JP2016074285A - Vehicle remote control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a configuration from becoming complicated and remotely control a vehicle by simple and intuitive operation.SOLUTION: A vehicle remote control system 10 comprises a vehicle 12, and a mobile terminal 11 that is carried by a driver and displays an operation screen on a touch panel 22 for operating the vehicle 12 from the outside. The mobile terminal 11 comprises a control part 25 transmitting an operation signal to the vehicle 12, which corresponds to contact operation to the touch panel 22. The control part 25, by detecting contact operation to an icon image on the touch panel 22, transmits to the vehicle 12 a travel operation signal for instructing travel in at least either one of forward movement and backward movement of the vehicle 12 and a steering operation signal for instructing steering to either one of right and left directions of the vehicle 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle remote control system.

Conventionally, a remote operation system that displays a bird's-eye view image including a vehicle and obstacles around the vehicle by a mobile terminal having a touch screen, and instructs the movement of the vehicle according to a finger touch operation on the touch screen is known. (For example, refer to Patent Document 1). This remote operation system displays a candidate for the direction in which the vehicle moves together with the overhead image, and instructs the movement of the vehicle according to the candidate for the direction selected by the operator. In addition, this remote operation system instructs the movement of the vehicle according to an operation in which the operator moves the finger in an arbitrary direction while touching the vehicle image included in the overhead image.
Conventionally, there is known a parking assist device that remotely controls a vehicle in accordance with an operation on the remote control device in a state where the relative position of the remote control device with respect to the vehicle is grasped without mounting a vehicle-mounted camera (for example, a patent Reference 2).

JP 2014-65392 A JP 2006-44484 A

However, in the remote control system according to the above-described conventional technology, since it is necessary to display a bird's-eye view image on the mobile terminal, in addition to the necessity of an in-vehicle camera, high-accuracy viewpoint conversion image processing is required. However, there is a problem that the cost increases as the computing capacity increases.
Moreover, in the parking assist device according to the above-described conventional technology, a dedicated remote control device is required to remotely control the vehicle in a state in which the relative position of the remote control device with respect to the vehicle is grasped, and the vehicle moves forward and backward. A different operation element is provided for each of stop, left and right turn. As a result, there arises a problem that skill to properly operate the remote control device is required.

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a vehicle remote operation system capable of preventing the configuration from becoming complicated and remotely operating the vehicle by a simple and intuitive operation. Yes.

In order to solve the above problems and achieve the object, the present invention employs the following aspects.
(1) A vehicle remote control system according to one aspect of the present invention includes a touch panel (for example, a vehicle (for example, the vehicle 12 in the embodiment) and an operation screen that is carried by an operator and is used to operate the vehicle from the outside. The portable terminal (for example, the control unit 25 in the embodiment) having a control unit (for example, the control unit 25 in the embodiment) that displays on the touch panel 22) in the embodiment and transmits an operation signal corresponding to the touch operation to the touch panel to the vehicle. A mobile terminal operation system (for example, the vehicle remote operation system 10 in the embodiment), wherein the operation screen is divided into a plurality of parts that can be recognized by the operator. A region (for example, three regions 72 (center portion 72a, left portion 72b, right portion 72c) in the embodiment) and one icon image (for example, icons in the embodiment) An image 73), and the icon image is displayed so as to be movable between the plurality of regions by the contact operation on the icon image, and the control unit accompanies movement between the plurality of regions with respect to the icon image. It is possible to detect at least one of a first contact operation that is a non-contact operation and a second contact operation that is a contact operation involving movement between the plurality of regions with respect to the icon image, and the first touch operation with respect to the icon image is performed. By detecting either one or both of the first contact operation and the second contact operation, a traveling operation signal instructing the vehicle to travel to at least one of forward and backward movements, and a lateral direction of the vehicle And a steering operation signal for instructing steering to either one of the vehicles.

(2) In the vehicle remote control system according to (1), the control unit transmits the travel operation signal to the vehicle only while detecting the first contact operation on the icon image. When the second contact operation on the icon image is detected, the steering operation signal is transmitted to the vehicle.

(3) In the vehicle remote control system according to (1) above, the plurality of regions include a first reference axis serving as a reference on the operation screen (for example, the first reference axis in the embodiment), The control unit is divided with respect to each of a second reference axis (for example, a second reference axis in the embodiment) intersecting with one reference axis, and the control unit is configured to apply the first to the icon image with respect to the first reference axis. When the two-contact operation is detected, the traveling operation signal is transmitted to the vehicle, and when the second contact operation to the icon image with respect to the second reference axis is detected, the steering operation signal is transmitted to the vehicle. Send.

(4) In the vehicle remote control system according to any one of (1) to (3), the plurality of regions include a region at a central position (for example, the central portion 72a in the embodiment) and the central position. Of the icon image from both sides in a predetermined direction (for example, the left part 72b and the right part 72c in the embodiment), and the icon image is an area other than the area at the center position. When the contact with is released, it remains in the area to which it belongs when the contact is released.

(5) In the vehicle remote control system according to any one of (1) to (4), the size of the portable terminal is a size that can be held with one hand of the operator, A plurality of regions having a predetermined aspect ratio and instructing to steer the vehicle to one of the left and right directions in the width direction of the short side of the long side and the short side of the aspect ratio are arranged To do.

(6) In the vehicle remote control system according to any one of (1) to (5), the operation screen has an erroneous operation prevention area (for example, left in the embodiment) in the vicinity of a boundary between the plurality of areas. A misoperation prevention area 72g and a right misoperation prevention area 72h) are set, and the controller is further away from the moving direction when the second contact operation is performed on the icon image in the misoperation prevention area. At least one of the traveling operation signal and the steering operation signal transmitted to the vehicle when the icon image straddles the end of the vehicle is switched.

(7) In the vehicle remote control system according to (6), the operation screen displays the plurality of areas and the erroneous operation prevention area in a recognizable manner for the operator using different background colors.

(8) In the vehicle remote control system according to any one of (1) to (7), the operation screen includes a figure or a symbol (for example, a figure (or Symbol) 73a, 73b, 73c) is displayed, and the figure or the symbol changes according to the traveling operation signal or the steering operation signal.

(9) In the vehicle remote control system according to any one of (1) to (8), the operation screen displays a vehicle image of a predetermined shape (for example, the vehicle image 75 in the embodiment), and the vehicle The correspondence between the direction indicated by the image and each of the plurality of regions is displayed at a predetermined position, and the control unit is configured to display the travel operation signal or the steering operation signal when the second contact operation is performed. Each of the plurality of areas and the moving direction of the vehicle are associated with each other so that the moving direction of the vehicle instructed by is matched with the direction indicated by the vehicle image.

(10) In the vehicle remote control system according to any one of (1) to (9), the portable terminal includes a speaker capable of reproducing voice or signal sound (for example, the speaker 24 in the embodiment). The control unit outputs an alarm sound from the speaker while the traveling operation signal or the steering operation signal is transmitted to the vehicle.

(11) In the vehicle remote control system according to any one of (1) to (10) above, the vehicle detects an obstacle present around the vehicle (for example, an embodiment). If the obstacle is detected by the obstacle detecting means when the ultrasonic sensor 42) and the traveling operation signal or the steering operation signal are received, the movement of the vehicle is interrupted or A vehicle control unit that moves while avoiding an obstacle (for example, the integrated control unit 48 in the embodiment).

(12) In the vehicle remote control system according to any one of (1) to (9), the portable terminal includes a speaker capable of reproducing voice or signal sound, for example, the speaker 24 in the embodiment. The vehicle includes obstacle detection means for detecting obstacles existing around the vehicle (for example, the ultrasonic sensor 42 in the embodiment), and the control unit is detected by the obstacle detection means. An alarm sound in which at least one of the output interval and volume changes according to the distance between the obstacle and the vehicle is output from the speaker.

(13) In the vehicle remote control system according to any one of (1) to (9) above, the portable terminal is a vibration generating means capable of generating vibration (for example, the vibration control unit 23 in the embodiment). The vehicle includes obstacle detection means (for example, the ultrasonic sensor 42 in the embodiment) for detecting obstacles existing around the vehicle, and the control unit is detected by the obstacle detection means. A vibration whose period and / or amplitude changes according to the distance between the obstacle and the vehicle is generated from the vibration generating means.

(14) In the vehicle remote control system according to any one of (1) to (13), the plurality of areas include a central position area (for example, the central portion 72a in the embodiment) and the central position. Is divided into three parts by two regions (for example, the left part 72b and the right part 72c in the embodiment) sandwiching the region from both sides in a predetermined direction, and the region at the center position is the front and rear of the vehicle Corresponding to the direction, the two areas are associated with the left-right direction of the vehicle.

(15) In the vehicle remote control system according to (5), the operation screen is displayed at a position where the operator can move the thumb of the operator when the operator holds the portable terminal with one hand. Display an image.

  According to the vehicle remote control system according to the aspect described in (1) above, since the control unit capable of detecting two types of contact operations (first contact operation and second contact operation) with respect to one icon image is provided, it is complicated. It is possible to operate the vehicle by a simple contact operation without requiring a simple operation and learning of the operation. Since the control unit that transmits the traveling operation signal and the steering operation signal to the vehicle by detecting either one or both of the first contact operation and the second contact operation with respect to the icon image is provided, the configuration of the mobile terminal becomes complicated. This makes it possible to remotely operate the vehicle and steer left and right by a simple and intuitive operation. Since it has a control unit that operates the vehicle by a simple touch operation to the touch panel, the operator's attention can be concentrated on confirmation of the surrounding safety in the actual vehicle without the need to visually recognize the operation screen it can.

  Furthermore, in the case of the above (2), since a control unit that transmits a traveling operation signal in response to the first contact operation and transmits a steering operation signal in response to the second contact operation is provided, Only in combination with the slide operation, the vehicle can be operated and steered left and right. As a result, the operation of the mobile terminal can be prevented from becoming complicated, and the operability can be further improved.

  Further, in the case of (3) above, since a control unit that displays an operation screen in which a plurality of areas are provided with respect to two mutually intersecting axes is provided, the vehicle moves forward by, for example, an operation of moving the icon image in the cross direction. And reversing and turning left and right can be remotely controlled. As a result, the operation of the portable terminal is prevented from becoming complicated, and various functions can be operated more intuitively and easily.

Furthermore, in the case of the above (4), since the control unit that automatically holds the position of the icon image according to the release of the touch to the touch panel in the area other than the area at the center position, the operability can be improved.
For example, in the case of (2), the vehicle can be resumed from the steered state when the vehicle in the steered state is stopped and then travel is resumed.
For example, in the case of (3) above, the vehicle may be set to continue moving even if the hand is released from the operation screen of the mobile terminal.

  Furthermore, in the case of the above (5), since a touch panel is provided which arranges a plurality of areas for instructing the steering in the width direction of the short side, the steering of the vehicle to the left and right can be further performed more intuitively and easily. Can be operated. That is, when the operator has a portable terminal having an asymmetric aspect ratio, the short side direction of the touch panel is directed to the left and right direction of the operator, and the steering of the vehicle in the left and right direction is changed to the short side direction. It can be performed by operation, and intuitive operation becomes easy.

  Furthermore, in the case of (6) above, since an operation screen for setting an erroneous operation prevention region (so-called hysteresis region) is provided in the vicinity of the boundary between the plurality of regions, the icon image can be obtained only by slightly changing the contact state with the icon image. Is not erroneously detected as moving between areas. This prevents frequent switching of the state of the driving operation signal and the steering operation signal transmitted to the vehicle, allows the operation state to be maintained against a change in the contact state unintended by the operator, and further, Operability can be improved.

  Furthermore, in the case of (7), since the operation screen displaying the plurality of areas and the erroneous operation prevention area with different background colors is provided, the operator can easily recognize that the erroneous operation prevention area exists.

  Further, in the case of the above (8), since an operation screen for displaying a figure or a symbol indicating the traveling direction of the vehicle that changes according to the traveling operation signal or the steering operation signal is provided, the traveling operation signal and the steering to be transmitted to the vehicle are provided. The state of the operation signal can be easily recognized by the operator.

  Furthermore, in the case of (9) above, a control unit is provided that associates each of the plurality of regions with the moving direction of the vehicle so that the moving direction instructed to the vehicle matches the direction indicated by the vehicle image. Without the need to display a bird's-eye view image or the like of the vehicle, the moving direction instructed to the vehicle can be easily recognized by the operator. Thus, the vehicle can be remotely operated and steered to the left and right by a simple and intuitive operation.

  Furthermore, in the case of (10) above, since a speaker for outputting an alarm sound is provided, even if the vehicle itself does not have a function for outputting an alarm sound, the vehicle can be alerted to the surroundings during remote operation. it can.

  Furthermore, in the case of the above (11), since the vehicle control unit that moves while interrupting or avoiding the obstacle is provided for the obstacle, even if there is an obstacle around the vehicle, The possibility of contact with an obstacle can be reduced, and desired safety can be ensured.

  Furthermore, in the case of the above (12), a speaker that outputs an alarm sound in which at least one of the output interval and the volume changes according to the distance between the obstacle and the vehicle is provided. Even when there is a vehicle, the operator can recognize the relative position between the obstacle and the vehicle. Thereby, the possibility that the vehicle comes into contact with an obstacle can be reduced, and desired safety can be ensured.

  Furthermore, in the case of the above (13), the apparatus includes vibration generating means for generating a vibration in which at least one of the period and the amplitude changes according to the distance between the obstacle and the vehicle. Even when there is a vehicle, the operator can recognize the relative position between the obstacle and the vehicle. Thereby, the possibility that the vehicle comes into contact with an obstacle can be reduced, and desired safety can be ensured.

  Further, in the case of the above (14), an operation screen that associates the area at the center position with the front-rear direction of the vehicle and associates the two areas sandwiching the area at the center position with the left-right direction of the vehicle is provided. Thus, the vehicle can be remotely operated and steered left and right.

  Furthermore, in the case of the above (15), when the operator holds the portable terminal with one hand, the vehicle can be easily operated remotely and steered to the left and right by the natural movement of the thumb of one hand.

The block diagram which shows the structure of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the position of the some ultrasonic sensor mounted in the vehicle of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of the title screen in the operation screen of the portable terminal of the vehicle remote control system which concerns on embodiment of this invention, and a mode selection screen. The figure which shows the example of the movement of the vehicle in the parallel parking of the automatic mode of the vehicle remote control system which concerns on embodiment of this invention, and parallel delivery. The figure which shows the example of the movement of the vehicle in the parallel parking of the automatic mode of the vehicle remote control system which concerns on embodiment of this invention, and parallel delivery. The figure which shows the example of the parking direction selection screen in the operation screen of the portable terminal in the automatic mode of the vehicle remote control system which concerns on embodiment of this invention, the operation start waiting screen, the screen during detection, the screen during parking operation, and the parking completion screen . The figure which shows the example of the leaving direction selection screen in the operation screen of the portable terminal in the automatic mode of the vehicle remote control system which concerns on embodiment of this invention, the operation start waiting screen, the leaving operation screen, and the leaving completion screen. The figure which shows the example of the transition of the screen during operation in the operation screen of the portable terminal in the automatic mode of the vehicle remote control system which concerns on embodiment of this invention, and the screen during pause. The figure which shows the example of the movement of the vehicle in the back delivery in the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The operation start waiting screen, the reverse rectilinear operation in progress screen, the reverse left turn operation in progress screen, the reverse right turn operation in progress screen, and the warehousing on the operation screen of the mobile terminal in the manual mode of the vehicle remote control system according to the embodiment of the present invention The figure which shows the example of a completion screen. The figure which shows the example of the transition of the screen during the backward rectilinear movement operation and the screen during the pause in the operation screen of the portable terminal in the manual mode of the vehicle remote control system according to the embodiment of the present invention. The figure which shows the example of the left side misoperation prevention area and the right side misoperation prevention area in the operation screen of the portable terminal in the manual mode of the vehicle remote control system which concerns on embodiment of this invention. Example of correspondence between change in left shift amount and right shift amount from center position of central portion and change in operation mode of vehicle in operation screen of portable terminal in manual mode of vehicle remote control system according to embodiment of present invention FIG. The figure which shows the example of the change of the position of the icon image according to the operator's contact operation in the operation screen of the portable terminal in the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of the change of the position of the icon image according to the operator's contact operation in the operation screen of the portable terminal in the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of a response | compatibility with the locus | trajectory of the rear-wheel axle center of a vehicle and the right end point of a vehicle, and the change of a steering angle in the leaving of the reverse left turn by the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of the movement of the vehicle in the leaving of the reverse left turn by the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of the change of the steering angle command value of the vehicle in the reverse leaving by the manual mode of the vehicle remote control system which concerns on embodiment of this invention. The figure which shows the example of the operation start waiting screen in the operation screen of the portable terminal in the manual mode of the vehicle remote control system which concerns on the 1st modification of embodiment of this invention. The figure which shows the example of the operation start waiting screen in the manual operation mode of the mobile remote control system which concerns on the 2nd modification of embodiment of this invention, the operation start waiting screen, the reverse rectilinear advance operation screen, and the forward rectilinear advance operation screen. The left erroneous operation prevention region, the right erroneous operation prevention region, the forward erroneous operation prevention region, and the backward erroneous operation prevention region in the operation screen of the mobile terminal in the manual mode of the vehicle remote control system according to the second modification of the embodiment of the present invention The figure which shows an example. The operation start waiting screen, the reverse rectilinear operation in-progress screen, the reverse left-turning operation in-progress screen, and the reverse right-turn operation in the manual operation mode of the vehicle remote control system according to the third modification of the embodiment of the present invention The figure which shows the example of a middle screen and the delivery completion screen.

  Hereinafter, a vehicle remote control system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 1, the vehicle remote control system 10 according to the embodiment includes a mobile terminal 11 and a vehicle 12.
The mobile terminal 11 is a remote control device that is carried by the driver of the vehicle 12. The mobile terminal 11 performs wireless communication with the vehicle 12 by short-range wireless communication such as Bluetooth (registered trademark) or wireless LAN (Local Area Network) such as Wi-Fi (registered trademark).
The size of the portable terminal 11 is formed such that the driver can perform various operations with the finger of one hand while holding it with one hand.

The mobile terminal 11 includes a communication unit 21, a touch panel 22, a vibration control unit 23, a speaker 24, and a control unit 25.
The communication unit 21 performs wireless communication with a communication unit 41 of the vehicle 12 described later.
The touch panel 22 displays an operation screen for remotely operating the vehicle 12 from the outside, receives a contact operation with a driver's finger input to the operation screen, and outputs a command signal instructing the operation of the vehicle 12. . The external shape of the touch panel 22 is formed in a rectangular shape having an aspect ratio with a predetermined long side and short side (<long side).

The vibration control unit 23 includes a motor (not shown) that generates vibration in the mobile terminal 11 main body or the touch panel 22 and the like, a motor control circuit (not shown), and the like. The vibration control unit 23 generates a vibration that can be recognized by the driver holding the mobile terminal 11 by driving a motor in accordance with a control signal from the control unit 25.
The speaker 24 reproduces and outputs data of various voices or signal sounds stored in the control unit 25 in accordance with a signal from the control unit 25, so that the driver holding the mobile terminal 11 can recognize the alarm. Generate sound.

  The control unit 25 comprehensively controls the operation of the mobile terminal 11. The control unit 25 transmits an operation signal corresponding to a contact operation on the touch panel 22 by the driver from the communication unit 21 to the vehicle 12 together with unique identification information. When the communication unit 21 receives various signals transmitted from the vehicle 12, the control unit 25 controls the operations of the vibration control unit 23 and the speaker 24 according to the signals.

The vehicle 12 includes a communication unit 41, a plurality of ultrasonic sensors 42, a drive control unit 43, a brake control unit 44, a steering control unit 45, a horn control unit 46, a lamp control unit 47, and an integrated control unit 48. .
The communication unit 41 performs wireless communication with the communication unit 21 of the mobile terminal 11.
As shown in FIG. 2, the plurality of ultrasonic sensors 42 are disposed at a plurality of locations on the front, rear, left, and right outer surfaces of the vehicle 12. Each ultrasonic sensor 42 emits an ultrasonic wave toward the outside of the vehicle 12, and receives the reflected wave obtained by reflecting the ultrasonic wave by an object (such as an obstacle) outside the vehicle 12. The presence or absence and the distance to the object are detected. Each ultrasonic sensor 42 outputs a detection signal of the presence / absence of an object outside the vehicle 12 and the distance to the object.

The drive control unit 43 includes a travel drive source (for example, an internal combustion engine and a motor) of the vehicle 12, a power transmission mechanism (for example, a transmission), a control circuit (not shown), and the like. The drive control unit 43 controls the travel of the vehicle 12 by driving the travel drive source and the power transmission mechanism in accordance with a control signal from the integrated control unit 48.
The brake control unit 44 includes a brake actuator (not shown) and a control circuit (not shown). The brake control unit 44 controls deceleration and stop of the vehicle 12 by driving a brake actuator in accordance with a control signal from the integrated control unit 48.
The steering control unit 45 includes a steering actuator (not shown) and a control circuit (not shown). The steering control unit 45 controls the turning of the vehicle 12 by driving a steering actuator in accordance with a control signal from the integrated control unit 48.

The horn control unit 46 includes a buzzer (not shown) or a speaker (not shown) that outputs a predetermined warning sound or warning sound. The horn control unit 46 outputs a predetermined warning sound or warning sound in response to a control signal from the integrated control unit 48.
The lamp control unit 47 includes various lamps (not shown) such as a headlamp and a control circuit (not shown). The lamp control unit 47 controls lighting of various lamps according to a control signal from the integrated control unit 48.

The integrated control unit 48 controls the vehicle 12 in an integrated manner. When the communication unit 41 receives various operation signals transmitted from the mobile terminal 11, the integrated control unit 48 controls the operations of the control units 43,..., 47 according to the operation signals. The integrated control unit 48 changes the control content according to the state of the vehicle 12 when controlling the operation of each control unit 43,..., 47 according to the operation signal from the mobile terminal 11. For example, when the movement of the vehicle 12 is controlled according to the operation signal, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically detects the obstacle according to the obstacle detected by each ultrasonic sensor 42. The vehicle 12 is moved avoiding the above.
The integrated control unit 48 transmits information on the state of the vehicle 12 from the communication unit 41 to the portable terminal 11. For example, the integrated control unit 48 transmits a detection signal output from each ultrasonic sensor 42 to the mobile terminal 11 from the communication unit 41.

  The vehicle remote control system 10 according to the embodiment has the above-described configuration. Next, an example of the operation of the vehicle remote control system 10 will be described.

The touch panel 22 of the mobile terminal 11 displays a title screen 51 and a mode selection screen 52 as operation screens for remotely operating the vehicle 12 from the outside as shown in FIG. 3 in response to a control signal from the control unit 25. To do.
The title screen 51 is an initial screen when the vehicle 12 is remotely operated from the outside, and is displayed when a predetermined operation is input to the mobile terminal 11 or when the state of the mobile terminal 11 becomes a predetermined state. Is done. The predetermined state of the mobile terminal 11 is, for example, a state in which the mobile terminal 11 exists outside the vehicle 12 with all doors of the vehicle 12 closed. The title screen 51 displays an operation button image 51a. When the operation button image 51a is touched, the control unit 25 outputs an operation signal instructing to start execution of the remote operation of the vehicle 12.
The mode selection screen 52 is displayed when the operation button image 51a on the title screen 51 is touched. The mode selection screen 52 displays operation button images 52a, 52b, 52c, and 52d. When the operation button image 52 a is touched, the control unit 25 outputs an operation signal instructing the end of the remote operation of the vehicle 12. When each of the operation button images 52b and 52c is touched, the control unit 25 outputs an operation signal instructing execution of each of parking and unloading in the automatic mode. When the touch operation is performed on the operation button image 52d, the control unit 25 outputs an operation signal instructing execution of unloading in the manual mode.

  As shown in FIG. 4 and FIG. 5, parking and delivery in the automatic mode include parallel parking by parallel parking and advancement by the backward movement (back) of the vehicle 12, and parallel parking by forward movement (back) of the vehicle 12 and parallel train by the forward movement. This is an operation mode in which each of the delivery is executed automatically. The operation button image 52b for the parking in the automatic mode is displayed so that the contact operation is performed in a state where the vehicle 12 is present around the parking space P. The operation button image 52c for the unloading in the automatic mode is displayed so that the contact operation is performed in a state where the vehicle 12 exists in the parking space P.

  When the operation button image 52b for parking in the automatic mode is touched on the mode selection screen 52, the touch panel 22 displays a parking method selection screen 53 as shown in FIG. 6 in response to a control signal from the control unit 25. To do. The parking method selection screen 53 displays operation button images 53a, 53b, and 53c. When each of the operation button images 53a and 53b is touched, the control unit 25 outputs an operation signal for selecting execution of parallel parking and parallel parking of the vehicle 12. When the operation button image 53c is touched, the control unit 25 switches the parking method selection screen 53 to the mode selection screen 52 and displays it. The parking method selection screen 53 displays a predetermined message 53d that prompts the user to select a parking method (for example, “Please select a parking method”). The parking method selection screen 53 displays images 53e, 53f, 53g of a plurality of menu items indicating the operation of the vehicle 12 indicated by the operation signal. The image 53e is a menu item (for example, “Search”) indicating the search operation for the parking space P. The image 53f is a menu item (for example, “Park in”) indicating movement into the parking space P. The image 53g is a menu item (for example, “Completed”) indicating the completion of the parking operation.

When the operation button images 53 a and 53 b for the parallel parking and the parallel parking of the vehicle 12 are touched on the parking method selection screen 53, the touch panel 22 responds to a control signal from the control unit 25 to start an operation start waiting screen 54. Is displayed. The operation start waiting screen 54 displays operation button images 54a and 54b. When each of the operation button images 54a and 54b is touched, the control unit 25 outputs an operation signal instructing each of execution and stop of the automatic parking operation of the vehicle 12. The operation start waiting screen 54 displays a predetermined message 54c (for example, “please check the surroundings”) that prompts the safety confirmation around the vehicle 12. The operation start waiting screen 54 displays a menu item (for example, “Search”) of an operation first instructed when the operation button image 54a is touched among a plurality of menu items indicating the operation of the vehicle 12 instructed by the operation signal. Highlight.
For example, when the driver holds the portable terminal 11 with one hand, the operation button images 54a and 54b are displayed at positions where the thumb can be touched with the thumb of one hand extended. For example, when the driver holds the mobile terminal 11 with one right hand, the operation button images 54a and 54b can be touched with the thumb of one hand extended, and can be operated from the center of the touch panel 22 to the lower left region. It is displayed.

  When the operation button image 54a is contact-operated by the driver's finger F on the operation start waiting screen 54, the control unit 25 sequentially performs the search operation of the parking space P over the period during which the contact operation is continued. An operation signal instructing to automatically execute the movement into the parking space P is output. In response to a control signal from the control unit 25, the touch panel 22 includes a detecting screen 55 corresponding to the search operation for the parking space P, a parking operation screen 56 corresponding to the movement into the parking space P, and a parking operation. A parking completion screen 57 corresponding to the completion is sequentially displayed.

The detecting screen 55 displays an instruction image 55a indicating that the contact operation of the finger F with respect to the operation button image 54a is maintained. The instruction image 55a is, for example, an image obtained by reducing the luminance of the operation button image 54a. The detecting screen 55 displays an instruction image 55b indicating that the control unit 25 outputs an operation signal instructing the vehicle 12 to execute the search operation for the parking space P. The instruction image 55b is, for example, an image that highlights a menu item (for example, “Search”) indicating a search operation for the parking space P among a plurality of menu items indicating the operation of the vehicle 12. The in-detection screen 55 displays a predetermined message 55c (for example, “please check the surroundings”) that prompts safety confirmation around the vehicle 12.
At this time, when the communication unit 41 receives the operation signal transmitted from the mobile terminal 11, the integrated control unit 48 of the vehicle 12 determines the vehicle 12 based on the detection signal output from each of the plurality of ultrasonic sensors 42. Search for nearby parking spaces P.

The parking operation in-progress screen 56 displays an instruction image 56a indicating that the contact operation of the finger F with respect to the operation button image 54a is maintained. The instruction image 56a is, for example, an image obtained by reducing the luminance of the operation button image 54a. The parking operation in-progress screen 56 displays an instruction image 56b indicating that the control unit 25 outputs an operation signal instructing the vehicle 12 to execute movement into the parking space P. The instruction image 56b is, for example, an image that highlights a menu item indicating movement into the parking space P (for example, “Park in”) among a plurality of menu items indicating the operation of the vehicle 12. The parking operation in-progress screen 56 displays a predetermined message 56c (for example, “please check the surroundings”) that prompts safety confirmation around the vehicle 12.
At this time, when the communication unit 41 receives an operation signal transmitted from the mobile terminal 11, the integrated control unit 48 of the vehicle 12 sets a movement locus into the parking space P, and the vehicle 12 corresponds to the movement locus. Move. When an obstacle is detected on the movement locus by each ultrasonic sensor 42, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically avoids the obstacle and moves the vehicle 12.

  The parking completion screen 57 displays an instruction image 57a indicating that the control unit 25 is outputting an operation signal that instructs the vehicle 12 to complete the parking operation. The instruction image 57a is, for example, an image that highlights a menu item (for example, “Completed”) indicating the completion of the parking operation among a plurality of menu items indicating the operation of the vehicle 12. The parking completion screen 57 displays a predetermined message 57b (for example, “parking is completed”) indicating the completion of the parking operation.

  When the operation button image 52c for the automatic mode delivery is touched on the mode selection screen 52, the touch panel 22 displays a delivery method selection screen 58 as shown in FIG. 7 in response to a control signal from the control unit 25. To do. The delivery method selection screen 58 displays operation button images 58a, 58b, and 58c. When each of the operation button images 58a and 58b is touched, the control unit 25 outputs an operation signal for selecting execution of the parallel delivery and the parallel delivery of the vehicles 12. When the operation button image 58c is touched, the control unit 25 switches the display method selection screen 58 to the mode selection screen 52 and displays it. The delivery method selection screen 58 displays a predetermined message 58d that prompts the user to select a delivery method (for example, “Please select a delivery method”). The delivery method selection screen 58 displays images 58e and 58f of a plurality of menu items indicating the operation of the vehicle 12 indicated by the operation signal. The image 58e is a menu item (for example, “Park out”) indicating movement out of the parking space P. The image 58f is a menu item (for example, “Completed”) indicating completion of the leaving operation.

When the operation button images 58a and 58b for each of the parallel delivery and the parallel delivery of the vehicle 12 are touched on the delivery method selection screen 58, the touch panel 22 responds to a control signal from the control unit 25 to start an operation start waiting screen 59. Is displayed. The operation start waiting screen 59 displays operation button images 59a and 59b. When each of the operation button images 59a and 59b is touched, the control unit 25 outputs an operation signal instructing each of the execution and stop of the automatic vehicle exit operation. The operation start waiting screen 59 displays a predetermined message 59c (for example, “please check the surroundings”) that prompts safety confirmation around the vehicle 12. The operation start waiting screen 59 is a menu item (for example, “Park out”) of the operation first instructed when the operation button image 59a is touched among the plurality of menu items indicating the operation of the vehicle 12 instructed by the operation signal. To highlight.
For example, when the driver holds the mobile terminal 11 with one hand, the operation button images 59a and 59b are displayed at positions where the thumb can be touched with the thumb of the one hand extended. For example, when the driver holds the mobile terminal 11 with one right hand, the operation button images 59a and 59b can be touched with the thumb of one hand stretched, so that the operation button images 59a and 59b can be displayed in the lower left area from the center of the touch panel 22. It is displayed.

  When the operation button image 59a is contact-operated with the driver's finger F on the operation start waiting screen 59, the control unit 25 automatically moves outside the parking space P over a period during which the contact operation is continued. An operation signal instructing execution is output. In response to a control signal from the control unit 25, the touch panel 22 sequentially displays a shipping operation in-progress screen 60 corresponding to movement out of the parking space P and a shipping completion screen 61 corresponding to completion of the shipping operation. .

The on-going operation screen 60 displays an instruction image 60a indicating that the contact operation of the finger F with respect to the operation button image 59a is maintained. The instruction image 60a is, for example, an image obtained by reducing the brightness of the operation button image 59a. The on-going operation screen 60 displays an instruction image 60b indicating that the control unit 25 is outputting an operation signal instructing the vehicle 12 to execute the movement outside the parking space P. The instruction image 60b is, for example, an image that highlights a menu item (for example, “Park out”) that indicates movement out of the parking space P among a plurality of menu items that indicate the operation of the vehicle 12. The on-going operation screen 60 displays a predetermined message 60c (for example, “please check the surroundings”, etc.) that prompts safety confirmation around the vehicle 12.
At this time, when the communication unit 41 receives the operation signal transmitted from the mobile terminal 11, the integrated control unit 48 of the vehicle 12 sets a movement locus to the outside of the parking space P, and the vehicle 12 according to the movement locus. Move. When an obstacle is detected on the movement locus by each ultrasonic sensor 42, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically avoids the obstacle and moves the vehicle 12.

  The exit completion screen 61 displays an instruction image 61a indicating that the control unit 25 is outputting an operation signal instructing the vehicle 12 to complete the exit operation. The instruction image 61a is, for example, an image that highlights a menu item (for example, “Completed”) indicating completion of the leaving operation among a plurality of menu items indicating the operation of the vehicle 12. The delivery completion screen 61 displays a predetermined message 61b (for example, “completed delivery”) indicating the completion of the delivery operation.

The touch panel 22 is shown in FIG. 8 when the contact operation of the finger F with respect to the operation button image 54a or the operation button image 59a is interrupted on each of the detecting screen 55, the parking operation screen 56, and the leaving operation screen 60. As described above, the screens 55, 56, and 60 are switched to the temporarily stopped screen 62 and displayed. At this time, the control unit 25 transmits an operation signal instructing to temporarily stop the operation of the vehicle 12 to the vehicle 12. The paused screen 62 displays operation button images 62a and 62b. When each of the operation button images 62a and 62b is contact-operated, the control unit 25 outputs an operation signal instructing each of the automatic parking operation or the leaving operation of the vehicle 12 and the end thereof. The temporarily stopped screen 62 displays a predetermined message 62c (for example, “please check the surroundings”) that prompts safety confirmation around the vehicle 12.
For example, when the driver holds the mobile terminal 11 with one hand, the operation button images 62a and 62b are displayed at positions where the contact operation can be performed with the thumb of the one hand extended. For example, when the driver holds the mobile terminal 11 with one right hand, the operation button images 62a and 62b can be touched and operated with the thumb of one hand extended, in a region on the lower left side from the center of the touch panel 22. It is displayed.

  As shown in FIG. 9, the delivery in the manual mode is an operation mode in which parallel delivery by the backward movement (back) of the vehicle 12 is executed according to a manual operation. The operation button image 52d for the manual mode exit is displayed such that the contact operation is performed in a state where the vehicle 12 exists in the parking space P.

  When the operation button image 52d for manual mode exit is touched on the mode selection screen 52, the touch panel 22 displays an operation start waiting screen 71 in accordance with a control signal from the control unit 25 as shown in FIG. To do. The operation start waiting screen 71 displays a plurality of regions 72 that are divided so as to be recognizable by the driver, and a single icon image 73 that can be moved between the plurality of regions 72 in accordance with the contact operation. When the icon image 73 is touched, the control unit 25 outputs various operation signals related to the movement of the vehicle 12. The operation start waiting screen 71 displays an operation button image 74, a vehicle image 75, and operation button images 76 and 77. When the operation button image 74 is touched, the control unit 25 outputs an operation signal instructing the end of the manual mode. The vehicle image 75 is an image such as a figure of a vehicle having a predetermined shape, has a shape that allows the driver to recognize at least the front-rear direction and the left-right direction of the vehicle, and is fixedly displayed at a predetermined position on the screen. The The vehicle image 75 is, for example, an image having a predetermined shape when the vehicle is viewed from above. When each of the operation button images 76 and 77 is touched, the control unit 25 outputs an operation signal instructing each operation of the horn control unit 46 and the lamp control unit 47 of the vehicle 12. The operation start waiting screen 71 displays a predetermined message 78 (for example, “please check the surroundings”) that prompts safety confirmation around the vehicle 12.

The operation start waiting screen 71 displays, for example, three areas 72 (a center part 72a, a left part 72b, and a right part 72c). The operation start waiting screen 71 displays three regions 72 arranged in the width direction (short side direction) of the short side of the touch panel 22 formed in a rectangular shape having a predetermined aspect ratio. The left part 72b and the right part 72c are displayed so as to sandwich the central part 72a from both sides in the short side direction.
The operation start waiting screen 71 displays an icon image 73 on the central portion 72a as an initial display state. The icon image 73 displays a figure (or symbol) 73a indicating the backward direction of the vehicle 12 as an initial display state. The backward direction of the vehicle 12 indicated by the figure (or symbol) 73 a is associated with the rear of the vehicle indicated by the vehicle image 75. The vehicle image 75 is displayed, for example, so that each of the up-down direction and the left-right direction set on the operation start waiting screen 71 is associated with the front-rear direction and the left-right direction of the vehicle. Each of the up and down direction and the left and right direction set on the operation start waiting screen 71 is associated with each of the long side direction and the short side direction of the touch panel 22. Thus, when the driver holds the mobile terminal 11 with one hand, if the driver's left-right direction and the short side direction of the touch panel 22 are parallel, the vehicle left-right direction according to the vehicle image 75 is parallel to the driver left-right direction. become.

  The operation start waiting screen 71 is a vehicle image at a predetermined position (for example, in the vicinity of the center portion 72a) where the correspondence between the left part 72b and the right part 72c and the left and right direction of the vehicle indicated by the vehicle image 75 can be recognized. 75 is displayed. Furthermore, the operation start waiting screen 71 has a left portion 72b and a right portion 72c, and the left and right portions 72b and 72c are associated with the left and right directions of the vehicle indicated by the vehicle image 75 and the left and right directions of turning of the vehicle 12. Each figure (or symbol) 72d, 72e is displayed on each of the right part 72c. The figure (or symbol) 72d indicates the left turning direction of the vehicle 12 in the left portion 72b. The left turning direction of the vehicle 12 indicated by the graphic (or symbol) 72 d is associated with the left direction of the vehicle indicated by the vehicle image 75. The figure (or symbol) 72e indicates the right turning direction of the vehicle 12 in the right portion 72c. The right turning direction of the vehicle 12 indicated by the graphic (or symbol) 72e is associated with the right direction of the vehicle indicated by the vehicle image 75.

The operation start waiting screen 71 displays the icon image 73 so as to be movable between the three regions 72 following the contact movement operation by the driver's finger F on the icon image 73. The control unit 25 includes a first contact operation that is a contact operation that does not involve movement between the three regions 72 for the icon image 73 and a second contact operation that is a contact operation that involves movement between the three regions 72 for the icon image 73. Or at least one of them can be detected. The control unit 25 detects either one or both of the first contact operation and the second contact operation with respect to the icon image 73, so that a traveling operation signal for instructing the speed of the backward traveling of the vehicle 12 and the left and right of the vehicle 12 are detected. A steering operation signal for instructing steering in any one direction is transmitted to the vehicle 12.
In the operation start waiting screen 71, the direction in which the icon image 73 can be moved by the second contact operation is the direction in which the three regions 72 are arranged and displayed, that is, the short side direction of the touch panel 22. The operation start waiting screen 71 displays a reference axis image 72 f extending in the movable direction of the icon image 73. The reference axis image 72f is displayed so as to connect a figure (or symbol) 72d indicating the left turning direction of the vehicle 12 and a figure (or symbol) 72e indicating the right turning direction.

When the icon image 73 is touched with the driver's finger F on the operation start waiting screen 71, the touch panel 22 responds to one or both of the first contact operation and the second contact operation detected by the control unit 25. Thus, each screen corresponding to the moving state of the vehicle 12 is displayed.
For example, when the instruction value of the traveling operation signal is set to a predetermined value larger than zero and the instruction value of the steering operation signal is set to zero, the control unit 25 instructs the touch panel 22 to go straight backward. A reverse rectilinear operation in-progress screen 81 corresponding to the state is displayed.
The touch panel 22 is, for example, when the instruction value of the traveling operation signal is set to a predetermined value larger than zero and the instruction value of the turning operation signal is set to a predetermined value other than zero corresponding to left-turning. The control unit 25 displays a reverse left turn operation in-progress screen 82 corresponding to the state in which the control unit 25 instructs the reverse turn of the vehicle 12 to the left.
For example, when the operation button image 74 is touched when the backward turn is performed, the touch panel 22 displays a delivery completion screen 83 corresponding to the delivery completion state in which the control unit 25 instructs the completion of the backward left turn. .
The touch panel 22 is, for example, when the instruction value of the traveling operation signal is set to a predetermined value larger than zero and the instruction value of the turning operation signal is set to a predetermined value other than zero corresponding to the turning of the right turn. Then, the control unit 25 displays a reverse right turn operation in-progress screen 84 corresponding to a state in which the vehicle 12 instructs the reverse turn of the vehicle 12 to the right.
For example, when the operation button image 74 is touched at the time of executing the backward right turn, the touch panel 22 displays the exit completion screen 85 corresponding to the exit completion state in which the control unit 25 instructs to end the execution of the backward right turn. indicate.

Similar to the operation start waiting screen 71, the reverse rectilinear operation in-progress screen 81 has three regions 72 (a center portion 72a, a left portion 72b, a right portion 72c), an operation button image 74, a vehicle image 75, and an operation button image 76. , 77 and a predetermined message 78 are displayed.
When the first contact operation by the driver's finger F is maintained with respect to the icon image 73 of the central portion 72a, the reverse rectilinear operation in-progress screen 81 displays the backward direction of the vehicle 12 on the icon image 73 of the central portion 72a. A figure (or symbol) 73a to be displayed is displayed. The icon image 73 indicates that the control unit 25 outputs a traveling operation signal and a steering operation signal for instructing the vehicle 12 to execute a straight backward traveling by displaying a figure (or symbol) 73a.
At this time, the integrated control unit 48 of the vehicle 12 controls the control units 43, 44, 45 when the communication unit 41 receives the traveling operation signal and the steering operation signal transmitted from the mobile terminal 11, and No. 12 is made to go straight backward. When an obstacle is detected in the forward direction of the vehicle 12 by each ultrasonic sensor 42, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically avoids the obstacle and moves the vehicle 12. .

Similar to the operation start waiting screen 71, the reverse left-turning motion screen 82 has three regions 72 (a center portion 72a, a left portion 72b, and a right portion 72c), an operation button image 74, a vehicle image 75, and an operation button image. 76, 77 and a predetermined message 78 are displayed.
The reverse left-turning operation screen 82 is displayed on the icon 72 of the left portion 72b after the second contact operation with the driver's finger F accompanying the movement to the left portion 72b is performed on the icon image 73 of the center portion 72a. When the first contact operation is maintained on the image 73, a graphic (or symbol) 73b indicating the left turning direction of the vehicle 12 is displayed on the icon image 73 of the left portion 72b. The icon image 73 indicates that the control unit 25 outputs a traveling operation signal and a steering operation signal for instructing the vehicle 12 to perform a backward left turn by displaying a graphic (or symbol) 73b.
At this time, the integrated control unit 48 of the vehicle 12 controls the control units 43, 44, 45 when the communication unit 41 receives the traveling operation signal and the steering operation signal transmitted from the mobile terminal 11, and Turn 12 backward and turn left. When an obstacle is detected in the forward direction of the vehicle 12 by each ultrasonic sensor 42, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically avoids the obstacle and moves the vehicle 12. .

  The exit completion screen 83 has three areas 72 (a center part 72a, a left part 72b, and a right part 72c), an icon image 73, an operation button image 74, a vehicle image 75, similarly to the reverse left turn operation in-progress screen 82. Each of the operation button images 76 and 77 is displayed. The delivery completion screen 83 displays a predetermined message 78 (for example, “completion of delivery” or the like) indicating that an operation signal for instructing the vehicle 12 to complete the delivery operation by the backward left turn is output.

Similar to the operation start waiting screen 71, the reverse right-turning operation in-progress screen 84 has three regions 72 (a center portion 72a, a left portion 72b, a right portion 72c), an operation button image 74, a vehicle image 75, and an operation button. Each of the images 76 and 77 and the predetermined message 78 is displayed.
The reverse turning right operation screen 84 is displayed on the right part 72c after the second contact operation with the driver's finger F accompanying the movement to the right part 72c is performed on the icon image 73 of the center part 72a. When the first contact operation is maintained for the icon image 73, a graphic (or symbol) 73c indicating the right turning direction of the vehicle 12 is displayed on the icon image 73 of the right portion 72c. The icon image 73 indicates that the control unit 25 outputs a traveling operation signal and a steering operation signal for instructing the vehicle 12 to execute a backward right turn by displaying a graphic (or symbol) 73c.
At this time, the integrated control unit 48 of the vehicle 12 controls the control units 43, 44, 45 when the communication unit 41 receives the traveling operation signal and the steering operation signal transmitted from the mobile terminal 11, and Turn 12 backward and turn right. When an obstacle is detected in the forward direction of the vehicle 12 by each ultrasonic sensor 42, the integrated control unit 48 interrupts the movement of the vehicle 12 or automatically avoids the obstacle and moves the vehicle 12. .

  The exit completion screen 85 has three areas 72 (a center part 72a, a left part 72b, and a right part 72c), an icon image 73, an operation button image 74, and a vehicle image 75, similarly to the reverse turning right turning screen 84. , And operation button images 76 and 77 are displayed. The delivery completion screen 83 displays a predetermined message 78 (for example, “completion of delivery” or the like) indicating that an operation signal for instructing the vehicle 12 to complete the delivery operation by turning right backward is displayed. .

The touch panel 22 performs a contact operation of the finger F with respect to the icon image 73 (first contact operation and second contact) on each of the reverse rectilinear operation in-progress screen 81, the reverse left-turn operation in-progress screen 82, and the reverse-right turn in-progress operation screen 84. When the operation is canceled, the screens 81, 82, and 84 are switched to the paused screen 86 and displayed as shown in FIG.
Similar to the screens 81, 82, and 84, the paused screen 86 has three regions 72 (a center portion 72 a, a left portion 72 b, and a right portion 72 c), an icon image 73, an operation button image 74, and a vehicle image 75. , And operation button images 76 and 77 are displayed. The temporarily stopped screen 86 is a reference position (for example, the center shown in FIG. 11) of the area 72 to which the icon image 73 belongs when the contact operation (the first contact operation and the second contact operation) of the three areas 72 is released. The icon image 73 is displayed at the center position of the part 72a. At this time, the control unit 25 transmits to the vehicle 12 an operation signal for instructing a temporary stop of the operation of the vehicle 12, for example, a traveling operation signal and a steering operation signal in which the mutual instruction values are zero.
When the touch operation on the icon image 73 is resumed on the paused screen 86, the touch panel 22 switches and displays the paused screen 86 so as to return to any of the screens 81, 82, and 84. Accordingly, the control unit 25 transmits a traveling operation signal and a steering operation signal corresponding to one or both of the first contact operation and the second contact operation on the icon image 73 to the vehicle 12.

As shown in FIG. 12, the touch panel 22 has a central portion 72a and a left-hand side on each of an operation start waiting screen 71, a reverse rectilinear operation in-progress screen 81, a reverse left-turning operation in-progress screen 82, and a reverse right-turning in-progress operation screen 84. The left erroneous operation prevention area 72g is displayed near the boundary between the side part 72b and the right erroneous operation prevention area 72h is displayed near the boundary between the center part 72a and the right part 72c. The touch panel 22 displays each of the center part 72a, the left part 72b, the right part 72c, the left erroneous operation prevention area 72g, and the right erroneous operation prevention area 72h so as to be recognized by the driver with different background colors. .
The touch panel 22 uses the movement amount of the contact movement operation of the finger F in the direction from the center position of the central portion 72a to each of the left portion 72b and the right portion 72c as a left shift amount and a right shift amount. The touch panel 22 sets a region between the first threshold THL1 for the left shift amount and the first threshold THR1 for the right shift amount as the central portion 72a. The touch panel 22 sets a region between the first threshold value THL1 of the left shift amount and the second threshold value THL2 larger than the first threshold value THL1 as a left erroneous operation prevention region 72g. The touch panel 22 sets a region where the left shift amount is larger than the second threshold value THL2 as the left portion 72b. The touch panel 22 sets a region between the first threshold value THR1 of the right shift amount and the second threshold value THR2 larger than the first threshold value THR1 as a right erroneous operation prevention region 72h. The touch panel 22 sets a region where the right shift amount is larger than the second threshold value THR2 as the right portion 72c. Accordingly, when the second contact operation is performed on the icon image 73 so as to move between the three regions 72 (the center portion 72a, the left portion 72b, and the right portion 72c), the icon image 73 is erroneously operated to the left. It moves so as to straddle each of the prevention area 72g and the right side erroneous operation prevention area 72h.

In each of the left erroneous operation prevention region 72g and the right erroneous operation prevention region 72h, the control unit 25 displays the end portion on the side far from the moving direction when the second contact operation to the icon image 73 is performed as the icon image 73. The state of the steering operation signal to be transmitted to the vehicle 12 when the vehicle is straddled is switched.
As illustrated in FIG. 13, when the second contact operation is performed in the movement direction in which the right shift amount changes in an increasing tendency with respect to the icon image 73 displayed at the center position of the central portion 72 a at time t <b> 0, On the other hand, the far end of the right erroneous operation preventing area 72h is a position where the right shift amount coincides with the second threshold value THR2. As a result, during a period from time t0 to time t1 when the right shift amount reaches the second threshold value THR2, the control unit 25 turns a steering operation signal that instructs the vehicle 12 to go straight backward (for example, a turn at which the indicated value is zero). Output rudder operation signals). In the period from time t1 to time t2 when the amount of right shift changes from the second threshold value THR2 toward the maximum value corresponding to the right end of the rightward portion 72c, the control unit 25 turns the vehicle 12 backward clockwise. A steering operation signal for instructing the turn is output. This steered operation signal is, for example, a steered operation signal in which the instruction value is a predetermined value other than zero corresponding to the steered right turn.

  Further, when the second contact operation is performed in the moving direction in which the right shift amount changes in a decreasing tendency with respect to the icon image 73 displayed at the right end of the right portion 72c at time t2, The far end of the erroneous operation prevention area 72h is a position where the right shift amount matches the first threshold value THR1. As a result, during a period from time t2 to time t3 when the right shift amount reaches the first threshold value THR1, the control unit 25 outputs a steering operation signal that instructs the vehicle 12 to turn backward to the right. Then, during the period from time t3 to time t4 when the right shift amount changes from the first threshold value THR1 toward zero corresponding to the center position of the central portion 72a, the control unit 25 instructs the vehicle 12 to go straight backward. A steering operation signal is output.

  Further, when the second contact operation is performed in the movement direction in which the left shift amount changes in an increasing tendency with respect to the icon image 73 displayed at the center position of the central portion 72a at time t4, The far end of the erroneous operation prevention area 72g is a position where the left shift amount matches the second threshold value THL2. As a result, during a period from time t4 to time t5 when the left shift amount reaches the second threshold value THL2, the control unit 25 outputs a steering operation signal that instructs the vehicle 12 to go straight backward. Then, during a period from time t5 to time t6 when the left shift amount changes from the second threshold value THL2 toward the maximum value corresponding to the left end of the left portion 72b, the control unit 25 turns the vehicle 12 backward to the left. A steering operation signal is output. This steered operation signal is, for example, a steered operation signal in which the instruction value is a predetermined value other than zero corresponding to the left turn steer.

  Further, when the second contact operation is performed on the icon image 73 displayed at the left end of the left portion 72b at time t6 in the moving direction in which the left shift amount changes in a decreasing tendency, The far end of the erroneous operation prevention area 72b is a position where the left shift amount matches the first threshold value THL1. As a result, during a period from time t6 to time t7 when the left shift amount reaches the first threshold value THL1, the control unit 25 outputs a steering operation signal that instructs the vehicle 12 to make a reverse left turn. Then, in a period after time t7 when the left shift amount changes from the first threshold value THL1 toward a zero corresponding to the center position of the central portion 72a, the control unit 25 instructs the vehicle 12 to go straight backward. Outputs an operation signal.

When the touch to the touch panel 22 is released during the touch operation with the finger F on the icon image 73, the touch panel 22 keeps the icon image 73 in an area to which the icon image 73 belongs when the contact is released. The control unit 25 sets the region to which the icon image 73 belongs when the contact with the touch panel 22 is released according to the state of the steering operation signal transmitted to the vehicle 12 at this time.
For example, as shown in FIG. 14, when the contact operation with the finger F is performed on the icon image 73 displayed at the center position of the center portion 72a (the position where the left shift amount and the right shift amount become zero), the control unit 25 A steering operation signal for instructing the vehicle 12 to go straight backward is output. At this time, the control unit 25 determines that the icon image 73 belongs to the central part 72a. As a result, the icon image 73 displays a graphic (or symbol) 73 a indicating the backward direction of the vehicle 12.
When a contact operation is performed on the icon image 73 at the center position of the central portion 72a in the movement direction in which the right shift amount changes in an increasing tendency, the far side of the right-hand misoperation prevention area 72h is located with respect to the movement direction. The end is a position where the right shift amount matches the second threshold value THR2. Accordingly, when the contact with the touch panel 22 is released before the right shift amount reaches the second threshold value THR2, the control unit 25 maintains the output of the steering operation signal that instructs the vehicle 12 to go straight backward. Accordingly, the control unit 25 determines that the icon image 73 belongs to the central part 72a, and displays the icon image 73 at the central position of the central part 72a. Thereby, the icon image 73 maintains the display of the figure (or symbol) 73a indicating the backward direction of the vehicle 12.

For example, as shown in FIG. 15, when the contact operation with the finger F is performed on the icon image 73 displayed at the center position of the right part 72c (the position where the right shift amount matches the predetermined value R0), the control unit 25 A steering operation signal for instructing the vehicle 12 to make a reverse right turn is output. At this time, the control unit 25 determines that the icon image 73 belongs to the right part 72c. Thereby, the icon image 73 displays a figure (or symbol) 73c indicating the right turning direction of the vehicle 12.
When a contact operation is performed on the icon image 73 at the center position of the right portion 72c in a moving direction in which the right shift amount tends to decrease, the far side of the right erroneous operation preventing region 72h with respect to this moving direction. The end of is the position where the right shift amount matches the first threshold value THR1. Therefore, when the contact with the touch panel 22 is released before the right shift amount reaches the first threshold value THR1, the control unit 25 maintains the output of the steering operation signal instructing the vehicle 12 to turn right backward. Yes. Accordingly, the control unit 25 determines that the icon image 73 belongs to the right part 72c, and displays the icon image 73 at the center position of the right part 72c. Thereby, the icon image 73 maintains the display of the figure (or symbol) 73c indicating the right turning direction of the vehicle 12.

The integrated control unit 48 of the vehicle 12 sets the steering angle command value of the vehicle 12 to a maximum from a predetermined initial value when turning the vehicle 12 backward left or right backward according to the steering operation signal from the mobile terminal 11. Change to an increasing trend toward the value. As a result, the integrated control unit 48 suppresses the right end point of the vehicle 12 from turning rightward when the vehicle 12 is rotated backward to the left, and the left end point of the vehicle 12 when the vehicle 12 is rotated backward to the right. Suppresses the trajectory bulging to the left.
For example, as shown in FIGS. 16 and 17, the trajectory of the vehicle right end point B (ex-changed steering angle) when the steering angle command value is gradually increased when the vehicle 12 is turned backward to the left is the steering angle command value. Compared with the locus of the vehicle right end point B (maximum rudder angle) when the vehicle is fixed at a predetermined maximum value, the rightward bulge of the vehicle 12 is reduced.
For example, as shown in FIG. 18, the integrated control unit 48 sets the steering angle command value of the vehicle 12 from time ta at which reception of the steering operation signal from the portable terminal 11 is started to time tb after a predetermined time. An increasing tendency is changed from a predetermined initial value toward a maximum value.

  As described above, according to the vehicle remote control system 10 according to the embodiment, since the control unit 25 capable of detecting the first contact operation and the second contact operation with respect to one icon image 73 is provided, the user is familiar with complicated operations and operations. The vehicle 12 can be operated by a simple contact operation without the need for a vehicle. Since the control unit 25 that transmits the traveling operation signal and the steering operation signal to the vehicle 12 by detecting one or both of the first contact operation and the second contact operation on the icon image 73 is provided, the configuration of the mobile terminal 11 It is possible to prevent the vehicle from becoming complicated and to remotely control the traveling of the vehicle 12 and the turning to the left and right by a simple and intuitive operation. Since the control unit 25 that operates the vehicle 12 by a simple contact operation to the touch panel 22 is provided, the driver's attention is used to confirm the surrounding safety in the actual vehicle 12 without the driver needing to visually check the operation screen. Can concentrate.

Furthermore, since the control unit 25 that automatically holds the position of the icon image 73 according to the release of the touch on the touch panel 22 is provided, the operability can be improved. For example, when the vehicle 12 in the steered state is stopped and travel is resumed, it can be resumed from the steered state.
Furthermore, since the touch panel 22 in which a plurality of regions 72 for instructing steering in the short side direction is provided, the left and right steering of the vehicle 12 can be remotely operated more intuitively and easily. That is, when the driver has the mobile terminal 11 having an asymmetric aspect ratio, the short side direction of the touch panel 22 is directed to the left and right direction of the driver, and the vehicle 12 is steered in the left and right direction. It can be performed by operating in the direction, and intuitive operation becomes easy.

Furthermore, the center part 72 a is associated with the front-rear direction of the vehicle 12, and the left part 72 b and the right part 72 c that sandwich the center part 72 a from both sides in the short side direction of the touch panel 22 are associated with the left-right direction of the vehicle 12. Therefore, it is possible to remotely control the traveling of the vehicle 12 and the turning to the left and right by a simple and intuitive operation.
Furthermore, since the touch panel 22 for setting the left erroneous operation prevention region 72g and the right erroneous operation prevention region 72h (so-called hysteresis region) is provided in the vicinity of the boundary between the plurality of regions 72, the contact state with the icon image 73 slightly changes. The icon image 73 is not erroneously detected as having moved between the plurality of regions 72. As a result, the state of the steering operation signal transmitted to the vehicle 12 is prevented from frequently switching, the operation state is maintained against a change in the contact state unintended by the driver, and the operability is further improved. Can be improved.
Further, since the touch panel 22 that displays the plurality of areas 72, the left erroneous operation prevention area 72g, and the right erroneous operation prevention area 72h with different background colors is provided, the left erroneous operation prevention area 72g and the right erroneous operation prevention area 72h exist. The driver can easily make it visible.

Furthermore, since the touch panel 22 for displaying figures (or symbols) 73a, 73b, 73c indicating the traveling direction of the vehicle 12 that changes according to the traveling operation signal or the steering operation signal is provided, the traveling operation signal to be transmitted to the vehicle 12 and The state of the steering operation signal can be easily recognized by the driver.
Furthermore, since the control unit 25 that associates each of the plurality of regions 72 with the moving direction of the vehicle 12 is provided so that the moving direction instructed to the vehicle 12 matches the direction indicated by the vehicle image 75, for example, the actual vehicle 12 Thus, the driver can easily see the moving direction instructed to the vehicle 12 without the need to display a bird's-eye view image. As a result, the vehicle 12 can be remotely operated and steered left and right by a simple and intuitive operation.

  Furthermore, since the integrated control unit 48 that moves the vehicle 12 while interrupting the movement of the vehicle 12 with respect to the obstacle or avoiding the obstacle is provided, even if there is an obstacle around the vehicle 12, the vehicle The possibility that 12 contacts with an obstacle can be reduced, and desired safety can be ensured.

Hereinafter, a first modification and a second modification of the above-described embodiment will be described.
In the above-described embodiment, the delivery in the manual mode is the parallel delivery by the backward movement (back) of the vehicle 12, but the invention is not limited to this, and the parallel delivery by the forward movement is performed in addition to the backward movement of the vehicle 12 in the manual mode. It is good.
In the first modified example, the touch panel 22 displays operation button images 91a and 91b for selecting one of the backward movement and the forward movement of the vehicle 12, as shown in FIG.
In the second modification, the touch panel 22 may display the icon image 73 so as to be movable in the long side direction in addition to the short side direction of the touch panel 22, as shown in FIG.

  In the first modified example, when the operation button image 52d for manual mode exit is touched on the mode selection screen 52, the touch panel 22 operates in accordance with a control signal from the control unit 25 as shown in FIG. A start waiting screen 92 is displayed. Similar to the operation start waiting screen 71 of the above-described embodiment, the operation start waiting screen 92 includes three regions 72 (a center portion 72a, a left portion 72b, and a right portion 72c), an operation button image 74, a vehicle image 75, Each of the operation button images 76 and 77 and the predetermined message 78 are displayed. The operation start waiting screen 92 displays operation button images 91a and 91b. When each of the operation button images 91a and 91b is contact-operated, the control unit 25 selects manual mode delivery by each of the vehicle 12 moving backward and forward.

When the operation button image 91a indicating the backward movement of the vehicle 12 is touched, the touch panel 22 highlights the operation button image 91a. At this time, the icon image 73 displays a graphic (or symbol) 73 a indicating the backward direction of the vehicle 12. When the icon image 73 is touched by the driver's finger F, the control unit 25 outputs an operation signal instructing any one of the vehicle 12 to move backward, turn left, and turn right.
When the operation button image 91b indicating the forward movement of the vehicle 12 is touched, the touch panel 22 highlights the operation button image 91b. At this time, the icon image 73 displays a graphic (or symbol) 73 d indicating the forward direction of the vehicle 12. The forward direction of the vehicle 12 indicated by the graphic (or symbol) 73d is associated with the front of the vehicle indicated by the vehicle image 75. When the icon image 73 is contact-operated by the driver's finger F, the control unit 25 outputs an operation signal instructing any one of forward straight travel, forward left turn, and forward right turn of the vehicle 12.

  In the second modification, when the operation button image 52d for the manual mode exit is touched on the mode selection screen 52, the touch panel 22 operates according to a control signal from the control unit 25 as shown in FIG. A start waiting screen 93 is displayed. The operation start waiting screen 93 displays each of the operation button image 74, the vehicle image 75, the operation button images 76 and 77, and the predetermined message 78, similarly to the operation start waiting screen 71 of the above-described embodiment. The operation start waiting screen 93 displays five areas 72 (a center part 72a, a left part 72b, a right part 72c, a front part 72j, and a rear part 72k) that are divided so as to be recognized by the driver. The operation start waiting screen 93 is displayed by arranging three regions 72 (a central portion 72a, a left portion 72b, and a right portion 72c) in the short side direction of the touch panel 22 formed in a rectangular shape having a predetermined aspect ratio. To do. The left part 72b and the right part 72c are displayed so as to sandwich the central part 72a from both sides in the short side direction. The operation start waiting screen 93 displays three regions 72 (a central portion 72a, a front portion 72j, and a rear portion 72k) arranged in the long side direction of the touch panel 22. The front part 72j and the rear part 72k are displayed so as to sandwich the central part 72a from both sides in the long side direction.

The operation start waiting screen 93 displays an icon image 73 on the central portion 72a as an initial display state. The icon image 73 displays a graphic (or symbol) 73e indicating the movable direction of the vehicle 12 as an initial display state. Each of the backward direction, forward direction, left turn direction, and right turn direction of the vehicle 12 indicated by the figure (or symbol) 73e is the rear, front, left, and right sides of the vehicle indicated by the vehicle image 75, respectively. Is associated with.
The operation start waiting screen 93 includes the left portion 72b and the right portion 72c, and the left and right portions 72b and right so that the left and right directions of the vehicle indicated by the vehicle image 75 correspond to the left and right directions of the steering of the vehicle 12. Each figure (or symbol) 72d, 72e is displayed on each of the side portions 72c. The figure (or symbol) 72d indicates the left turning direction of the vehicle 12 in the left portion 72b. The left turning direction of the vehicle 12 indicated by the graphic (or symbol) 72 d is associated with the left direction of the vehicle indicated by the vehicle image 75. The figure (or symbol) 72e indicates the right turning direction of the vehicle 12 in the right portion 72c. The right turning direction of the vehicle 12 indicated by the graphic (or symbol) 72e is associated with the right direction of the vehicle indicated by the vehicle image 75.
The operation start waiting screen 93 includes a front portion 72j and a rear portion 72k, and the front and rear directions of the vehicle indicated by the vehicle image 75 and the forward and backward directions of the vehicle 12 are associated with each other. Each figure (or symbol) 72m, 72n is displayed on each. The figure (or symbol) 72m indicates the forward direction of the vehicle 12 in the front portion 72j. The forward direction of the vehicle 12 indicated by the graphic (or symbol) 72m is associated with the forward direction of the vehicle indicated by the vehicle image 75. The figure (or symbol) 72n indicates the backward direction of the vehicle 12 in the rear part 72k. The backward direction of the vehicle 12 indicated by the graphic (or symbol) 72n is associated with the backward direction of the vehicle indicated by the vehicle image 75.

  The operation start waiting screen 93 displays the icon image 73 so as to be movable between the five regions 72 following the contact movement operation with the driver's finger F on the icon image 73. The control unit 25 includes a first contact operation that is a contact operation that does not involve movement between the five regions 72 with respect to the icon image 73 and a second contact operation that is a contact operation that involves movement between the five regions 72 with respect to the icon image 73. And can be detected. The control unit 25 detects one or both of the first contact operation and the second contact operation with respect to the icon image 73, thereby instructing the speed of one of the vehicle 12 traveling backward and forward. A signal and a steering operation signal for instructing steering in one of the left and right directions of the vehicle 12 are transmitted to the vehicle 12.

  The operation start waiting screen 93 includes the direction in which the icon image 73 can be moved by the second contact operation, the short side direction of the touch panel 22 that displays the central portion 72a, the left portion 72b, and the right portion 72c, and the central portion 72a. The front part 72j and the rear part 72k are set to the long side direction of the touch panel 22 that displays the array. The operation start waiting screen 93 displays an image 72 f of the first reference axis extending in the first movable direction of the icon image 73. The image 72f of the first reference axis is displayed so as to connect a figure (or symbol) 72d indicating the left turning direction of the vehicle 12 and a figure (or symbol) 72e indicating the right turning direction. The operation start waiting screen 93 displays an image 72p of the second reference axis extending in the second movable direction of the icon image 73. The second reference axis is orthogonal to the first reference axis. The image 72p of the second reference axis is displayed so as to connect a figure (or symbol) 72m indicating the forward direction of the vehicle 12 and a figure (or symbol) 72n indicating the backward direction.

When the icon image 73 is touched by the driver's finger F on the operation start waiting screen 93, the touch panel 22 responds to one or both of the first contact operation and the second contact operation detected by the control unit 25. Thus, each screen corresponding to the moving state of the vehicle 12 is displayed.
In the touch panel 22, for example, when the instruction value of the traveling operation signal is a predetermined value corresponding to the backward movement and the instruction value of the steering operation signal is zero, the control unit 25 instructs the vehicle 12 to go straight backward. A reverse straight running in-progress screen 94 corresponding to the state is displayed.
In the touch panel 22, for example, when the instruction value of the traveling operation signal is set to a predetermined value corresponding to the forward movement and the instruction value of the steering operation signal is set to zero, the control unit 25 instructs the vehicle 12 to go straight ahead. A forward straight operation in-progress screen 95 corresponding to the state is displayed.

Similar to the operation start waiting screen 93, the reverse rectilinear operation in-progress screen 94 has five regions 72 (a center portion 72a, a left portion 72b, a right portion 72c, a front portion 72j, a rear portion 72k), an operation button image 74, Each of the vehicle image 75, the operation button images 76 and 77, and the predetermined message 78 is displayed.
When the first contact operation by the driver's finger F is maintained on the icon image 73 on the rear part 72k, the screen 94 during the backward rectilinear movement indicates the backward direction of the vehicle 12 on the icon image 73 on the rear part 72k. A figure (or symbol) 73a to be displayed is displayed. The icon image 73 indicates that the control unit 25 outputs a traveling operation signal and a steering operation signal for instructing the vehicle 12 to execute a straight backward traveling by displaying a figure (or symbol) 73a.

Similar to the operation start waiting screen 93, the forward straight movement in-progress screen 95 includes five areas 72 (a center part 72a, a left part 72b, a right part 72c, a front part 72j, and a rear part 72k), an operation button image 74, Each of the vehicle image 75, the operation button images 76 and 77, and the predetermined message 78 is displayed.
When the first contact operation by the driver's finger F is maintained with respect to the icon image 73 of the forward portion 72j, the forward straight traveling operation screen 95 indicates the forward direction of the vehicle 12 on the icon image 73 of the forward portion 72j. The figure (or symbol) 73d to be displayed is displayed. The icon image 73 indicates that the control unit 25 outputs a traveling operation signal and a steering operation signal for instructing the vehicle 12 to execute straight forward traveling by displaying a graphic (or symbol) 73d.

  As shown in FIG. 21, the touch panel 22 displays a left erroneous operation prevention region 72g in the vicinity of the boundary between the central portion 72a and the left portion 72b, and near the boundary between the central portion 72a and the right portion 72c. The right operation error prevention area 72h is displayed. The touch panel 22 displays a front erroneous operation prevention region 72r near the boundary between the central portion 72a and the front portion 72j, and displays a rear erroneous operation prevention region 72s near the boundary between the central portion 72a and the rear portion 72k. The touch panel 22 includes a central portion 72a, a left portion 72b, a right portion 72c, a front portion 72j, a rear portion 72k, a left erroneous operation prevention region 72g, a right erroneous operation prevention region 72h, a forward erroneous operation prevention region 72r, and a rear erroneous operation prevention. Each of the regions 72s is displayed so as to be recognizable to the driver by using different background colors.

The touch panel 22 uses the movement amount of the contact movement operation of the finger F in the direction from the center position of the central portion 72a to each of the left portion 72b and the right portion 72c as a left shift amount and a right shift amount. The touch panel 22 sets a region between the first threshold THL1 for the left shift amount and the first threshold THR1 for the right shift amount as the central portion 72a. The touch panel 22 sets a region between the first threshold value THL1 of the left shift amount and the second threshold value THL2 larger than the first threshold value THL1 as a left erroneous operation prevention region 72g. The touch panel 22 sets a region where the left shift amount is larger than the second threshold value THL2 as the left portion 72b. The touch panel 22 sets a region between the first threshold value THR1 of the right shift amount and the second threshold value THR2 larger than the first threshold value THR1 as a right erroneous operation prevention region 72h. The touch panel 22 sets a region where the right shift amount is larger than the second threshold value THR2 as the right portion 72c. Accordingly, when the second contact operation is performed on the icon image 73 so as to move between the three regions 72 (the center portion 72a, the left portion 72b, and the right portion 72c), the icon image 73 is erroneously operated to the left. It moves so as to straddle each of the prevention area 72g and the right side erroneous operation prevention area 72h.
In each of the left erroneous operation prevention region 72g and the right erroneous operation prevention region 72h, the control unit 25 displays the end portion on the side far from the moving direction when the second contact operation to the icon image 73 is performed as the icon image 73. The state of the steering operation signal to be transmitted to the vehicle 12 when the vehicle is straddled is switched.

The touch panel 22 uses the movement amount of the contact movement operation of the finger F in the direction from the center position of the central portion 72a to each of the front portion 72j and the rear portion 72k as a front shift amount and a rear shift amount. The touch panel 22 sets a region between the first threshold value THF1 for the front shift amount and the first threshold value THB1 for the rear shift amount as the central portion 72a. The touch panel 22 sets a region between the first threshold value THF1 of the previous shift amount and the second threshold value THF2 larger than the first threshold value THF1 as a forward erroneous operation prevention region 72r. The touch panel 22 sets a region where the previous shift amount is larger than the second threshold value THF2 as the front portion 72j. The touch panel 22 sets a region between the first threshold value THB1 of the rear shift amount and the second threshold value THB2 larger than the first threshold value THB1 as a backward erroneous operation prevention region 72s. The touch panel 22 sets a region where the rear shift amount is larger than the second threshold value THB2 as the rear portion 72k. Thus, when the second contact operation is performed on the icon image 73 so as to move between the three regions 72 (the center portion 72a, the front portion 72j, and the rear portion 72k), the icon image 73 is displayed in the front erroneous operation prevention region 72r. And it moves so that each of the back misoperation prevention area 72s may be straddled.
In each of the forward erroneous operation prevention area 72r and the backward erroneous operation prevention area 72s, the control unit 25 has the icon image 73 straddling an end on the side far from the moving direction when the second contact operation to the icon image 73 is performed. The state of the traveling operation signal transmitted to the vehicle 12 is switched at the time.

In the above-described embodiment, when the contact operation (first contact operation and second contact operation) of the finger F with respect to the icon image 73 is released, the control unit 25 instructs to pause the operation of the vehicle 12. Although an operation signal is output, the present invention is not limited to this.
For example, in the above-described second modification, even if the contact operation (first contact operation and second contact operation) of the finger F with respect to the icon image 73 is released, the icon image 73 corresponds to the region 72 to which the icon image 73 belongs. Then, the traveling operation signal and the steering operation signal may be transmitted to the vehicle 12. That is, when the icon image 73 belongs to each of the left part 72b, the right part 72c, the front part 72j, and the rear part 72k, the control unit 25 turns the vehicle 12 left, right, forward straight, and reverse. A traveling operation signal and a steering operation signal instructing each of the straight traveling may be output. Further, when the icon image 73 belongs to the central portion 72 a, the control unit 25 may output an operation signal instructing to stop the vehicle 12.

In the above-described embodiment, each figure (or symbol) 73a, 73b, 73c is displayed on the icon image 73 of each of the three regions 72 (center part 72a, left part 72b, right part 72c). However, it is not limited to this.
In the third modification, as shown in FIG. 22, the touch panel 22 is located outside the display area of the icon image 73 (for example, a position that is not hidden by the finger F of the driver who performs a contact operation on the icon image 73, Each figure (or symbol) 98a, 98b, 98c is displayed on the display area of the icon image 73). Each figure (or symbol) 98a, 98b, 98c indicates the backward direction, left turn direction, and right turn direction of the vehicle 12, respectively. Each figure (or symbol) 98a, 98b, 98c is highlighted (for example, enlarged display or increased brightness display) according to the region 72 to which the icon image 73 touched by the driver's finger F belongs.
For example, when the contact operation with the driver's finger F is maintained on the icon image 73 of the central portion 72a, the screen 81 during the backward rectilinear movement operation highlights the graphic (or symbol) 98a. For example, when the contact operation with the driver's finger F is maintained on the icon image 73 of the left part 72b, the screen 82 in the backward left turn operation highlights the figure (or symbol) 98b. For example, when the contact operation by the driver's finger F is maintained on the icon image 73 of the right part 72c, the screen 84 during the reverse turn right operation highlights the figure (or symbol) 98c.

  According to the third modification, each figure (or symbol) 98 a, 98 b, 98 c is displayed at a position that is not hidden by the driver's finger F touching the icon image 73, and thus transmitted to the vehicle 12. The state of the traveling operation signal and the steering operation signal to be performed can be easily recognized by the driver, and the operability can be improved.

Hereinafter, another modification of the above-described embodiment will be described.
In the above-described embodiment and the second modification, each of the short side direction and the long side direction of the touch panel 22 is divided into three regions 72. However, the present invention is not limited to this, and more than three are provided. The area 72 may be divided. In this case, the control unit 25 may change the instruction values of the traveling operation signal and the steering operation signal output to the vehicle 12 in a stepwise manner corresponding to each of the plurality of regions 72.

In the above-described embodiment, the control unit 25 may output a predetermined alarm sound from the speaker 24 while transmitting the traveling operation signal or the steering operation signal to the vehicle 12.
In this case, since the speaker 24 that outputs the alarm sound is provided, even if the vehicle 12 itself does not have a function of outputting the alarm sound, the vehicle 12 can be alerted to the surroundings during the remote operation.

In the above-described embodiment, the control unit 25 outputs an alarm sound in which at least one of the output interval and the volume changes according to the distance between the obstacle detected by the ultrasonic sensor 42 of the vehicle 12 and the vehicle 12. 24 may be output.
In this case, since the speaker 24 that outputs an alarm sound that changes at least one of the output interval and the volume according to the distance between the obstacle and the vehicle 12 is provided, for example, there is an obstacle in the driver's blind spot. Even in such a case, it is possible to make the driver recognize the relative position between the obstacle and the vehicle 12. Thereby, possibility that the vehicle 12 will contact an obstacle can be reduced and desired safety can be ensured.
In addition, the control unit 25 causes the vibration control unit 23 to generate a vibration in which at least one of the period and the amplitude changes according to the distance between the obstacle detected by the ultrasonic sensor 42 of the vehicle 12 and the vehicle 12. May be.
In this case, since the vibration control unit 23 that generates vibration in which at least one of the period and the amplitude changes according to the distance between the obstacle and the vehicle 12 is provided, for example, when the obstacle exists in the driver's blind spot. Even in such a case, it is possible to make the driver recognize the relative position between the obstacle and the vehicle 12. Thereby, possibility that the vehicle 12 will contact an obstacle can be reduced and desired safety can be ensured.

In the above-described embodiment, the control unit 25 detects one or both of the first contact operation and the second contact operation with respect to the icon image 73, thereby transmitting the traveling operation signal and the steering operation signal to the vehicle 12. Then, it is not limited to this.
The control unit 25 transmits a traveling operation signal to the vehicle 12 only while detecting the first contact operation on the icon image 73, and when detecting the second contact operation on the icon image 73, the steering operation signal. May be transmitted to the vehicle 12.
Further, in the above-described second modification, the control unit 25 transmits a traveling operation signal to the vehicle 12 when detecting the second contact operation on the icon image 73 with respect to the first reference axis, and at the same time with respect to the second reference axis. A steering operation signal may be transmitted to the vehicle 12 when the second contact operation on the icon image 73 is detected.

  In the above-described embodiment, when the vehicle 12 includes a radar device that is used for tracking control that travels following the preceding vehicle, in addition to the ultrasonic sensor 42, the radar device is used in combination with the outside of the vehicle 12. The presence or absence of the object and the distance to the object may be detected.

In the above-described embodiment, the size of the mobile terminal 11 is set such that the driver can perform various operations with the finger of one hand while holding it with one hand, but is not limited thereto. The size of the mobile terminal 11 may be formed in a shape larger than the size that the driver can hold with one hand.
The mobile terminal 11 may be an information terminal that is detachably mounted on the vehicle 12 and functions as various displays, for example.

  The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 10 ... Vehicle remote control system, 11 ... Portable terminal, 12 ... Vehicle, 21 ... Communication part, 22 ... Touch panel, 23 ... Vibration control unit (vibration generating means), 24 ... Speaker, 25 ... Control part, 41 ... Communication unit, DESCRIPTION OF SYMBOLS 42 ... Ultrasonic sensor (obstacle detection means), 43 ... Drive control unit, 44 ... Brake control unit, 45 ... Steering control unit, 46 ... Horn control unit, 47 ... Light body control unit, 48 ... Integrated control unit (vehicle) Control part) 72a ... Center part (area at the center position), 72b ... Left part (area that sandwiches the area at the center position from both sides in the predetermined direction), 72c ... Right part (area at the center position from both sides in the predetermined direction) 72g ... Left side erroneous operation prevention region (erroneous operation prevention region), 72h ... Right side erroneous operation prevention region (erroneous operation prevention region), 73 ... Icon image, 73a, 7 b, 73c ... figure (or symbol), 75 ... vehicle image

Claims (15)

A portable terminal including a vehicle and a control unit that displays an operation screen carried by the operator for operating the vehicle from the outside on the touch panel and transmits an operation signal corresponding to a touch operation to the touch panel to the vehicle. A vehicle remote control system comprising:
The operation screen displays a plurality of areas and one icon image that are recognizable to the operator, and displays the icon image so as to be movable between the plurality of areas by the contact operation on the icon image. And
The controller is
At least one of a first contact operation that is a contact operation without movement between the plurality of regions with respect to the icon image and a second contact operation that is a contact operation with movement between the plurality of regions with respect to the icon image. Can be detected, and
A traveling operation signal for instructing traveling to at least one of forward and backward movements of the vehicle by detecting one or both of the first contact operation and the second contact operation with respect to the icon image; A steering operation signal for instructing steering to either one of the left and right directions of the vehicle is transmitted to the vehicle.
A vehicle remote control system. The controller is
Only when the first contact operation on the icon image is detected, the traveling operation signal is transmitted to the vehicle, and when the second contact operation on the icon image is detected, the steering operation signal is Send to the vehicle,
The vehicle remote control system according to claim 1. The plurality of regions are divided with respect to each of a first reference axis serving as a reference on the operation screen and a second reference axis that intersects the first reference axis.
The controller is
When the second contact operation on the icon image with respect to the first reference axis is detected, the traveling operation signal is transmitted to the vehicle, and the second contact operation on the icon image with respect to the second reference axis is performed. If detected, the steering operation signal is transmitted to the vehicle.
The vehicle remote control system according to claim 1. The plurality of regions are configured by a region at a central position and a region sandwiching the region at the central position from both sides in a predetermined direction,
The icon image remains in an area to which the contact is released when the contact with the touch panel is released in an area other than the area of the center position.
The vehicle remote control system according to any one of claims 1 to 3, wherein the vehicle remote control system is provided. The size of the mobile terminal is a size that can be held with one hand of the operator,
The touch panel has a predetermined aspect ratio, and the plurality of the touch panels for instructing steering in one of the left and right directions of the vehicle in the width direction of the short side of the long side and the short side of the aspect ratio. Place the area of
The vehicle remote control system according to any one of claims 1 to 4, wherein the vehicle remote control system is characterized. The operation screen sets an erroneous operation prevention area in the vicinity of the boundary between the plurality of areas,
The controller is
In the erroneous operation prevention area, the traveling operation signal transmitted to the vehicle when the icon image straddles an end portion far from the moving direction when the second contact operation is performed on the icon image; and Switching at least one of the steering operation signals;
The vehicle remote control system according to any one of claims 1 to 5, wherein: The operation screen is
The plurality of areas and the erroneous operation prevention area are displayed so as to be recognizable to the operator by different background colors.
The vehicle remote control system according to claim 6. The operation screen displays a figure or symbol indicating the traveling direction of the vehicle,
The figure or the symbol changes according to the traveling operation signal or the steering operation signal.
The vehicle remote control system according to any one of claims 1 to 7, characterized in that The operation screen is
Displaying a vehicle image of a predetermined shape at a predetermined position where the correspondence between the direction indicated by the vehicle image and each of the plurality of regions can be recognized;
The controller is
Each of the plurality of regions is such that the moving direction of the vehicle indicated by the traveling operation signal or the steering operation signal when the second contact operation is performed matches the direction indicated by the vehicle image. And the moving direction of the vehicle
The vehicle remote control system according to any one of claims 1 to 8, wherein The portable terminal includes a speaker capable of reproducing voice or signal sound,
The controller is
While the traveling operation signal or the steering operation signal is transmitted to the vehicle, an alarm sound is output from the speaker.
The vehicle remote control system according to any one of claims 1 to 9, wherein The vehicle is
Obstacle detection means for detecting obstacles existing around the vehicle;
When the obstacle detection means detects the obstacle when the traveling operation signal or the steering operation signal is received, the vehicle moves while interrupting the movement of the vehicle or avoiding the obstacle A control unit;
Comprising
The vehicle remote control system according to any one of claims 1 to 10, wherein: The portable terminal includes a speaker capable of reproducing voice or signal sound,
The vehicle includes obstacle detection means for detecting obstacles existing around the vehicle,
The control unit outputs an alarm sound in which at least one of an output interval and a volume changes according to a distance between the obstacle detected by the obstacle detection unit and the vehicle, from the speaker.
The vehicle remote control system according to any one of claims 1 to 9, wherein The mobile terminal includes vibration generating means capable of generating vibration,
The vehicle includes obstacle detection means for detecting obstacles existing around the vehicle,
The control unit causes the vibration generating unit to generate a vibration in which at least one of a period and an amplitude changes according to a distance between the obstacle detected by the obstacle detecting unit and the vehicle;
The vehicle remote control system according to any one of claims 1 to 9, wherein The plurality of areas are divided into three parts by a center position area and two areas sandwiching the center position area from both sides in a predetermined direction.
The area of the central position is associated with the front-rear direction of the vehicle,
The two regions are associated with left and right directions of the vehicle,
The vehicle remote control system according to any one of claims 1 to 13, wherein the vehicle remote control system is characterized in that The operation screen displays the icon image at a position that is within a movable range of the operator's thumb when the operator holds the portable terminal with one hand.
The vehicle remote control system according to claim 5.

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