a driver of a vehicle may want to move the vehicle forward or backward a little when the vehicle is parked at a certain position and then gets off the vehicle. In such a case, since the driver needs to get on and off the vehicle many times to adjust the parking position, there is a system that can easily and finely adjust the parking position without getting on and off the vehicle many times. It is desired.

  In such a system that can adjust the parking position, safety measures in all aspects are important. That is, since the driver himself does not get on the vehicle and move the vehicle, for example, prevention of erroneous operation due to human error of the operator, avoidance of contact with obstacles, reduction of damage caused by contact, Therefore, safety measures in all aspects, such as prevention of system abuse, are important.

  The above-described conventional technology can be cited as an example of a system that can adjust the parking position. However, this technology can be used as a safety measure such as entering a garage while checking position information recognized by the position recognition device. It has stayed and safety is not sufficiently secured.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a parking position adjustment system in which a parking position can be easily adjusted and safety is ensured.

The parking position adjustment system according to claim 1 made to achieve the above-described object,
When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle movement control means that adjusts the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means, mounted on the vehicle,
The vehicle motion control means
Vehicle speed detecting means for detecting the vehicle speed of the vehicle;
Vehicle speed control means for controlling the vehicle speed of the vehicle,
The vehicle speed control means controls the vehicle speed so that the vehicle moves in an extremely low vehicle speed range when adjusting the parking position of the vehicle.

  Thus, the parking position adjustment system of the present invention controls the vehicle speed so that the vehicle moves in a very low vehicle speed range. Thereby, since it is possible to shorten the moving distance of the vehicle from when the operator of the operation means determines to stop the vehicle at a desired parking position until the vehicle actually stops, the operator The parking position of the vehicle can be finely adjusted easily. In addition, since the vehicle moves in an extremely low vehicle speed range, safety can be ensured.

  According to the parking position adjustment system of the second aspect, the vehicle speed control means controls the vehicle speed so that the vehicle moves in a vehicle speed range of 1 [km / h] or less.

  For example, when trying to finely adjust the distance between the vehicle and the obstacle existing behind the vehicle to 10 cm or less, the vehicle actually stops after the operator of the operation means determines to stop the vehicle. In the meantime, the vehicle must not appear to move more than 10 cm. Accordingly, it is necessary to move the vehicle in a vehicle speed range in which the moving distance from when the operator determines to stop the vehicle until the vehicle actually stops is within 10 [cm].

  Here, as shown in the following equation, the movement distance is indicated by the sum of the free running distance from the time when the operator decides to stop the operation until the operation means is operated and the braking distance of the vehicle. It is.

(Equation 1)
Traveling distance = idle distance + braking distance Further, as shown in the following equation, the idling distance is the reaction time from when the operator of the operating means determines to stop the vehicle until the operating means is actually operated. And the vehicle speed.

(Equation 2)
Run distance = reaction time [s] x vehicle speed [m / s]
On the other hand, the braking distance is calculated from the vehicle speed, the gravitational acceleration, and the friction coefficient of the road surface as shown in the following equation.

(Equation 3)
Braking distance = (vehicle speed [km / h]) ² / (254 x friction coefficient)
Here, assuming that the response time of the operator is 0.1 [s] and the vehicle speed is 1 [km / h], from Equation 2, the free running distance is as shown in the following equation.

(Equation 4)
Free running distance = 0.1 × 1000 × 1000/3600 = 2.77 [cm]
Further, assuming that the road surface state is “frozen” (friction coefficient is 0.07) and the vehicle speed is 1 [km / h], the braking distance from Equation 3 is as shown in the following equation.

(Equation 5)
Braking distance = (1 [km / h]) ² /(254×0.07)=5.62 [cm]
Therefore, the travel distance is
(Equation 6)
Movement distance = 2.77 + 5.62 = 8.39 [cm] ≦ 10 [cm]
It becomes. Therefore, by controlling the vehicle speed so that the vehicle moves at a vehicle speed of 1 [km / h] or less, the distance between the vehicle and the obstacle can be finely adjusted to 10 [cm] or less. Regarding the constant (254) and the friction coefficient included in the calculation formula for the moving distance and the braking distance described above, “Considering vehicle speed and stopping distance in a traffic accident”, July 7, 2003, [ Searched on April 25, 2005] and is described in detail on the Internet <URL: http://www5d.biglobe.ne.jp/~Jusl/Keisanki/JTSL/TeisiSyasoku.html>. I want.

The parking position adjustment system according to claim 3 includes object detection means for detecting a distance from an object existing around the vehicle,
The vehicle motion control means includes vehicle movement prohibiting means for prohibiting movement of the vehicle when the object detecting means detects an object existing within a predetermined distance when adjusting the parking position of the vehicle. And Accordingly, when an object existing within a certain distance is detected, the movement of the vehicle can be prohibited in consideration of safety.

The parking position adjustment system according to claim 4, wherein when adjusting the parking position of the vehicle, an operating means operated outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
An object detection means for detecting a distance from an object existing around the vehicle,
The vehicle movement control means prohibits the movement of the vehicle when the object detection means is present within a predetermined distance when adjusting the parking position of the vehicle and detects an object approaching the vehicle. Means are provided.

  Thereby, when a moving object with a high risk of contact approaches the vehicle within a certain distance, the movement of the vehicle can be prohibited.

According to the parking position adjustment system of claim 5, when adjusting the parking position of the vehicle, the operating means operated outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
Object detection means for detecting an object present around the vehicle;
A movement trajectory estimating means for estimating a future movement trajectory of the vehicle,
The vehicle motion control means until the object detected by the object detection means is positioned on a future movement locus, and further, the vehicle falls below a predetermined distance with respect to the object detected by the object detection means by adjusting the parking position of the vehicle. Vehicle movement prohibiting means for prohibiting the movement of the vehicle when approaching is provided.

  Thereby, the parking position of the vehicle can be adjusted so as to approach the object to a predetermined distance or less while avoiding contact with the object located on the estimated future movement locus.

The parking position adjustment system according to claim 6, wherein when adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
An inclination angle detecting means for detecting the inclination angle of the vehicle body;
Vehicle movement prohibiting means for prohibiting movement of the vehicle when the tilt angle detected by the tilt angle detecting means is equal to or greater than a predetermined tilt angle.

  For example, if the vehicle is moved in an inclined place where the vehicle body tilts back and forth, the inertial force of the vehicle body is added in the moving direction, so that the braking distance of the vehicle becomes longer due to the inertial force. It may be possible to come into contact with an obstacle. Accordingly, by prohibiting the movement of the vehicle when the inclination angle of the vehicle body is equal to or greater than the predetermined inclination angle, contact with an obstacle can be avoided in advance.

The parking position adjustment system according to claim 7, wherein when adjusting the parking position of the vehicle, an operating means operated outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
Contact detection means for detecting contact between a vehicle body and an object existing around the vehicle,
The vehicle motion control means performs control to stop the movement of the vehicle when the contact detection means detects contact during adjustment of the parking position of the vehicle.

  Thereby, when it contacts with the object which exists in the circumference | surroundings of a vehicle during adjustment of the parking position of a vehicle, since a movement of a vehicle can be stopped, the damage at the time of a contact can be reduced.

  According to the parking position adjustment system of the eighth aspect, the vehicle motion control means performs the control to stop the movement of the vehicle, and then moves in the direction opposite to the direction in which the vehicle has moved until the vehicle stops. Further, it is characterized in that control related to the movement of the vehicle is executed. Thereby, the vehicle can be quickly moved from the contacted object.

The parking position adjustment system according to claim 9,
When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
Contact detection means capable of detecting contact between the vehicle body and the operator of the operation means,
The vehicle motion control means performs control to stop the movement of the vehicle when the contact detection means detects contact during adjustment of the parking position of the vehicle.

  Thereby, for example, when it is desired to stop the vehicle urgently while adjusting the parking position of the vehicle, the operator can stop the movement of the vehicle by contacting the contact means by himself / herself.

The parking position adjustment system according to claim 10, wherein when adjusting the parking position of the vehicle using wireless communication, an operating means for remotely operating outside the passenger compartment,
Vehicle motion control means that is mounted on the vehicle and adjusts the parking position of the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means and moving the vehicle;
Vehicle-mounted wireless communication means mounted on the vehicle and connected to the operation means by wireless communication,
The on-vehicle wireless communication means sets a wireless communication area that limits connection by wireless communication within a predetermined distance with respect to the front or rear of the vehicle body.

  As a result, an operator who operates remotely will inevitably operate in the wireless communication area set in the front part of the vehicle body and / or around the rear part when adjusting the parking position of the vehicle. It is possible to prompt the operator to monitor this.

  According to the parking position adjustment system of the eleventh aspect, the in-vehicle wireless communication means sets the wireless communication area within 10 [m] from the vehicle body of the vehicle.

  For example, when trying to fine-tune the distance between the vehicle and the obstacle behind the vehicle to 10 [cm] or less, the gap between the obstacle and the vehicle is monitored with a resolution of at least 1 [cm]. It is preferably adjustable. Here, the gap (X) that humans can barely distinguish is expressed by the following equation. As shown in FIG. 8, θ in the following equation is an angle (viewing angle) formed between a half gap between two points and a human eye, and is represented by the reciprocal of visual acuity.

(Equation 7)
X = 2 × distance × tan (θ) = 2 × distance × tan (1/60 × 1 / visual acuity / 2)
Here, the distance at which the person with the lowest visual acuity (one eye 0.3) who owns the driver's license of the car can recognize the gap (X = 10 [mm]) is obtained by the following equation.

(Equation 8)
Distance = 10 / {2 × tan (1/60 × 1 / 0.3 / 2)} = 10313 [mm]> 10 [m]
From the above, by setting the wireless communication area within 10 [m] from the vehicle body, an operator whose vision is not extremely bad can monitor the gap between the obstacle and the vehicle with a resolution of 1 [cm] or less. However, the parking position can be finely adjusted.

  Regarding the calculation formula of the gap (X) described above, Kazuma Co., Ltd., “Q & A for Eyes and Glasses”, [Search April 25, 2005], Internet <URL: http: //www.washin- Please refer to optical.co.jp/02_qa/0002/0002_a_18.html> for more details.

According to the parking position adjustment system of claim 12, the in-vehicle wireless communication means is
When the vehicle moves forward, only wireless communication areas set at the front of the vehicle body can be connected by wireless communication,
When the vehicle moves backward, only the wireless communication area set at the rear of the vehicle body can be connected by wireless communication.

  Thus, the operator cannot adjust the parking position of the vehicle unless the operating means is operated near the front end of the vehicle body in the moving direction. As a result, it is possible to prompt the operator to monitor the moving direction of the vehicle.

  According to the parking position adjustment system of the thirteenth aspect, the operation means uses encryption communication as wireless communication. As a result, it is possible to take measures against an unauthorized operation by a malicious third party.

  According to the parking position adjustment system of the fourteenth aspect, the operation means is configured integrally with a vehicle key. As a result, it is possible to make it difficult to lose the operation means, and it is possible to prevent a malicious third party who does not own the vehicle key from operating illegally.

The parking position adjustment system according to claim 15, wherein when adjusting the parking position of the vehicle using wired communication, an operating means for remotely operating outside the passenger compartment,
Vehicle movement control means that adjusts the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means, mounted on the vehicle,
One end of the communication line used for wired communication is connected to the front or rear part of the vehicle body of the vehicle, the other end is connected to the operating means, and the length of the communication line is within 10 [m]. Features.

  Thus, even when the parking position of the vehicle is remotely controlled using wired communication, the visual acuity is reduced as described above by setting the length of the communication line used for wired communication within 10 [m]. If the operator is not extremely bad, the parking position can be finely adjusted while monitoring the gap between the obstacle and the vehicle with a resolution of 1 [cm] or less.

The parking position adjusting system according to claim 16, wherein when adjusting the parking position of the vehicle, an operating means for operating outside the passenger compartment,
Vehicle movement control means that adjusts the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means, mounted on the vehicle,
The operation means is attached to at least one of a front part and a rear part of a vehicle body.

  Thereby, since the operator of the operation means has to operate while touching the operation means attached to the vehicle body, monitoring of the movement of the vehicle can be indirectly promoted.

According to the parking position adjustment system according to claim 17, the vehicle motion control means includes:
Steering angle detection means for detecting the steering angle of the vehicle;
Steering angle control means for controlling the steering angle of the vehicle,
The steering angle control means controls the steering angle of the vehicle so that the vehicle moves straight forward or backward before the adjustment of the parking position of the vehicle is started.

  Thereby, since the moving direction of a vehicle is restrict | limited, a parking position can be adjusted easily, without performing complicated operation.

According to the parking position adjustment system of claim 18, the operation means includes an instruction means for instructing movement of the vehicle,
The vehicle motion control means executes control related to the movement of the vehicle so that the vehicle moves while the instruction from the instruction means continues.

  Thus, the vehicle can be moved only while the operator continues to instruct the movement of the vehicle.

  According to the parking position adjustment system of claim 19, the operation means includes an instruction means for instructing movement of the vehicle, and the vehicle motion control means is configured to respond to a single instruction from the instruction means. Control relating to the movement of the vehicle is executed so that the vehicle moves a certain distance.

  As a result, even if the operator erroneously continues to instruct the vehicle to move, the vehicle moves only a certain distance and then stops temporarily, so that it is possible to take measures against erroneous operation by the operator. In addition, when moving more than a fixed distance, an operator becomes possible by repeating the instruction | indication from an instruction | indication means.

According to the parking position adjustment system of claim 20, the operation means includes an instruction means for instructing movement of the vehicle,
The vehicle motion control means
When the instruction from the instruction means continues for a predetermined time or longer, control related to the movement of the vehicle is executed so that the vehicle moves a certain distance,
When the instruction from the instruction means continues for a time that is less than a predetermined time, control related to the movement of the vehicle is executed such that the vehicle moves only for the continuation time.

  As a result, even if the operator mistakenly instructs the vehicle to continue moving for a predetermined time or longer, the vehicle moves only a certain distance, and then temporarily stops. In addition, when an instruction is given for a duration that is less than the predetermined time, the vehicle moves only for that duration, so that it is possible to improve the operator's countermeasures against erroneous operations.

According to the parking position adjustment system according to claim 21, the vehicle motion control means includes:
Timer means for counting the elapsed time since the previous operation of the operating means;
And an operation stop means for stopping an operation from the operation means when the elapsed time counted by the timer means exceeds a certain time.

  As a result, after the parking position of the vehicle is adjusted to a desired position, if the predetermined time is exceeded, the operation of the operation unit can be invalidated even if the operator operates the operation unit by mistake.

  According to the parking position adjustment system according to claim 22, the operation means includes personal authentication means for authenticating an operator who operates the operation means, and when the personal authentication means authenticates, the operation means operates the operation means. The start is permitted. Thereby, misuse of this system can be prevented.

  According to the parking position adjusting system of the twenty-third aspect, when the operating means is being operated, the parking position adjusting system is provided with notifying means for notifying the surroundings of the vehicle. As a result, it is possible to take safety measures for the surroundings of the vehicle.

According to the parking position adjusting system according to claim 24, before the vehicle movement control means starts adjusting the parking position of the vehicle, it detects whether there are any abnormalities in various in-vehicle devices necessary for control related to the movement of the vehicle. In-vehicle equipment inspection means
The operating means is characterized by permitting operation start of the operating means when no abnormality of various on-vehicle equipment is detected by the in-vehicle equipment inspection means.

  Thereby, since malfunction of this parking position adjustment system can be prevented beforehand, the reliability of a system can be improved.

  According to the parking position adjustment system of claim 25, the vehicle motion control means stops the movement of the vehicle when an abnormality of various in-vehicle devices is detected by the in-vehicle device inspection means during the adjustment of the parking position of the vehicle. Control is performed.

  Thereby, it is possible to prevent the movement of the vehicle from being continued by detecting an abnormality during the adjustment of the parking position of the vehicle.

  According to the parking position adjustment system of the twenty-sixth aspect, the operation permission means for permitting the operation by the operation means is provided in the passenger compartment of the vehicle. Thereby, it is possible to prevent a malicious third party who does not have the vehicle key from operating.

  Hereinafter, an embodiment of a parking position adjustment system of the present invention will be described with reference to the drawings. The parking position adjustment system of the present embodiment is a remote operation device (remote control) or the like while monitoring the movement of a vehicle without repeatedly getting on and off the vehicle when the driver parks the vehicle at a desired position. This is intended to make it possible to easily fine-tune the parking position by operating.

  In FIG. 1, the utilization scene of the parking position adjustment system of this embodiment is shown. As a specific usage scene, for example, when the vehicle is parked at a certain position and then gets off the vehicle, it is desired to move the vehicle forward or backward a little. In such a case, the driver needs to adjust the parking position by repeatedly getting in and out of the vehicle, but by using this parking position adjustment system, the driver approaches the "barely" obstacle. It becomes possible to park. In addition, this parking position adjustment system is applicable to vehicles in general, such as a motor vehicle.

  FIG. 2 shows the overall configuration of the parking position adjustment system. As shown in the figure, the parking position adjustment system includes a vehicle motion control device 100, a remote control device 200, a front obstacle detection device 300a, a rear obstacle detection device 300b, an in-vehicle device inspection device 400, a movement distance detection sensor 500, It is comprised with the alerting | reporting apparatus 600, the contact detection apparatus 700, and the communication apparatus 800.

  The vehicle motion control device 100 executes control related to the movement of the vehicle according to the information from the remote operation device 200. The remote operation device 200 is remotely operated when finely adjusting the parking position of the vehicle, and performs wireless communication with the communication device 800. The internal configuration of the vehicle motion control device 100 and the remote control device 200 will be described later.

  The front obstacle detection device 300a and the rear obstacle detection device 300b detect obstacles existing in front of or behind the vehicle, and a plurality of ultrasonic waves arranged side by side in the front bumper portion and the rear bumper portion of the vehicle body. Based on the signal from the sensor, the distance to the obstacle is detected. The front obstacle detection device 300a and the rear obstacle detection device 300b transmit obstacle information (distance, direction, etc. to the obstacle) indicating the detection result of the obstacle to the vehicle motion control device 100. In addition to the ultrasonic sensor, for example, an obstacle existing in front of or behind the vehicle may be detected by a sensor or an image sensor using light such as laser light or radio waves such as millimeter waves. .

  The in-vehicle device inspection device 400 detects the presence / absence of abnormality of various in-vehicle devices necessary for the control related to the movement of the vehicle by the vehicle motion control device 100, and detects abnormality detection information indicating the detection result as the vehicle motion control device 100, And to the remote device 200.

  The movement distance detection sensor 500 is a sensor that detects the movement distance of the vehicle, and transmits information on the detected movement distance to the vehicle motion control device 100. The notification device 600 includes a speaker, a warning light, and the like. When the remote operation device 200 outputs a warning sound or a sound indicating that the vehicle is being remotely operated from the speaker to the surroundings of the vehicle, or when the remote operation is being performed. Or turn on a warning light. Thus, by informing the surroundings of the vehicle that the remote operation is being performed, it is possible to take safety measures for the surroundings of the vehicle.

  The contact detection device 700 detects contact between the vehicle body and an object existing around the vehicle by a contact sensor that is uniformly arranged around the vehicle body of the vehicle. It transmits to the vehicle motion control apparatus 100. In addition, as a contact sensor, the electrostatic capacitance sensor etc. which detect a contact using the change of an electrostatic capacitance, etc. are employable, for example.

  The communication device 800 is connected to the remote control device 200 by wireless communication. As shown in FIG. 5, a predetermined distance (preferably 10 [ m]), set a wireless communication area that limits wireless communication connections.

  As a result, an operator who operates remotely will inevitably operate in the wireless communication area set around the front and rear of the vehicle body when adjusting the parking position of the vehicle. It is possible to prompt the operator. Here, the point which sets a radio | wireless communication area within 10 [m] from the vehicle body of a vehicle is demonstrated below.

  For example, when trying to fine-tune the distance between the vehicle and the obstacle behind the vehicle to 10 [cm] or less, the gap between the obstacle and the vehicle is monitored with a resolution of at least 1 [cm]. It is preferably adjustable. Here, the gap (X) that humans can barely distinguish is expressed by the following equation. As shown in FIG. 8, θ in the following equation is an angle (viewing angle) formed between a half gap between two points and a human eye, and is represented by the reciprocal of visual acuity.

(Equation 9)
X = 2 × distance × tan (θ) = 2 × distance × tan (1/60 × 1 / visual acuity / 2)
Here, the distance at which the person with the lowest visual acuity (one eye 0.3) who owns the driver's license of the car can recognize the gap (X = 10 [mm]) is obtained by the following equation.

(Equation 10)
Distance = 10 / {2 × tan (1/60 × 1 / 0.3 / 2)} = 10313 [mm]> 10 [m]
From the above, by setting the wireless communication area within 10 [m] from the vehicle body, an operator whose vision is not extremely bad can monitor the gap between the obstacle and the vehicle with a resolution of 1 [cm] or less. However, the parking position can be finely adjusted.

  Regarding the calculation formula of the gap (X) described above, Kazuma Co., Ltd., “Q & A for Eyes and Glasses”, [Search April 25, 2005], Internet <URL: http: //www.washin- Please refer to optical.co.jp/02_qa/0002/0002_a_18.html> for more details.

  Further, when the vehicle moves forward under the control of the vehicle motion control device 100, the communication device 800 enables connection by wireless communication only in the wireless communication area set at the front of the vehicle body, and when the vehicle moves backward, Only wireless communication areas set at the rear of the vehicle body can be connected by wireless communication. As a result, the operator of the remote operation device 200 cannot adjust the parking position of the vehicle unless it is remotely operated near the front end of the vehicle body in the moving direction. As a result, it is possible to prompt the operator to monitor the vehicle and the moving direction of the vehicle.

  FIG. 3 shows an internal configuration of the vehicle motion control device 100. As shown in the figure, the vehicle motion control device mainly includes a control device (CPU) 107, a steering angle control device 101, a steering angle sensor 102, a tilt angle sensor 103, a vehicle speed sensor 104, a vehicle speed control device 105, and a movement prohibition device. 106, a memory 108, and a timer 109.

  The steering angle control device 101 includes a steering actuator and adjusts the parking position of the vehicle based on the detection result of the steering angle sensor 102 that detects the steering angle of the vehicle steering (or the turning angle of the wheel of the vehicle). Before being started, the steering angle of the vehicle steering is controlled so that the vehicle moves straight forward or backward. Thereby, since the adjustment direction of the parking position of the vehicle (the moving direction of the vehicle) is limited, the operator of the remote operation device 200 can easily adjust the parking position without performing a complicated operation.

  The tilt angle sensor 103 is a sensor that detects the tilt angle (roll angle, pitch angle) of the vehicle body of the vehicle. The vehicle speed sensor 104 is a sensor that detects the vehicle speed of the vehicle. The vehicle speed control device 105 includes a throttle actuator and a brake actuator (not shown). When the vehicle parking position is adjusted by acquiring the detection result of the vehicle speed sensor 105, the vehicle speed range (preferably, The vehicle speed is controlled so that the vehicle moves in a vehicle speed range of 1 [km / h] or less.

  Thereby, since the operator of the remote operation device 200 determines that the vehicle should be stopped at a desired parking position, the moving distance of the vehicle from when the vehicle actually stops can be shortened. Can easily fine-tune the parking position of the vehicle. In addition, since the vehicle moves in an extremely low vehicle speed range, safety can be ensured. Here, the point which controls the vehicle speed of a vehicle so that a vehicle moves in the vehicle speed area below 1 [km / h] is demonstrated below.

  For example, when the distance between the vehicle and an obstacle existing behind the vehicle is to be finely adjusted to 10 [cm] or less, the operator of the remote operation device 200 determines that the vehicle should be stopped and then the vehicle is actually Until the vehicle stops, the vehicle must not appear to move more than 10 cm. Accordingly, it is necessary to move the vehicle in a vehicle speed range in which the moving distance from when the operator determines to stop the vehicle until the vehicle actually stops is within 10 [cm].

  Here, as shown in the following equation, the moving distance is the sum of the free running distance that is traveled between the time when the operator decides to stop and the operation of the remote control device 200 and the braking distance of the vehicle. Indicated by.

(Equation 11)
Movement distance = idle distance + braking distance Further, as shown in the following formula, the idle distance is actually operated after the operator of the remote operation device 200 determines to stop the vehicle. It is calculated from the reaction time until and the vehicle speed.

(Equation 12)
Run distance = reaction time [s] x vehicle speed [m / s]
On the other hand, the braking distance is calculated from the vehicle speed, the gravitational acceleration, and the friction coefficient of the road surface as shown in the following equation.

(Equation 13)
Braking distance = (vehicle speed [km / h]) ² / (254 x friction coefficient)
Here, assuming that the response time of the operator is 0.1 [s] and the vehicle speed is 1 [km / h], from Equation 12, the free running distance is as shown in the following equation.

(Equation 14)
Free running distance = 0.1 × 1000 × 1000/3600 = 2.77 [cm]
Further, assuming that the road surface state is “frozen” (friction coefficient is 0.07) and the vehicle speed is 1 [km / h], the braking distance from Equation 13 is as shown in the following equation.

(Equation 15)
Braking distance = (1 [km / h]) ² /(254×0.07)=5.62 [cm]
Therefore, the travel distance is
(Equation 16)
Movement distance = 2.77 + 5.62 = 8.39 [cm] ≦ 10 [cm]
It becomes. Therefore, by controlling the vehicle speed so that the vehicle moves at a vehicle speed of 1 [km / h] or less, the distance between the vehicle and the obstacle can be finely adjusted to 10 [cm] or less. Regarding the constant (254) and the friction coefficient included in the calculation formula for the moving distance and the braking distance described above, “Considering vehicle speed and stopping distance in a traffic accident”, July 7, 2003, [ Searched on April 25, 2005] and is described in detail on the Internet <URL: http://www5d.biglobe.ne.jp/~Jusl/Keisanki/JTSL/TeisiSyasoku.html>. I want.

  When the movement prohibition device 105 detects an object existing within a predetermined distance in front of and / or behind the vehicle (prohibition condition 1), the movement prohibition device 105 parks the object located on the future movement locus of the vehicle. When the object is moved to a predetermined distance (for example, 10 [cm]) or less by adjusting the position (forbidden condition 2), the vehicle body inclination angle is equal to or larger than the predetermined inclination angle (forbidden condition 3). It is determined whether the prohibition condition is satisfied, and when it is determined that any one of the prohibition conditions is satisfied, the adjustment of the parking position by the remote operation of the remote operation device 200, that is, the movement of the vehicle is prohibited.

  Thus, by prohibiting the movement of the vehicle when the prohibition condition 1 is satisfied, the movement of the vehicle can be prohibited in consideration of safety. . The prohibition condition 1 may be a case where an object approaching the vehicle existing within a predetermined distance in front of and / or behind the vehicle is detected. Thereby, when a moving object with a high risk of contact approaches the vehicle within a certain distance, the movement of the vehicle can be prohibited. Note that when an object existing within a certain distance is detected for the first time, the object may be detected as an object approaching the vehicle.

  In addition, by prohibiting the movement of the vehicle when the prohibition condition 2 is satisfied, it is possible to avoid contact with an object located on the estimated future movement locus and to approach the object to a predetermined distance or less. The parking position of the vehicle can be adjusted. The future movement trajectory of the vehicle is geometrically calculated by the control device 107 from the steering angle of the steering, the vehicle speed, and the like.

  Also, for example, if the vehicle is moved in an inclined place where the vehicle body tilts back and forth, the inertial force of the vehicle body is added in the direction of movement, so that the braking distance of the vehicle becomes longer due to the inertial force. As a result, it may be possible to come into contact with an obstacle. Accordingly, by prohibiting the movement of the vehicle when the prohibition condition 3 is satisfied, contact with an obstacle can be avoided in advance.

  The memory 108 is a readable / writable storage device, and includes a decryption key for decrypting encrypted communication data from the remote operation device 200, authentication information for authenticating the operator of the remote operation device 200, and the remote operation device. Various information such as an identification code for identifying 200 is stored.

  The timer 109 counts the elapsed time since the operator operated the remote operation device 200 last time. When the elapsed time exceeds a certain time, the timer 109 outputs time excess information to the control device 107.

  The control device 107 is mainly configured as a microcomputer, and each includes a known CPU, ROM, RAM, I / O, and a bus connecting them. The control device 107 includes communication data from the remote operation device 200, obstacle information from the front obstacle detection device 300a, rear obstacle detection device 300b, abnormality detection information from the in-vehicle device inspection device 400, and a moving distance detection sensor 500. Travel distance information from the vehicle, contact detection information from the contact detection device 700, and time exceeded information from the timer 109 are collected, and based on these information, instruction information for instructing start / stop of vehicle movement is obtained as a steering angle. Output to the control device 101 and the vehicle speed control device 105. In addition, the control device 107 executes a decryption function for decrypting encrypted communication data from the remote operation device 200, a movement locus estimation function for estimating a future movement locus of the vehicle, and the like.

  As shown in FIG. 4, the remote operation device 200 mainly includes functions of a communication unit 201, a remote operation unit 202, and a personal authentication unit 203. The communication unit 201 performs wireless communication with the communication device 800 mounted on the vehicle, and includes an encryption function for encrypting communication data. As described above, since encrypted communication is used as wireless communication between the remote control device 200 and the communication device 800, wiretapping of communication data can be prevented, and therefore unauthorized use by a malicious third party who obtained communication data illegally. Measures can be taken for operation.

  The remote operation device 200 may be configured integrally with a vehicle key. Accordingly, it is possible to make it difficult for the remote control device 200 to be lost, and it is possible to prevent a malicious third party who does not own the vehicle key from operating illegally.

  The remote control unit 202 is operated when adjusting the parking position of the vehicle back and forth, and includes, for example, two push buttons and a display unit (both not shown) corresponding to forward movement and backward movement, respectively. By pushing this push button, the vehicle movement control device 100 can be instructed to move the vehicle. For example, as shown in FIG. 9A, the operator can continue to move the vehicle at a very low vehicle speed range only by continuing to press the push button as long as it continues.

  The personal authentication unit 203 uses the authentication information stored in the memory 108 to authenticate whether it is a legitimate operator. For this authentication, biometric authentication or the like can be employed. Then, when the operator authentication is obtained, the operation start of the remote operation unit 202 is permitted. Thereby, abuse of this parking position adjustment system can be prevented.

  In addition, when the time exceeded information is received from the timer 109, the control device 107 stops the operation from the remote operation unit 202 of the remote operation device 200. As a result, after the parking position of the vehicle is adjusted to a desired position, the operation of the remote operation unit 202 by the operator is invalidated even if the operator accidentally operates the remote operation unit 202 if a certain time has passed. Can be.

  Furthermore, the control device 107 may be provided with an operation permission switch (not shown) for permitting the operation of the remote operation device 200 in the vehicle interior. Thereby, it is possible to prevent a malicious third party who does not have the vehicle key from operating.

  Next, the operation of the parking position adjustment system for adjusting the parking position of the vehicle by remote control will be described with reference to the flowcharts shown in FIGS. First, in step (hereinafter referred to as S) 10 shown in FIG. 6, when a remote operation start request is transmitted from the remote operation device 200, in S20, the operator is authenticated. In S30, it is determined whether or not authentication has been obtained. If an affirmative determination is made, the process proceeds to S40. If a negative determination is made, the process proceeds to S50.

  In S40, it is determined with reference to abnormality detection information whether abnormality of various vehicle equipment required for control regarding a movement of a vehicle was detected. If the determination is affirmative, the process proceeds to S50. If the determination is negative, the process proceeds to S60. In S <b> 50, a message indicating that authentication is not obtained or abnormality of various in-vehicle devices is detected is displayed on the display unit of the remote operation unit 202 of the remote operation device 200. Thereby, the operator can grasp that the remote operation cannot be started.

  In S60, since the operator's authentication is obtained and no abnormality of various in-vehicle devices is detected, the start of the remote operation is permitted. Thereby, since malfunction of this parking position adjustment system can be prevented beforehand, the reliability of a system can be improved.

  In S70, the current steering angle of the vehicle is detected, and the steering angle of the vehicle is controlled so that the vehicle moves straight forward or backward. In S80, a movement instruction command is input from the remote control device 200, and in S90, the command (forward, backward) is determined. In S100, it is determined whether or not the determined command is forward or backward. If the determination is affirmative, the process proceeds to S110, and if the determination is negative, the process proceeds to S130. In S80, if a predetermined time has elapsed since the previous input, the timer 109 outputs time excess information. In this case as well, the process proceeds to S130.

  In S110, it is determined again whether or not an abnormality of various on-vehicle devices necessary for control related to the movement of the vehicle is detected with reference to the abnormality detection information. If the determination is affirmative, the process proceeds to S130. If the determination is negative, the process proceeds to S120. In S120, an object such as an obstacle existing around the vehicle is detected and the presence or absence of contact with the object is detected.

  In S130, when the parking position is being adjusted, the movement of the vehicle is stopped, and notification is made that the vehicle has stopped. In S130, the movement of the vehicle is also stopped when an abnormality of various in-vehicle devices is detected during the adjustment of the parking position. Thereby, the movement of the vehicle can be prevented from continuing due to the abnormality detection during the adjustment of the parking position.

  In S140, it is determined whether or not the above three prohibition conditions are satisfied, and if it is determined that any one of the prohibition conditions is satisfied, the process proceeds to S150. In S150, the movement of the vehicle is prohibited (in the case of being moved). After the stop, the subsequent movement is prohibited), the fact that the movement of the vehicle is prohibited is notified, and the process proceeds to S80. On the other hand, if it is determined that none of the three prohibition conditions is satisfied, the process proceeds to S160.

  In S160 shown in FIG. 7, the movement of the vehicle is notified from the notification device 600, and in S170, the vehicle is moved in an extremely low vehicle speed range, and the parking position is finely adjusted. In S180, detection of an object such as an obstacle existing around the vehicle and the presence or absence of contact with the object are detected. In S190, it is determined whether or not the vehicle body is in contact with an obstacle. Here, when an affirmative determination is made, the process proceeds to S210 to stop the movement of the vehicle and to notify that the contact of the vehicle body has been detected.

  Thereby, when it contacts with the object which exists in the circumference | surroundings of a vehicle during adjustment of the parking position of a vehicle, since a movement of a vehicle can be stopped, the damage at the time of a contact can be reduced. In S210, when the vehicle is stopped due to the contact of the vehicle body, control related to the movement of the vehicle is performed so that the vehicle moves in the direction opposite to the direction in which the vehicle has been stopped after the vehicle is stopped. You may make it perform. Thereby, the vehicle can be quickly moved from the contacted object.

  Note that the contact sensor used in the contact detection device 700 is preferably capable of detecting contact with the operator. Thereby, for example, when it is desired to stop the vehicle urgently while adjusting the parking position of the vehicle, the operator can stop the movement of the vehicle by making contact with the contact sensor.

  In S200, it is determined whether the distance to the obstacle is equal to or less than a predetermined distance (for example, 10 [cm]). If the determination is affirmative, the process proceeds to S210, the movement of the vehicle is stopped, the distance to the obstacle is notified, and the process proceeds to S10. On the other hand, when a negative determination is made, the process proceeds to S80, waits for an input of a movement instruction command, and when there is an input, the above-described process is repeatedly executed.

  As described above, the parking position adjustment system according to the present embodiment prevents an erroneous operation caused by an operator's human error, avoids contact with an obstacle, reduces damage caused by contact, and further prevents misuse of the system. Since all the safety measures are taken, it can be constructed as a system that ensures safety.

(Modification 1)
As shown in FIG. 9A, the remote operation unit 202 of the remote operation device 200 of the present embodiment continues to move the vehicle only while the operator continues to push the push button. However, as shown in FIG. 9 (b), the operator may move the vehicle only a certain distance by pressing the push button once. As a result, even if the operator accidentally keeps pressing the push button, the vehicle moves only a certain distance and then stops temporarily, so that it is possible to take measures against erroneous operation by the operator. In addition, when moving a vehicle more than a fixed distance, an operator becomes possible by pushing a push button repeatedly.

(Modification 2)
As shown in FIG. 9A, the remote operation unit 202 of the remote operation device 200 of the present embodiment continues to move the vehicle only while the operator continues to push the push button. However, as shown in FIG. 9 (c), when the button operation is continued for a predetermined time (T1) or longer, it moves for a certain distance (d1) and does not reach the predetermined time (T1). When the button operation is continued, the vehicle may be moved for the duration.

  As a result, even if the operator erroneously keeps pushing the push button for a predetermined time (T1) or longer, the vehicle moves only a certain distance (d1) and then stops temporarily. In addition, when the push button is kept pressed for a time that is less than the predetermined time (T1), the vehicle moves only for the continuous time, so that it is possible to improve the operator's countermeasure against erroneous operation.

(Modification 3)
The parking position adjustment system of the present embodiment adjusts the parking position of the vehicle by remote control by wireless communication. As shown in FIG. 10, one end of the communication line is connected to the rear part of the vehicle body, You may make it adjust the parking position of a vehicle by remote control by the wire communication which the end was connected to the remote control apparatus 200a. The length of the communication line is preferably within 10 [m] as shown in the figure.

  Thus, even when the parking position of the vehicle is remotely controlled using wired communication, the visual acuity is reduced as described above by setting the length of the communication line used for wired communication within 10 [m]. If the operator is not extremely bad, the parking position can be finely adjusted while monitoring the gap between the obstacle and the vehicle with a resolution of 1 [cm] or less.

(Modification 4)
The parking position adjustment system of this embodiment adjusts the parking position of the vehicle by remote control through wireless communication. As shown in FIG. 11, the operation device 200b is directly attached to the rear part of the vehicle body, and this operation is performed. You may make it adjust the parking position of a vehicle by operating the apparatus 200b. Thereby, since the operator must operate while touching the operation device 200b attached to the vehicle body, it is possible to indirectly promote monitoring of the movement of the vehicle.

It is the conceptual diagram which showed the utilization scene of the parking position adjustment system. It is a block diagram which shows the whole structure of a parking position adjustment system. 2 is a block diagram illustrating an internal configuration of the vehicle motion control device 100. FIG. 3 is a block diagram showing an internal configuration of a remote control device 200. FIG. It is a figure which shows the radio | wireless communication area set within the predetermined distance (10 [m] from a vehicle body) on the basis of the front part and rear part of the vehicle body of a vehicle. It is a flowchart (first half part) which shows the flow of operation | movement of a parking position adjustment system. It is a flowchart (second half part) which shows the flow of operation | movement of a parking position adjustment system. It is the figure which showed the relationship between the angle (viewing angle (theta)) and distance (L) which can be made between the clearance gap X and human eyes. (A) is a figure which shows the example in case a movement of a vehicle continues while pushing a push button, and (b) is a case where a vehicle moves only a fixed distance by pushing a push button once. (C) shows a case where the button operation is continued for a predetermined distance (d1) when the button operation is continued for a predetermined time (T1) or longer, and the button operation is not performed for the predetermined time (T1). It is the figure which showed the example in the case of moving a vehicle only for the continuation time. Image of adjusting the parking position of a vehicle by remote control by wired communication in which one end of the communication line is connected to the rear part of the vehicle body and the other end is connected to the remote control device 200a according to the third modification of the embodiment FIG. It is a figure which shows the operating device 200b directly attached to the rear part of the vehicle body of the modification 4 vehicle of embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Vehicle motion control apparatus 200 Remote operation apparatus 300a Front obstacle detection apparatus 300b Rear obstacle detection apparatus 400 In-vehicle apparatus inspection apparatus 500 Moving distance detection sensor 600 Notification apparatus 700 Contact detection apparatus 800 Communication device

Claims (26)

When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle movement control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to movement of the vehicle according to the operation of the operation means;
The vehicle motion control means includes
Vehicle speed detection means for detecting the vehicle speed of the vehicle;
Vehicle speed control means for controlling the vehicle speed of the vehicle,
The said vehicle speed control means controls the vehicle speed of the said vehicle so that the said vehicle may move in a very low vehicle speed area, when adjusting the parking position of the said vehicle.   The parking position adjusting system according to claim 1, wherein the vehicle speed control means controls the vehicle speed so that the vehicle moves in a vehicle speed range of 1 km / h or less. An object detection means for detecting a distance to an object existing around the vehicle;
The vehicle motion control means includes vehicle movement prohibiting means for prohibiting movement of the vehicle when the object detecting means detects an object existing within a predetermined distance when adjusting the parking position of the vehicle. The parking position adjustment system according to claim 1 or 2, further comprising: When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
An object detecting means for detecting a distance from an object existing around the vehicle,
When the vehicle motion control means detects the object approaching the vehicle when the object detection means is present within a predetermined distance when adjusting the parking position of the vehicle, the vehicle movement control means A parking position adjusting system comprising vehicle movement prohibiting means for prohibiting. When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
Object detection means for detecting an object present around the vehicle;
A movement trajectory estimating means for estimating a future movement trajectory of the vehicle,
The vehicle motion control means is configured such that the object detected by the object detection means is positioned on the future movement locus, and the vehicle detects the object detected by the object detection means by adjusting the parking position of the vehicle. A parking position adjustment system comprising vehicle movement prohibiting means for prohibiting movement of the vehicle when approaching to a predetermined distance or less. When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
An inclination angle detecting means for detecting an inclination angle of the vehicle body of the vehicle;
A parking position adjusting system comprising: vehicle movement prohibiting means for prohibiting movement of the vehicle when the tilt angle detected by the tilt angle detecting means is equal to or greater than a predetermined tilt angle. When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
Contact detection means for detecting contact between a vehicle body of the vehicle and an object existing around the vehicle;
The parking position adjustment system according to claim 1, wherein the vehicle movement control means performs control to stop the movement of the vehicle when the contact detection means detects contact during adjustment of the parking position of the vehicle.   The vehicle motion control means performs control related to the movement of the vehicle so as to move in a direction opposite to the direction in which the vehicle has moved until the vehicle stops after performing the control to stop the movement of the vehicle. The parking position adjustment system according to claim 7, wherein When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
Contact detection means capable of detecting contact between a vehicle body of the vehicle and an operator of the operation means,
The parking position adjustment system according to claim 1, wherein the vehicle movement control means performs control to stop the movement of the vehicle when the contact detection means detects contact during adjustment of the parking position of the vehicle. When adjusting the parking position of the vehicle using wireless communication, an operating means for remotely operating outside the passenger compartment,
Vehicle motion control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
In-vehicle wireless communication means mounted on the vehicle and connected to the operation means by wireless communication,
The in-vehicle wireless communication means sets a wireless communication area that limits wireless communication connection within a predetermined distance with respect to the front or rear of the vehicle body of the vehicle.   11. The parking position adjusting system according to claim 10, wherein the in-vehicle wireless communication means sets the wireless communication area within 10 m from a vehicle body of the vehicle. The in-vehicle wireless communication means is
When the vehicle moves forward, only the wireless communication area set at the front of the vehicle body can be connected by wireless communication,
The parking position adjustment system according to claim 10 or 11, wherein, when the vehicle moves rearward, only a wireless communication area set at a rear portion of the vehicle body can be connected by wireless communication.   The parking position adjustment system according to any one of claims 10 to 12, wherein the operation means uses encryption communication as the wireless communication.   The parking position adjustment system according to any one of claims 10 to 13, wherein the operation means is configured integrally with a key of the vehicle. When adjusting the parking position of the vehicle using wired communication, an operating means for remotely operating outside the passenger compartment,
Vehicle movement control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to the movement of the vehicle according to the operation of the operation means;
One end of the communication line used for the wired communication is connected to the front or rear of the vehicle body of the vehicle, the other end is connected to the operating means, and the length of the communication line is within 10 m. A parking position adjustment system. When adjusting the parking position of the vehicle, operating means for operating outside the passenger compartment,
Vehicle movement control means mounted on the vehicle and adjusting the parking position of the vehicle by moving the vehicle by executing control related to movement of the vehicle according to the operation of the operation means;
The parking position adjusting system, wherein the operation means is attached to at least one of a front part and a rear part of a vehicle body of the vehicle. The vehicle motion control means includes
Steering angle detection means for detecting the steering angle of the vehicle;
Steering angle control means for controlling the steering angle of the vehicle,
The steering angle control means controls the steering angle of the vehicle so that the vehicle moves straight forward or backward before the adjustment of the parking position of the vehicle is started. The parking position adjustment system according to any one of 1 to 16. The operation means includes instruction means for instructing movement of the vehicle,
18. The vehicle movement control means executes control related to movement of the vehicle so that the vehicle moves while an instruction from the instruction means continues. The parking position adjustment system according to claim 1. The operation means includes instruction means for instructing movement of the vehicle,
18. The vehicle motion control means executes control related to movement of the vehicle so that the vehicle moves by a certain distance in response to one instruction from the instruction means. The parking position adjustment system according to any one of the above. The operation means includes instruction means for instructing movement of the vehicle,
The vehicle motion control means includes
When the instruction from the instruction means continues for a predetermined time or longer, the control related to the movement of the vehicle is executed so that the vehicle moves a certain distance,
18. The control related to the movement of the vehicle is executed so that when the instruction from the instruction means continues for a predetermined time, the vehicle moves only for the continuation time. The parking position adjustment system according to any one of the preceding claims. The vehicle motion control means includes
Timer means for counting an elapsed time since the previous operation of the operation means;
The parking according to any one of claims 1 to 20, further comprising: an operation stop unit that stops an operation from the operation unit when an elapsed time counted by the timer unit exceeds a predetermined time. Positioning system. The operation means includes
A personal authentication means for authenticating an operator who operates the operation means;
The parking position adjustment system according to any one of claims 1 to 21, wherein when the personal authentication unit authenticates, the operation start of the operation unit is permitted.   The parking position adjustment system according to any one of claims 1 to 22, further comprising notification means for notifying the surroundings of the vehicle when the operation means is being operated. Before the start of adjustment of the parking position of the vehicle by the vehicle motion control means, comprising on-vehicle equipment inspection means for detecting the presence or absence of various on-vehicle equipment necessary for control related to the movement of the vehicle,
The said operation means permits the operation start of the said operation means, when the abnormality of the said various vehicle equipment is not detected by the said vehicle equipment inspection means. Parking position adjustment system.   The vehicle movement control means performs control to stop movement of the vehicle when an abnormality of the various in-vehicle devices is detected by the in-vehicle device inspection means during adjustment of the parking position of the vehicle. Item 25. The parking position adjustment system according to Item 24.   The parking position adjustment system according to any one of claims 1 to 25, wherein operation permission means for permitting an operation by the operation means is provided in a cabin of the vehicle.

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