JP2022181254A - remote parking device - Google Patents

Abstract

To provide a remote parking device improved so as to call attention to an occurrence of an abnormality when the abnormality occurs which hinders normal and safe movement of a vehicle to a parking position, during remote parking.SOLUTION: A remote parking device comprises: a vehicle control ECU that responds to a parking command sent from a user-operated terminal device in a situation where a driver gets off a vehicle, and moves the vehicle to a predetermined parking position by automatic operation or remote control to park the vehicle; and a hazard lamp and a buzzer as a warning device. When the vehicle control ECU determines that an abnormality that hinders movement of the vehicle to the predetermined parking position has occurred (S50), the vehicle control ECU flashes the hazard lamp and sounds the buzzer (S80) until it is determined that a predetermined period of time or more has elapsed since the occurrence of the abnormality or that one of doors has been opened (S170, S180).SELECTED DRAWING: Figure 2

Description

The present invention relates to a remote parking device for vehicles such as automobiles.

The remote parking device moves the vehicle to a predetermined parking position by automatic driving or remote control in response to a parking command wirelessly transmitted from a terminal device operated by the user when the driver has exited the vehicle. Control remote parking to park. Therefore, according to the remote parking device, the driver can get off the vehicle before moving the vehicle to a predetermined parking position, and automatically move the vehicle to the predetermined parking position and park the vehicle.

In remote parking where the vehicle is moved to a predetermined parking position by automatic driving or remote control and parked, the user operating the terminal device may be exposed to danger due to the unattended movement of the vehicle. .

For example, Patent Literature 1 below describes a remote parking device configured to notify a terminal device of the danger of collision between a user and an object in the vicinity during remote parking by remote operation. It is According to this type of remote parking device, even if the user is in danger of colliding with a nearby object, the user can recognize the danger from the display on the terminal device and take action to avoid the danger.

JP 2019-196065 A

[Problems to be solved by the invention]
In remote parking, the vehicle moves in an unmanned state, so even if an abnormality that hinders normal and safe movement of the vehicle to the parking position occurs, the abnormality should be dealt with and the surroundings should be alerted. can't It should be noted that the abnormality is not limited to an abnormality that occurs in the vehicle such as a sensor abnormality. It also includes external anomalies, such as when another vehicle is parked in the vehicle.

Even in the remote parking device described in Patent Document 1, when an abnormality occurs in the vehicle, the abnormality is not notified to the terminal device, so the user can recognize the abnormality from the display of the terminal device and deal with the abnormality. and cannot take action to call attention to the surroundings.

A major object of the present invention is to be able to call attention to the occurrence of an abnormality when an abnormality that hinders normal and safe movement of the vehicle to the parking position occurs during remote parking. Another object of the present invention is to provide an improved remote parking system.

[Means for Solving the Problems and Effect of the Invention]
According to the present invention, in response to a parking command transmitted from a terminal device (130) operated by a user in a situation where the driver has gotten off the vehicle (110), the vehicle is driven by one of automatic driving and remote control. A remote parking device (100) comprising a control unit (vehicle control ECU 10) that moves the vehicle to a predetermined parking position and parks the vehicle, and an alarm device (hazard lamp 51 and buzzer 52) that issues an alarm to the outside of the vehicle when activated. ) is provided.

The control unit is configured to activate an alarm device (S80) when it determines that an abnormality that hinders movement of the vehicle to the predetermined parking position has occurred (S50).

According to the above configuration, the alarm device is activated when it is determined that an abnormality that hinders normal and safe movement of the vehicle to the predetermined parking position has occurred. Therefore, it is possible to call attention to the effect that an abnormality has occurred around the vehicle.

[Aspect of the invention]
In one aspect of the present invention, the control unit (vehicle control ECU 10) stops the operation of the alarm device (S190) when it determines that a predetermined time has passed since it determined that an abnormality has occurred (S170). ).

According to the above aspect, the operation of the alarm device is stopped when it is determined that the predetermined time has passed since it was determined that an abnormality occurred. Therefore, it is possible to prevent the operation of the alarm device from continuing unnecessarily long.

In another aspect of the present invention, the control unit (vehicle control ECU 10) is configured to stop the operation of the alarm device (S190) when it is determined that any door of the vehicle has been opened (S180). be done.

According to the above aspect, when it is determined that any door of the vehicle has been opened, the operation of the alarm device is stopped. The opening of any door of the vehicle may be due to the driver or other person entering the vehicle in response to an anomaly. Therefore, it is possible to prevent the operation of the alarm device from continuing unnecessarily long.

Furthermore, in another aspect of the present invention, the control unit is configured to notify the terminal device of the occurrence of the abnormality by wireless transmission when determining that the abnormality has occurred.

According to the above aspect, when it is determined that an abnormality has occurred, the occurrence of the abnormality is notified to the terminal device by wireless transmission. Therefore, the user can recognize that an abnormality has occurred from the display on the terminal device.

Furthermore, in another aspect of the present invention, the warning device is at least one of a hazard lamp and a buzzer.

According to the above aspect, when it is determined that an abnormality has occurred, at least one of the hazard lamp (51) and the buzzer (52) is activated. Therefore, it is possible to effectively call attention to the fact that an abnormality has occurred around the vehicle without adding a special alarm device.

In the above description, in order to facilitate understanding of the present invention, names and/or symbols used in the embodiments are added in parentheses to configurations of the invention corresponding to the embodiments to be described later. However, each component of the present invention is not limited to the component of the embodiment corresponding to the parenthesized names and/or symbols. Other objects, features and attendant advantages of the present invention will be readily understood from the description of embodiments of the present invention described with reference to the following drawings.

1 is a schematic configuration diagram showing an embodiment of a remote parking device according to the present invention; FIG. It is a flow chart which shows a remote parking control routine in an embodiment. It is a figure which shows the map of a parking lot displayed on the display of a terminal device, and the usage condition of each parking position. FIG. 3 is a diagram showing a map of parking lots, the usage status of each parking position, and a target route for remote parking displayed on the display of the terminal device; It is a figure which shows the map of a parking lot, the usage condition of each parking position, and the abnormality of a vehicle which are displayed on the display of a terminal device.

A remote parking device according to an embodiment of the present invention will be described in detail below with reference to the drawings.

<Configuration>
Remote parking device 100 is applied to vehicle 110 . As shown in FIG. 1, the vehicle 110 includes a vehicle control ECU 10, an electric power steering ECU 20, a drive ECU 30, and a brake ECU 40. Furthermore, the vehicle 110 includes a meter ECU 50 , a body ECU 60 and a navigation device 70 . The electric power steering ECU is referred to as an EPS-ECU (Electric Power Steering ECU).

Each ECU is an electronic control unit having a microcomputer as a main part, and is connected via a CAN (Controller Area Network) 120 so as to be able to transmit and receive information to and from each other. A microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM. Some or all of these ECUs may be integrated into one ECU.

Various vehicle state sensors 80 for detecting the state of the vehicle 110 and various driving operation state sensors 90 for detecting the driving operation state are connected to the CAN 120 . The vehicle state sensor 80 includes a vehicle speed sensor that detects vehicle speed V, a longitudinal acceleration sensor that detects longitudinal acceleration of the vehicle, a lateral acceleration sensor that detects lateral acceleration of the vehicle, and a yaw rate that detects the yaw rate of the vehicle. such as a sensor.

The driving operation state sensor 90 detects an accelerator operation amount sensor that detects an operation amount of an accelerator pedal, a brake operation amount sensor that detects an operation amount of a brake pedal, a brake switch that detects whether or not the brake pedal is operated, and a steering angle. They include a steering angle sensor, a steering torque sensor that detects steering torque, and a shift position sensor that detects the shift position of the transmission.

Information detected by the vehicle state sensor 80 and the driving operation state sensor 90 (referred to as sensor information) is transmitted to the CAN 120 . Each ECU can appropriately use the sensor information transmitted to the CAN 120 . The sensor information may be information of a sensor connected to a specific ECU, and may be transmitted from the specific ECU to CAN 120 .

The vehicle control ECU 10 is a central control device that performs remote parking, and executes vehicle travel control such as automatic driving control that allows the vehicle to travel without the driver's driving operation. The vehicle control ECU 10 is connected with a transmitter/receiver 11, a peripheral sensor 12, a camera sensor 13, and a setting operator 14, which wirelessly communicate with the terminal device 130. FIG.

The peripheral sensors 12 are five radar sensors that detect peripheral information of the center front, right front, left front, right rear, and left rear of the vehicle 110 . The surrounding information includes, for example, the presence or absence of three-dimensional objects such as other vehicles, pedestrians, bicycles, and buildings, the distance between the own vehicle and the three-dimensional object, the relative speed between the own vehicle and the three-dimensional object, and the relative position of the three-dimensional object with respect to the own vehicle. (direction), etc., and is supplied to the vehicle control ECU 10 at predetermined time intervals.

The camera sensor 13 includes a camera section and a recognition section that analyzes image data obtained by photographing by the camera section and recognizes white lines on roads and parking lots. The camera unit of the camera sensor 13 photographs the scenery in front of the own vehicle. The recognition unit of the camera sensor 13 sends information such as information on the recognized white lines, information on lanes and parking spaces based on the white lines, and information on the relative positional relationship of the vehicle with respect to the lanes and parking spaces to the vehicle control ECU 10 at predetermined intervals. supply.

The setting operation device 14 is an operation device having a plurality of switches for setting whether or not automatic driving and remote parking are to be performed. When a remote parking switch (not shown in FIG. 1) is turned on, the vehicle control ECU 10 cooperates with the terminal device 130 to perform remote parking as described below.

The EPS-ECU 20 is a control device for the electric power steering device. A drive circuit 21 is connected to the EPS-ECU 20 , and the drive circuit 21 is connected to a steering motor 22 . The steering motor 22 is incorporated in a steering mechanism (not shown) of the vehicle 110 . The EPS-ECU 20 detects the steering torque input by the driver through the steering wheel using a steering torque sensor provided on the steering shaft of the steering mechanism, and controls energization of the drive circuit 21 based on the steering torque and vehicle speed. to drive the steering motor 22 . When the steering motor 22 is driven, a steering assist torque is applied to the steering mechanism, reducing the steering burden on the driver.

Further, when the EPS-ECU 20 receives a steering command from the vehicle control ECU 10 via the CAN 120, the steering motor 22 is driven by a control amount specified by the steering command to generate a steering torque. This steering torque is different from the steering assist torque described above, and is a torque applied to the steering mechanism to change the steering angle of the steered wheels without requiring steering operation by the driver. This torque automatically steers the steered wheels.

An engine actuator 31 and a transmission actuator 32 are connected to the drive ECU 30 . The engine actuator 31 is an actuator for changing the operating state of the internal combustion engine 33 , and the transmission actuator 32 is an actuator for changing the gear ratio and shift position of the transmission 34 . The drive ECU 50 changes the output of the internal combustion engine 33 and the gear ratio and shift position of the transmission 34 by controlling the engine actuator 31 and the transmission actuator 32, thereby controlling the driving force (acceleration) and forward/rearward movement of the vehicle 110. to control. The transmission 34 may be either a gear type automatic transmission or a continuously variable transmission.

In the embodiment, the vehicle 110 includes the internal combustion engine 33 and the transmission 34, but the remote parking system of the present invention is a so-called hybrid vehicle (HV) including an internal combustion engine and a motor as driving force sources, or an internal combustion engine. It may be applied to a so-called electric vehicle (EV) that has only a motor as a driving force source without an engine. Further, the remote parking device of the present invention is a so-called plug-in hybrid vehicle (PHV) that can run using power output from at least one of the first motor generator and the second motor generator as driving force and can charge a battery from an external power supply. may be applied to Furthermore, the remote parking device of the present invention is a so-called fuel cell vehicle (FCV) in which a motor is driven by electric power generated by a fuel cell, or a motor is incorporated in each wheel and each wheel is driven by a corresponding motor. It may be applied to a so-called in-wheel motor type vehicle.

A brake actuator 41 is connected to the brake ECU 40 . The brake actuator 41 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake caliper 42b in accordance with an instruction from the brake ECU 40, and the hydraulic pressure presses the brake pad (not shown) against the brake disc 42a to generate a frictional braking force. generate Therefore, the brake ECU 40 controls the braking force of the vehicle 110 to change the deceleration state (deceleration) by controlling the brake actuator 41 .

An electric parking brake actuator 44 is connected to the brake ECU 40, and the electric parking brake is abbreviated as EPB (Electric Parking Brake). Although not shown in FIG. 1, the EPB actuator 44 actuates the electric parking brake by controlling the electric motor to pull the cable of the drum type parking brake built into the disc brake, for example. When the parking brake is applied, the wheels are locked.

The vehicle control ECU 10 automatically steers the steered wheels by outputting a command signal to the EPS-ECU 20, and controls the braking/driving force of the vehicle 110 by outputting a command signal to the drive ECU 30 and the brake ECU 40. , which enables automatic operation. In particular, as will be described later in detail, the vehicle control ECU 10 automatically drives the vehicle 110 so that the vehicle 110 moves to a predetermined parking position along the target movement route for remote parking during remote parking.

The meter ECU 50 is connected to four hazard lamps 51 on the front left and right and on the rear left and right. The hazard lamp 51 blinks when activated by the meter ECU 50 and functions as an alarm device. A buzzer 52 is also connected to the meter ECU 50 . The buzzer 52 sounds so that it can be heard even outside the vehicle 110 when a buzzer sounding signal is received from the meter ECU 50, and functions as another alarm device.

Furthermore, a plurality of door sensors 61 are connected to the body ECU 60 . Each door sensor 61 outputs a signal indicating that the corresponding door is opened to the vehicle control ECU 10 via the body ECU 60 and the CAN 120 . The door sensors 61 may be provided on all the doors of the vehicle 110, or may be provided only on the driver's door and the passenger's door.

Further, although not shown in FIG. 1, the navigation device 70 includes a GPS receiver that receives GPS signals for detecting the current position of the vehicle 110, a map database that stores map information, and a touch panel (touch panel type). display). The navigation device 70 specifies the current position of the vehicle 110 based on GPS signals, performs various arithmetic processing based on the vehicle position and map information stored in a map database, and uses a touch panel to determine the route. provide guidance.

An ECU such as the vehicle control ECU 10 described above and other ECUs (not shown) determine whether or not an abnormality that hinders normal and safe movement of the vehicle 110 to the parking position by automatic operation has occurred. It has become. The navigation device 70 also determines whether or not there is an abnormality. When the ECUs other than the vehicle control ECU 10 and the navigation device 70 determine that an abnormality has occurred, they transmit a signal indicating that fact to the vehicle control ECU 10 via the CAN 120 .

Although not shown in detail in FIG. 1, the terminal device 130 includes a touch panel display, a terminal wireless transmitter/receiver, a GPS receiver, and a terminal ECU. The display is connected to the terminal ECU, and displays various images, which will be described later, under the control of the terminal ECU. The user can also use the display to provide necessary inputs, such as specifying a parking location. The terminal radio transceiver is connected to the terminal ECU and radio-transmits various signals transmitted by the terminal ECU. The GPS receiver receives GPS signals for detecting the current position of terminal device 130 . Further, the terminal radio transmitter/receiver receives various signals wirelessly transmitted via the transmitter/receiver 11 by the vehicle control ECU 10 of the vehicle 110, which will be described later, and transmits the signals to the terminal ECU.

The terminal ECU has a microcomputer as a main part, and the microcomputer includes a CPU, ROM, RAM, nonvolatile memory, interface, and the like. The CPU implements various functions by executing instructions (programs, routines) stored in the ROM. A remote parking application for causing the vehicle control ECU 10 to perform remote parking control, which will be described later, is installed in the terminal ECU.

The user who operates the terminal device 130 may not be the driver, and the terminal device 130 may not be the terminal device of the driver. For example, in the case of valet parking at a hotel, the user may be a hotel parking attendant, and the terminal device 130 may be a hotel terminal device capable of wireless communication with the vehicle control ECU 10 .

When the remote parking switch of the setting operation unit 14 is on and the remote parking application of the terminal device 130 is activated, the vehicle control ECU 10 and the terminal device 130 communicate with each other via the transmitter/receiver 11 and the terminal wireless transmitter/receiver. Give and receive information. In an embodiment, the terminal device 130 receives a map of the parking lot, such as that shown in FIG. , the map 140 of the parking lot and the usage status of each parking position A1 to A10 are displayed. The current position Pv of the vehicle 110 and the current position Pt of the terminal device 130 are also displayed on the map. The user designates the desired parking position by touching the display. In addition, in FIG. 3, the filled parking positions indicate that other vehicles are already parked.

When the CPU of the vehicle control ECU 10 receives information on the designated parking position from the terminal device 130, it executes remote parking control according to the control routine shown in the flowchart shown in FIG. As a result, the vehicle control ECU 10 responds to a parking command transmitted from the terminal device 130 in a situation where the driver gets out of the vehicle 110, moves the vehicle to a predetermined parking position specified by automatic driving, and parks the vehicle. Let

<Remote parking control routine>
Next, a remote parking control routine in the embodiment will be described with reference to the flowchart shown in FIG. Remote parking control according to the flowchart shown in FIG. 2 is repeatedly executed by the CPU of the vehicle control ECU 10 at a predetermined control cycle in a situation where the remote parking switch is on and the remote parking application of the terminal device 130 is running. be done. In the following description, remote parking control is simply referred to as "control".

First, in step S10, the CPU determines a target route from the current position of the vehicle 110 to a predetermined parking position transmitted from the terminal device 130, and notifies the terminal device 130 of information on the target route. When receiving the target route information, the terminal device 130 displays the target route 142 together with the parking lot map 140 on the display, as shown in FIG. It should be noted that in the example shown in FIG. 4, the predetermined parking position is A5.

In step S<b>20 , the CPU notifies the terminal device 130 of information on the current position of the vehicle 110 . When the terminal device 130 receives the current position information, the terminal device 130 displays the current position of the vehicle 110 on the map of the parking lot on the display. Therefore, the user can recognize the current position of the vehicle 110 in the parking lot and that the vehicle is moving toward the predetermined parking position.

In step S30, the CPU determines whether the flag Fe is 1, that is, determines whether the vehicle 110 has an abnormality. When the CPU makes an affirmative determination, the control proceeds to step S120, and when it makes a negative determination, the control proceeds to step S40. Note that the flag Fe is initialized to 0 at the start of control.

In step S40, the CPU determines whether or not vehicle 110 has reached the designated predetermined parking position. When the CPU makes an affirmative determination, the control proceeds to step S100, and when it makes a negative determination, the control proceeds to step S50.

In step S50, the CPU determines whether or not an abnormality that hinders normal and safe movement of the vehicle 110 to a predetermined parking position by automatic driving has occurred. When the CPU makes an affirmative determination, the control proceeds to step S70, and when it makes a negative determination, the control proceeds to step S60. For example, x in FIG. 5 indicates that an abnormality occurred in the vehicle before the vehicle 110 reached the predetermined parking position A5. In addition to abnormalities in the vehicle 110, such as abnormalities in sensors such as the camera sensor 13, the abnormalities include the presence of obstacles, such as other stopped vehicles, that hinder the movement of the vehicle 110 on the movement route. An external anomaly may be included, such as another vehicle parked in the designated predetermined parking position.

In step S60, the CPU automatically moves vehicle 110 toward the parking position so that vehicle 110 moves toward the predetermined parking position along the target route, and returns control to step S20.

In step S70, the CPU sets the flag Fe to 1, and determines that an abnormality that hinders normal and safe movement of the vehicle 110 to a predetermined parking position by automatic operation has occurred. The terminal device 130 is notified of the location of the error and the contents of the abnormality. When the terminal device 130 receives information indicating that an abnormality has occurred, the terminal device 130 displays the occurrence of the abnormality, the location of the abnormality, and the content of the abnormality on the display. Therefore, the user can recognize that an abnormality has occurred in the vehicle 110, the location of the abnormality, and the content of the abnormality.

In step S<b>80 , the CPU outputs a command signal to the meter ECU 50 to start blinking the hazard lamp 51 and sounding the buzzer 52 .

In step S90, the CPU outputs a command signal to the brake ECU 40 to automatically apply braking force to the wheels to start decelerating the vehicle 110, and returns the control to step S20.

In step S100, the CPU outputs a command signal to the drive ECU 30 to shift the shift position of the transmission 34 to the P position, and outputs a command signal to the brake ECU 40 to perform electric parking for a predetermined time. activate the brakes. In addition, the CPU switches off an ignition switch, not shown in FIG.

In step S110, the CPU notifies terminal device 130 that vehicle 110 has parked at a predetermined parking position, and ends the control. When the terminal device 130 receives the information that the vehicle 110 is parked at the predetermined parking position, the terminal device 130 displays that the vehicle 110 is parked at the predetermined parking position. Therefore, the user can recognize that the vehicle 110 is parked at the predetermined parking position as desired.

In step S120, the CPU determines whether or not the flag Fs is 1, that is, determines whether or not the vehicle 110 has stopped due to the occurrence of an abnormality. When the CPU makes an affirmative determination, the control proceeds to step S170, and when it makes a negative determination, the control proceeds to step S130. Note that the flag Fs is initialized to 0 at the start of control.

In step S130, the CPU determines whether or not vehicle 110 has stopped. When the CPU makes an affirmative determination, the control proceeds to step S150, and when it makes a negative determination, the control proceeds to step S140.

In step S140, the CPU directs the vehicle 110 toward the parking position by automatic operation so that the vehicle 110 moves along the target route while decelerating the vehicle 110 by automatically applying braking force to the wheels. move. Note that when the abnormality is an external abnormality, no driving force is applied to the driving wheels, and the vehicle 110 does not move.

In step S150, the CPU sets flag Fs to 1 and notifies terminal device 130 that vehicle 110 has stopped due to an abnormality before reaching a predetermined parking position. When the terminal device 130 receives the information that the vehicle 110 has stopped due to an abnormality, the terminal device 130 displays on the display that the vehicle has stopped due to an abnormality. Therefore, the user can recognize that the vehicle 110 has stopped due to an abnormality and its position.

In step S160, the CPU outputs a command signal to the drive ECU 30 to shift the shift position of the transmission 34 to the P position, and outputs a command signal to the brake ECU 40 to perform electric parking for a predetermined time. activate the brakes. In addition, the CPU switches off an ignition switch, not shown in FIG.

In step S170, the CPU determines whether or not a predetermined time or more has elapsed since the determination in step S50 changed from negative to positive. When the CPU makes an affirmative determination, the control proceeds to step S190, and when it makes a negative determination, the control proceeds to step S180.

In step S<b>180 , the CPU determines whether or not any door is opened based on the detection result of the door sensor 61 . When the CPU makes a negative determination, the control returns to step S20. On the other hand, when the CPU makes an affirmative determination, it may be considered that the driver or another person got into the vehicle 110 in order to deal with the abnormality. Stop ringing and end control.

<Operation of Embodiment>
Next, the operation of the embodiment will be described for a case where no abnormality has occurred and a case where an abnormality has occurred before the vehicle 110 reaches a predetermined parking position.

<When no error has occurred>
A negative determination is made in steps S30, S40, and S50, and in step S60, the vehicle 110 is automatically moved toward the parking position along the target route toward the predetermined parking position. When the vehicle 110 reaches the predetermined parking position, an affirmative determination is made in step S40, and in steps S3100 and S110, the vehicle 110 is parked in the predetermined parking position and the terminal device 130 is notified that the parking has been completed. be done.

<When an abnormality occurs before the vehicle 110 reaches a predetermined parking position>
When an abnormality occurs in the vehicle, an affirmative determination is made in step S50, and flag Fe is set to 1 in step S70, and the terminal device 130 is notified that the vehicle 110 has an abnormality. Further, in step S80, flashing of the hazard lamps 51 and sounding of the buzzer 52 are started, and deceleration of the vehicle 110 is started in step S90.

After that, the determination in step S30 becomes affirmative, so the movement of the vehicle continues until the determination in step S130 becomes affirmative, that is, until the vehicle stops. When the vehicle stops, the determination in step S130 becomes affirmative, and steps S150 to S190 are executed. Therefore, when it is determined that a predetermined period of time or more has elapsed since the occurrence of an abnormality, or that any door has been opened, the blinking of the hazard lamp 51 and the sounding of the buzzer 52 are terminated.

As can be seen from the above description, according to the embodiment, when it is determined that an abnormality has occurred during the process until the vehicle 110 reaches the predetermined parking position (step S50), the hazard lamp 51 as a warning device is turned on. Flashing and buzzer 52 are activated (step S80). Therefore, it is possible to call attention to the effect that an abnormality has occurred around the vehicle.

Further, according to the embodiment, when it is determined that a predetermined time has passed since it was determined that an abnormality occurred (step S170), the flashing of the hazard lamp 51 and the sounding of the buzzer 52 are stopped (step S170). S190). Therefore, it is possible to prevent the flashing of the hazard lamp 51 and the ringing of the buzzer 52 from continuing unnecessarily long.

Further, according to the embodiment, when it is determined that any door of the vehicle 110 is opened (step S180), the blinking of the hazard lamp 51 and the sounding of the buzzer 52 are stopped (step S190). The opening of any door of the vehicle may be due to the driver or other person entering the vehicle in response to an anomaly. Therefore, it is possible to prevent the flashing of the hazard lamp 51 and the ringing of the buzzer 52 from continuing unnecessarily long.

Further, according to the embodiment, when it is determined that an abnormality has occurred (step S50), the terminal device 130 is notified of the occurrence of the abnormality by wireless transmission. Therefore, the user can recognize that an abnormality has occurred from the display on the terminal device.

Furthermore, according to the embodiment, when it is determined that an abnormality has occurred in the vehicle 110 (step S50), the hazard lamps 51 and the buzzer 52 are activated (step S80). Therefore, it is possible to effectively call attention to the fact that an abnormality has occurred around the vehicle without adding a special alarm device.

Although the present invention has been described in detail with respect to particular embodiments, it should be understood that the present invention is not limited to the embodiments described above and that various other embodiments are possible within the scope of the present invention. will be clear to those skilled in the art.

For example, in the embodiment described above, movement of vehicle 110 to the parking position is performed by automatic operation controlled by vehicle control ECU 10 . However, the movement of the vehicle 110 to the parking position may be performed by remote operation by the user operating the terminal device 130, that is, by remote operation.

In the above-described embodiment, blinking of the hazard lamp 51 and sounding of the buzzer 52 are performed as an alarm when an abnormality occurs when the vehicle 110 is automatically moved to the parking position. However, the warning may be only one of the flashing of the hazard lamp 51 and the ringing of the buzzer 52 , or may be a warning other than the flashing of the hazard lamp 51 and the ringing of the buzzer 52 .

In the above-described embodiment, the terminal device 130 receives a parking lot map and a signal indicating the use status of each parking position from the parking lot management server, and displays the parking lot map and use status of each parking position on the display. View status. Then, the user designates the desired parking position by touching the display. However, the map of the parking lot and the signal indicating the usage status of each parking position are not received from the management server of the parking lot. It may be.

In the above-described embodiment, the current position Pv of the vehicle is displayed on the display of the terminal device 130 from when the vehicle 110 starts to move by remote parking until the vehicle reaches a predetermined parking position. However, the display of the current position Pv of the vehicle may be omitted.

Furthermore, in the above-described embodiment, when it is determined that a predetermined period of time or more has elapsed since the time when an abnormality occurred, or when it is determined that any door has been opened, the hazard lamp 51 is turned off. Flashing and ringing of the buzzer 52 are ended. However, the determination of whether the door is open may be omitted, and the blinking of the hazard lamp 51 and the sounding of the buzzer 52 may be terminated by the driver who has returned to the vehicle 110 or another person who has gotten into the vehicle 110 .

DESCRIPTION OF SYMBOLS 10... Vehicle control ECU, 20... EPS*ECU, 30... Drive ECU, 40... Brake ECU, 50... Meter ECU, 51... Hazard lamp, 52... Buzzer, 60... Body ECU, 70... Navigation device, 100... Remote parking Device 110 Vehicle 130 Terminal device 140 Parking map 142 Target route

Claims (5)

In response to a parking command wirelessly transmitted from a terminal device operated by a user when the driver gets out of the vehicle, the vehicle is moved to a predetermined parking position and parked by either automatic operation or remote operation. A remote parking device comprising a control unit and an alarm device that, when activated, issues an alarm to the exterior of said vehicle,
A remote parking device, wherein the control unit activates the alarm device when it is determined that an abnormality that hinders movement of the vehicle to the predetermined parking position has occurred. 2. The remote parking device according to claim 1, wherein the control unit is configured to stop the operation of the alarm device when it is determined that a predetermined time has passed since it is determined that the abnormality has occurred. parking device. 2. The remote parking apparatus of claim 1, wherein the control unit is configured to deactivate the alarm device when it determines that any door of the vehicle has been opened. 4. The remote parking device according to any one of claims 1 to 3, wherein when the control unit determines that the abnormality has occurred, it notifies the terminal device of the occurrence of the abnormality by wireless transmission. A remote parking device configured as follows. 5. The remote parking device according to claim 1, wherein said warning device is at least one of a hazard lamp and a buzzer.

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