RU2795181C1 - Vehicle remote control method and vehicle remote control device - Google Patents

Abstract

FIELD: vehicle remote control.

SUBSTANCE: group of inventions relates to a method and device for remote control of a vehicle. The expansion unit is located outside the vehicle. The vehicle has the function of autonomous traffic control. The method comprises: detecting the relative position of the expansion unit with respect to the vehicle; establishing a touch command operation with the remote operation device; detecting a touch operation performed by an operator on the touch panel of the remote operation device; determining whether the detected operation is a touch command operation; vehicle control for the execution of autonomous traffic control. It is achieved that the operator is prompted to perform the operation by the remote operation device in the transfer state of the expansion unit.

EFFECT: effective performance.

19 cl, 17 dwg

Description

[Technical field]

[0001]

The present invention relates to a remote control method for a vehicle and a remote control device for a vehicle that allow a vehicle having an autonomous driving function to autonomously travel by remote operation.

[Prior Art]

[0002]

A method for remotely controlling a vehicle is known (Patent Document 1). In this method, the gesture is input on the touch panel of the vehicle remote operation device. When the entered gesture matches the predetermined gesture, the vehicle is allowed to execute the predetermined function allocated to that gesture.

[0003]

The International Standard for Autonomous Vehicle Traffic Control defines a condition for allowing a remote operation of a vehicle in which the distance between the vehicle and the operator who performs the operation by the operation device is within a predetermined distance of the remote operation (for example, within 6 m). The vehicles to which the method of remotely controlling a vehicle with a remote operation device is applied include vehicles using a keyless entry system expansion unit that locks and unlocks doors or performs other operations wirelessly to measure the distance between the vehicle and operator and position in relation to the vehicle. In such a vehicle, an operator such as a driver remotely operates the vehicle from the outside in a transfer state of the expansion unit and the remote operation device. Thus, if the distance between the extension unit and the vehicle is calculated by wireless communication between the extension unit and the vehicle, a determination can be made as to whether the operator operates the remote operation device at a position within the remote operation distance from the vehicle.

[Prior art document]

[Patent Document]

[0004]

[Patent Document 1] US2016/0170494A

[Summary of the Invention]

[Problems solved by the invention]

[0005]

However, the operator can put the expansion unit in the vehicle or on the roof, for example, and operate the remote operation device without carrying the expansion unit.

[0006]

The problem to be solved by the present invention is to provide a remote control method for a vehicle and a remote control device for a vehicle that can cause an operator to operate the remote control device in the transfer state of the extension unit.

[Problem solver]

[0007]

In the present invention, the touch command operation for carrying out a vehicle operation by the remote operation device is set according to the relative position between the vehicle and the extension unit outside the vehicle, and when the touch operation detected by the touch panel of the remote operation device , is said touch command operation, the vehicle is controlled to execute the autonomous motion control.

[Invention Effect]

[0008]

According to the present invention, the autonomous driving control of the vehicle is executed when the detected touch operation on the touch panel of the remote operation device is a touch command operation which is set according to the relative position between the vehicle and the extension unit, and therefore the operator can be prompted to operation by the remote operation device in the transfer state of the extension unit.

[Brief Description of Drawings]

[0009]

FIG. 1 is a block diagram illustrating a remote parking system to which a remote vehicle control method and a vehicle remote control device according to the present invention are applied.

FIG. 2 is a plan view illustrating an example of remote reverse parking executed in the remote parking system of FIG. 1.

FIG. 3 is an explanatory diagram illustrating a relative position detection state of the extension unit of FIG. 1 with respect to the vehicle in question.

FIG. 4 is a block diagram illustrating the configuration of the remote operation device of FIG. 1.

FIG. 5 is an explanatory diagram illustrating a state in which the remote operation apparatus of FIG. 1 displays a gesture that is input and input information of the gesture.

FIG. 6A is an explanatory diagram illustrating the command gesture and the first input position when the extension unit is present in front of the vehicle in question.

FIG. 6B is an explanatory diagram illustrating the command gesture and the first input position when the extension unit is present behind the vehicle in question.

FIG. 6C is an explanatory diagram illustrating the command gesture and the first input position when the extension unit is present on the right side of the vehicle in question.

FIG. 6D is an explanatory diagram illustrating the command gesture and the first input position when the extension unit is present on the left side of the vehicle in question.

FIG. 6E is an explanatory diagram illustrating a state in which the extension unit is placed on the roof of the subject vehicle and the operator does not carry the extension unit.

FIG. 7 is a flowchart illustrating a control procedure executed in the remote parking system of FIG. 1.

FIG. 8 is a flowchart illustrating the remote operation procedure of FIG. 7.

FIG. 9 is a flowchart illustrating a control procedure for suspending or disabling the autonomous motion control of the subject vehicle during execution of the autonomous motion control in the second embodiment.

FIG. 10 is an explanatory diagram illustrating a control procedure when autonomous driving control of the subject vehicle is enabled at the time of executing the autonomous driving control in the third embodiment.

FIG. 11 is an explanatory diagram illustrating a control procedure for suspending or inhibiting the autonomous driving control of the subject vehicle during execution of the autonomous driving control in the third embodiment.

FIG. 12 is an explanatory diagram illustrating clockwise rotation command operations while the subject vehicle is moving forward and counterclockwise rotation while the subject vehicle is moving backward in the fourth embodiment.

FIG. 13 is an explanatory diagram illustrating touch command operations when turning counterclockwise when the subject vehicle is moving forward and turning clockwise when the subject vehicle is moving backward in the fourth embodiment.

[Implementation(s) for carrying out the invention]

[0010]

"First Embodiment"

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a remote parking system 1 to which a remote control method and a remote control device for a vehicle according to the present invention are applied. In the present description, "autonomous driving control" refers to driving a vehicle to drive by automated or autonomous control executed by an on-board traffic control device without relying on the driver's driving operation, while "autonomous parking control", which is one type of autonomous traffic control refers to driving a vehicle to park (enter or exit a parking space or garage) by automated or autonomous control executed by an on-board traffic control device to a driver's driving operation. Also in the present description, “parking” refers to the permanent parking of a vehicle in a parking space, and the term “driving route” covers not only the parking route in case of entering a parking space or garage, but also the driving route for exiting a parking space or garage . In this sense, the "vehicle motion control method and vehicle motion control device used in parking" encompasses both vehicle motion control at the time of entering a parking space or garage and vehicle motion control at the time of exit from a parking space or garage. . Entering a parking space or garage can simply be called an entry or exit, and exiting a parking space or garage can simply be called an exit or exit. In the following embodiments, specific examples of the present invention will be described with reference to an example in which the remote control method and remote control apparatus of the present invention are applied to a remote parking system in which a remote controlled vehicle is parked by autonomous driving control. The remote parking system 1 of the present embodiment performs autonomous driving control in the assistance mode in which an operator such as a driver enters the vehicle and an operator-operated intervention operation is possible. After that, the operator exits the vehicle and performs autonomous driving control from outside the vehicle in a remote control mode using a remote operation device.

[0011]

The remote parking system 1 according to the present embodiment is a system for performing an operation of entering or exiting a parking space or a garage by means of an autonomous motion control while performing said operation. Specifically, the driver exits the vehicle halfway into entering the parking space or garage and continues to transmit the command execution signal from the remote operation device while making sure that it is safe, and thus the vehicle continues autonomous parking control. When the vehicle is likely to collide with an obstacle, the autonomous parking control is stopped by suspending the transmission of the command execution signal from the remote operation device. In the following description, an autonomous driving mode in which an operator such as a driver enters a vehicle and can perform an intervention operation will be referred to as an assistance mode, and an autonomous driving mode in which an operator exits the vehicle and performs an entry or exit operation. from a parking space or from a garage using remote operation will be referred to as remote control mode.

[0012]

In a narrow parking space where the side doors cannot be fully opened, such as a narrow garage or parking lot where other vehicles are parked on both sides, it may be difficult for the driver to enter or exit the vehicle. In order to enable parking even in such a case, the remote control mode can be used in conjunction with the remote operation. When entering a parking space in the remote control mode, after initiating the remote control mode to calculate the entry route to the selected parking space and start autonomous parking control, the driver exits the vehicle while carrying the remote operation device. The driver exiting the vehicle continues to transmit the command execution signal from the remote operation device to the vehicle to complete the entry into the selected parking space. On the other hand, when exiting a parking space, the driver turns on the internal combustion engine or the vehicle drive motor using the remote operation device carried by the driver, and after the remote exit mode is initiated to calculate the exit route to the selected exit position and start autonomous exit control, the driver continues to transmit the command execution signal to complete the exit from the parking space, and then enters the vehicle. Thus, the remote parking system 1 of the present embodiment is a system having such a remote control mode using remote operation. The autonomous parking control will be illustrated by the example of the autonomous reverse parking control illustrated in FIG. 2, but the present invention can also be applied to a parking space or garage exit, off-line parallel parking, and other off-line parking.

[0013]

The remote parking system 1 of the present embodiment includes a target parking space setting device 11, a vehicle position detection unit 12, an object detection unit 13, a parking route generator 14, a deceleration calculator 15 to an object, a route following controller 16, a target generator 17 vehicle speed controller 18 angle of rotation, the controller 19 vehicle speed, the main unit 20, the device 21 remote operation and the expansion unit 22. Target parking space setting device 11, vehicle position detection unit 12, object detection unit 13, parking route generator 14, deceleration to object calculator 15, route following controller 16, vehicle target speed generator 17, steering angle controller 18, controller 19 vehicle speed, the base unit 20 is installed in the vehicle. The remote operation device 21 and the extension unit 22 are carried by an operator such as a driver. Each configuration will be described below.

[0014]

In the remote control mode, the target parking space setting device 11 searches for parking spaces existing around the vehicle in question and allows the operator to select a desired parking space from available parking spaces. In addition, the target parking space setting device 11 outputs position information of the selected parking space (eg, relative position coordinates from the current position of the vehicle in question and latitude/longitude) to the parking route generator 14 .

[0015]

To achieve the above-described functions, the parking target setting device 11 includes an input switch, a plurality of cameras, a parking spot detection unit, and a touch panel type display (none of which is shown). The input switch selectively selects remote control mode or assistance mode. Many cameras capture images around the vehicle. The cameras of the target parking space setting device 11 can also be used as one or more cameras of the object detection unit 13, which will be described later. The parking space detection unit is a computer on which a software program is installed for searching free parking spaces from image data captured by cameras. The touch panel type display is used to display detected parking spaces and select a parking space.

[0016]

When an operator such as a driver selects a remote control mode using an input switch, the parking target setting device 11 uses a plurality of cameras to acquire image data around the vehicle in question and analyzes the image data to detect available parking spaces. In addition, the target parking space setting device 11 displays an image including available parking spaces on a touch panel display and prompts the operator to select a parking space in which the operator wishes to park the vehicle. When the operator selects a desired parking space from among the displayed parking spaces, the target parking space setting device 11 outputs information about the position of that parking space to the parking route generator 14 . When searching for available parking spaces, when the map information stored in the navigation device includes parking space information with detailed position information, this parking space information can be used.

[0017]

The vehicle position detection unit 12 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, and other components. The GPS unit detects radio waves transmitted from a plurality of satellite transmissions and periodically obtains information about the position of the vehicle in question. The vehicle position detection unit 12 detects the current position of the subject vehicle based on the position information of the subject vehicle obtained by the GPS unit, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. The position information of the vehicle in question detected by the vehicle position detection unit 12 is output to the parking route generator 14 and the route following controller 16 at predetermined time intervals.

[0018]

The object detection unit 13 is configured to search whether an object, such as an obstacle, is present in the environment of the vehicle in question. The object detection unit 13 includes one or more cameras, a radar (eg, millimeter wave radar, laser radar, or ultrasonic radar), sonar, or the like, or a combination thereof. Cameras, radar, sonar, or the like, or a combination thereof, are attached to a portion of the exterior panel of the vehicle in question. The position to which the object detection unit 13 is attached is not specifically limited. One or more object detection units 13 may be attached, for example, to all or part of the areas in the center and on both sides of the front bumper, in the center and on both sides of the rear bumper, to the thresholds under the right and left B-pillars, and the like.

[0019]

Each object detection unit 13 further includes a computer on which a software program for indicating the position of an object detected by cameras, radar, or the like is installed. This computer outputs information about the specified object (information about the target object) and information about its position (such as coordinates of relative position with respect to the current position of the vehicle in question and latitude/longitude) to the parking route generator 14 and the deceleration calculator 15 to the object. Before starting the autonomous parking control, information about the specified object and information about its position are used by the parking route generator 14 to generate a parking route. During autonomous parking control, object information and position information are used by the deceleration to object calculator 15 to control the deceleration or stop of the vehicle in question when an object such as a sudden obstacle is detected.

[0020]

The parking route generator 14 calculates a parking route from the current position of the subject vehicle to the target parking position (the parking route refers to the entry route in the case of the remote control mode, hereinafter). The parking route is calculated in such a way as to avoid collision or interaction with the object. The calculation of the parking route includes using the pre-stored size of the vehicle in question (e.g., vehicle width, vehicle length, or minimum turning radius), the parking target position (which refers to the parking space position information in the case of the remote control mode, hereinafter ) from the target parking space setting device 11, information about the current position of the vehicle in question from the vehicle position detection unit 12, and information about the position of the object (obstacle) from the object detection unit 13.

[0021]

FIG. 2 is a plan view illustrating an example of a remote control mode. At the current position P1 of the considered vehicle V illustrated in FIG. 2, when an operator U such as a driver performs an input switch operation inside the vehicle to select a remote control mode, the target parking space setting device 11 searches for available parking spaces TPS and displays an image including those parking spaces TPS , on display. In response to this, when the operator U selects a parking space TPS, the parking route generator 14 calculates a parking route R1 from the current position P1 to the parking turn position P3 and a parking route R2 from the parking turn position P3 to the parking space TPS, which is purpose. Then, the parking route generator 14 outputs this series of parking routes R1 and R2 to the route following controller 16 and the target vehicle speed generator 17 .

[0022]

The deceleration to object calculator 15 receives information on the position of obstacles and other objects from the object detection unit 13 and calculates the time until the subject vehicle collides with the object (TTC: time to collision) based on the distance from the object and the speed of the vehicle, thereby calculating the start time deceleration of the vehicle in question. For example, in the remote control mode illustrated in FIG. 2, the obstacle objects include a wall W on the right side of the road at the parking turn position P3, houses H1 and H2 on both the right and left sides of the parking route R2 to the target parking space, TPS, and garden trees WD. When determining that the distance from such an obstacle is greater than or equal to a predetermined value, the deceleration to object calculator 15 sets the vehicle speed to the initially set value and reduces the vehicle speed of the vehicle in question V at the moment when the time TTC before the collision of the vehicle in question V with this obstacle becomes less than or equal to a predefined value. Similarly, when a sudden obstacle is detected on the parking path R1 or R2 during execution of the sequential autonomous parking control illustrated in FIG. 2, the subject vehicle V decelerates or stops at the moment when the time TTC until the subject vehicle V collides with the obstacle becomes less than or equal to a predetermined value. This deceleration start point is output to the vehicle speed generator 17 .

[0023]

The route following controller 16 calculates, at predetermined time intervals, a target steering angle for following the parking paths of the vehicle in question based on the parking routes from the parking route generator 14 and the current position of the vehicle in question from the vehicle position detection unit 12 . With regard to parking routes R1 and R2 in FIG. 2, the route following controller 16 calculates, at a predetermined time interval for each current position of the subject vehicle V, a target steering angle along the parking route R1 for straight ahead and turn right from the current position P1 to the parking turn position P3. Similarly, the route following controller 16 calculates, at a predetermined time interval for each current position of the subject vehicle V, a target turning angle along the parking route R2 for turning left and going straight ahead from the parking turn position P3 to the parking space, TPS. The route controller 16 outputs the calculated target steering angles to the steering angle controller 18 .

[0024]

The target vehicle speed generator 17 calculates, at predetermined time intervals, the target vehicle speed for the subject vehicle V to follow the parking routes based on the parking routes from the parking route generator 14 and the deceleration start time from the deceleration calculator 15 to the object. With respect to entry routes R1 and R2 in FIG. 2, the target vehicle speed generator 17 calculates, at a predetermined time interval for each current position of the subject vehicle V, a target vehicle speed when starting from the current position P1, driving straight ahead and turning right, and stopping at the parking turn position P3, and outputs the calculated target vehicle speed to the vehicle speed controller 19 . Similarly, the target vehicle speed generator 17 calculates, at a predetermined time interval for each current position of the subject vehicle V, the target vehicle speed when starting off again (reversing) from the parking turn position P3 and turning left on the way to the target parking space. , TPS, and the target vehicle speed when approaching and stopping at the target parking space, TPS, and outputs the calculated target vehicle speeds to the vehicle speed controller 19 . When a sudden obstacle is detected on the parking path R1 or R2 during execution of the sequential autonomous parking control illustrated in FIG. 2, the deceleration or stop point is output from the object deceleration calculator 15, and therefore the target vehicle speed generator 17 outputs the target vehicle speed to the vehicle speed controller 19 in accordance with this point.

[0025]

The steering angle controller 18 generates a control signal for operating the steering actuator provided in the steering system of the subject vehicle V based on the target steering angle from the route controller 16 . The vehicle speed controller 19 also generates a control signal for operating the accelerator actuator provided in the drive system of the subject vehicle V based on the target vehicle speed from the target vehicle speed generator 17 . The steering angle controller 18 and the vehicle speed controller 19 are simultaneously controlled to execute autonomous parking control.

[0026]

Next, the extension unit 22 and the base unit 20 will be described. The International Standard for Autonomous Vehicle Traffic Control defines a condition for allowing remote operation of a vehicle in which the distance between the vehicle and the operator is within a predetermined remote operation distance (for example, within 6 m). Thus, in the remote parking system 1 of the present embodiment, the extension unit 22 carried by the operator U and the base unit 20 installed in the subject vehicle V are used to detect the relative position of the extension unit 22 with respect to the subject vehicle V, that is the relative position of the operator U carried by the extension unit 22 with respect to the vehicle V in question. The extension unit 22 and the base unit 20 constitute a so-called keyless entry system. The keyless entry system is a system configured such that when an operator U, such as a driver, approaches the subject vehicle V within a predetermined distance in the transfer state of the extension unit 22, wireless communication is established between the base unit 20 installed in the subject vehicle V , and an expansion unit 22 for performing automatic unlocking of a door lock or the like.

[0027]

In the present embodiment, as illustrated, for example, in FIG. 3, the antennas 202a-202d connected to the base unit 20 are installed at predetermined locations of the vehicle V in question. The base unit 20 transmits the extension unit search signals from the antennas 202a-202d. When approaching the vehicle V under consideration within a predetermined distance, the expander 22 receives the expander search signals transmitted from the antennas 202a-202d and measures the RF field strength of the expander search signal from each of the antennas 202a-202d. The intensity of the RF field of the expander search signal varies depending on the distance between the expander 22 and each of the antennas 202a-202d. That is, when the extension unit 22 is adjacent to the antenna 202b near the left side of the front bumper, the RF field intensity of the extension unit search signal received from the antenna 202b is the highest, while the RF field intensity of the extension unit search signal received from the antenna 202c near the right side of the rear bumper is the weakest.

[0028]

The expander 22 transmits the measured RF field intensity of the expander search signal from each of the antennas 202a to 202d to the base unit 20. The base unit 20 has a position detection unit 201, that is, for example, a computer with a software program installed to calculate the position of the expander 22 according to the intensities of the radio frequency field of the antennas 202a-202d with which reception is performed from the spreader 22, for example using a triangulation method. Based on the RF field intensities of the antennas 202a-202d received from the extension unit 22, the position detection unit 201 detects the relative position of the extension unit 22 with respect to the vehicle V in question, that is, the relative position of the operator U, who carries the extension unit 22, with respect to the considered vehicle V. The position detection unit 201 outputs the detected relative position of the extension unit 22 to the route controller 16 and the target vehicle speed generator 17 (alternatively, the steering angle controller 18 and the vehicle speed controller 19 may be) and transmits the detected relative position of the expansion unit 22 to the remote operation device 21 .

[0029]

The remote operation device 21 is a device for instructing the operator U from outside the vehicle as to whether to continue or stop the execution of the autonomous parking control which is set by the target parking space setting device 11 . Thus, the remote operation device 21 has a wireless communication function for transmitting a command execution signal to the route controller 16 and the target vehicle speed generator 17 (alternatively, the steering angle controller 18 and the vehicle speed controller 19 may be) and executes communication with the wireless communication function of the vehicle in question V.

[0030]

The remote operation device 21 is provided, for example, as a mobile information terminal such as a smartphone on which a remote control application software (hereinafter referred to as an application) is installed. The smartphone on which the application is installed serves as the remote operation device 21 of the remote parking system 1 by activating this application.

[0031]

The international standard for autonomous driving control of a vehicle specifies that a vehicle is allowed to execute autonomous driving control only when an operator continuously performs an operation with a remote operation device. Thus, in the remote parking system 1 of the present embodiment, the command execution signal continues to be transmitted from the remote operation device 21 to the vehicle V in question only when a predetermined touch command operation is continuously input on the touch panel 211 of the remote operation device 21. The subject vehicle V executes autonomous parking control only when receiving the command execution signal transmitted from the remote operation device 21 . That is, when input of the touch command operation to the remote operation device 21 is stopped, the command execution signal is no longer transmitted from the remote operation device 21 to the vehicle, and the execution of the vehicle's autonomous parking control is suspended or stopped. In order to control a vehicle parked in a narrow parking space to exit the parking space by remote operation from outside the vehicle, the remote operation device 21 further has a function of activating a drive source such as a vehicle engine or electric motor by remote operation.

[0032]

As illustrated in FIG. 4, the remote operation device 21 includes a touch panel 211, an operation setting unit 212, a presentation unit 213, an operation determination unit 214, a command unit 215, and a communication unit 216. The operation setting unit 212 sets, in accordance with the relative position between the subject vehicle V and the extension unit 22, a touch command operation for remote operation of the subject vehicle V via the remote operation unit 21 and a command determination area that receives the touch command operation. . The presentation unit 213 presents touch command operation input information that prompts the operator U to input the touch command operation. The touch panel 211 detects a touch command operation that is inputted by the touch operation of the operator U. The operation determination unit 214 determines whether the touch operation detected by the touch touch panel 211 is a command operation that is input in the set command definition area. When the detected touch operation is a touch command operation, the command unit 215 generates a command execution signal for the subject vehicle V to execute the autonomous parking control using the autonomous driving function. The communication unit 216 transmits the command execution signal generated in the command unit 215 to the vehicle V in question.

[0033]

Examples of the touch command operation include a touch operation of pressing at a predetermined position on the touch panel 211 of a button displayed on the touch panel 211 or the like a predetermined number of times or more or for a predetermined time or more, and a gesture operation of swiping a finger on the touch panel. panel 211. The present embodiment will be described for an example of using such a gesture operation as a touch command operation.

[0034]

Each part of the remote operation device 21 will be described below. As the touch panel 211, a touch panel display of a smartphone is used, which serves as the remote operation device 21 . In the remote control mode, as illustrated in FIG. 5, the touch panel 211 displays a representation (image) 211a of the vehicle. The vehicle representation 211a is a plan view representation of the vehicle V in question as viewed from above. In the example illustrated in FIG. 5, the vehicle view 211a is displayed such that the front-back direction of the vehicle view 211a matches the up-down direction of the touch panel 211.

[0035]

The operation setting unit 212 sets the type of the touch command operation and the command determination area in which the touch command operation is entered based on the relative position between the considered vehicle V and the extension unit 22 . The relative position is obtained from the position detection unit 22 . As illustrated in FIG. 6A, for example, when the relative position of the extension unit 22 with respect to the vehicle V under consideration is ahead of the vehicle V under consideration, the operation setting unit 212 sets the area that is ahead of the vehicle representation 211a as the command definition area Cjf (hereinafter referred to as the command definition area commands in front). For the front command determination area Cjf, the operation setting unit 212 sets the forward swipe command gesture Gf in front of the vehicle representation 211a along the front-back direction of the vehicle representation 211a as the specified touch command operation.

[0036]

Additionally or alternatively, as illustrated in FIG. 6B, when the relative position of the extension unit 22 with respect to the considered vehicle V is behind the considered vehicle V, the operation setting unit 212 sets the area which is behind the vehicle representation 211a as the command determination area Cjb (hereinafter referred to as the rear command determination area). ). For the rear command definition area Cjb, the operation setting unit 212 sets as the indicated touch command operation the backward swipe command gesture Gb behind the vehicle representation 211a along the front-back direction of the vehicle representation 211a.

[0037]

Additionally or alternatively, as illustrated in FIG. 6C, when the relative position of the extension unit 22 with respect to the considered vehicle V is on the right side of the considered vehicle V, the operation setting unit 212 sets the area that is on the right side of the vehicle representation 211a as the command determination area Cjr (hereinafter called the command scope on the right side). For the command definition area Cjr on the right side, the operation setting unit 212 sets the command gesture Gr of drawing a circle-shaped figure in the clockwise direction (first circumferential direction) as the indicated command operation by touch.

[0038]

Additionally or alternatively, as illustrated in FIG. 6D, when the relative position of the extension unit 22 with respect to the considered vehicle V is on the left side of the considered vehicle V, the operation setting unit 212 sets the area which is on the left side of the vehicle representation 211a as the command determination area Cjl (hereinafter called the command scope on the left side). For the command definition area Cjl on the left side, the operation setting unit 212 sets the command gesture Gl of drawing a circle-shaped figure in the counterclockwise direction (second circumferential direction) as the indicated command operation by touch.

[0039]

The presentation unit 213 presents touch command input information to the operator U according to the relative position of the operator U with respect to the vehicle V under consideration. command definitions. For example, in the example illustrated in FIG. 5, the presentation unit 213 presents touch command input information 211b, which says, "Please enter any of the above gestures at the position you are standing with respect to the vehicle." This may prompt the operator U to enter a predetermined touch command operation in a predetermined command definition area according to the relative position of the operator U with respect to the vehicle V in question.

[0040]

For example, as illustrated in FIG. 6A, when the operator U is in front of the vehicle V under consideration, the command gesture Gf represents a touch command operation input by the operator U, and the front command definition area Cjf represents a predetermined command definition area. Similarly, as illustrated in FIG. 6C, when the operator U is on the right side of the vehicle V under consideration, the command gesture Gr represents the command touch operation that is input by the operator U, and the front command definition area Cjr represents the predefined command definition area. The touch command input information 211b may be voiced or together with voice.

[0041]

Since the central processing unit (CPU) of the smartphone, which serves as the remote operation unit 21, performs operations in accordance with the application, the operation determination unit 214 operates. The operation determination unit 214 determines whether the gesture detected by the touch panel 211 is entered into the command determination area set by the operation setting unit 212, and whether it is a command gesture set by the operation setting unit 212, and whether the input speed of this command gesture is within a predetermined range. The reason why the gesture input rate is used to determine the command gesture is to distinguish between the gesture that is input due to touching an object on the touch panel 211 from said U gesture.

[0042]

The operation determination unit 214 determines whether the input gesture is a command gesture by the following procedure. First, the operation determination block 214 determines whether the gesture is entered into the command determination area set by the operation setting block 212 . When a gesture is input to the set command determination area, the operation determination unit 214 determines whether the input gesture is a command gesture. In addition, when the input gesture is a command gesture, the operation determination unit 214 determines whether the input speed of the gesture is within a predetermined range. That is, when the gesture input position is within the set command determination area, the input gesture is a command gesture, and the input speed is within a predetermined range, the operation determination unit 214 determines that a command gesture is input.

[0043]

For example, as illustrated in FIG. 6A, when the relative position of the extension unit 22 with respect to the subject vehicle V is in front of the subject vehicle V, the operation determination unit 214 determines whether a gesture is input to the front command determination area Cjf. When the gesture is input to the front command determination area Cjf, the operation determination unit 214 determines whether the input gesture is the command gesture Gf. In addition, when the input gesture is the command gesture Gf, the operation determination unit 214 determines whether the input speed of this gesture is within a predetermined range. Then, when the gesture input speed is within a predetermined range, the operation determination unit 214 determines that a command gesture is input.

[0044]

On the other hand, when the gesture is not input to the command determination area set by the operation setting block 212, the operation determination block 214 determines that the gesture is not a command gesture. Moreover, even in the case where a gesture is input in the set command determination area, when the input gesture is not a command gesture, the operation determination unit 214 determines that the command gesture is not input. In addition, even in the case where a gesture that can be determined as a command gesture is input within the set command determination area, when the gesture input speed is not within the predetermined range, the operation determination unit 214 determines that the command gesture is not input. That is, when any of the gesture input position, input gesture shape, and gesture input speed differ from the content set by the operation setting section 212, the operation determination section 214 determines that the command gesture is not input.

[0045]

For example, as illustrated in FIG. 6B, in the case where the relative position of the extension unit 22 with respect to the subject vehicle V is behind the subject vehicle V, when the gesture is not input to the rear command determination area Cjb, the operation determination unit 214 determines that the command gesture is not input. Moreover, even in the case where a gesture is input to the rear command determination area Cjb, when the input gesture is not the command gesture Gb, the operation determination unit 214 determines that the command gesture is not input. In addition, even in the case where a gesture that can be determined as the command gesture Gb is input to the rear command determination area Cjb, when the gesture input speed is not within the predetermined range, the operation determination unit 214 determines that the command gesture is not input. . In addition, when the extension unit 22 is on the right side of the vehicle V in question, as illustrated in FIG. 6C, or when the extension unit 22 is on the left side of the vehicle V in question, as illustrated in FIG. 6D, the gesture is determined by the same procedure, so a detailed description will be omitted.

[0046]

Next, the command block 215 and the communication block 216 of the remote operation device 21 will be described. Since the smartphone CPU that serves as the remote operation device 21 executes operations in accordance with the application, the command unit 215 functions. When the operation determining unit 214 determines that the gesture detected on the touch panel 211 is a command gesture, the command unit 215 generates a command execution signal to control execution by the subject vehicle V of the autonomous parking control using the autonomous driving function.

[0047]

The communication unit 216 uses a communication function that is provided in advance in a smartphone that serves as the remote operation device 21 . The communication unit 216 is, for example, a wireless communication unit such as a Bluetooth (registered trademark) unit, and in the remote control mode, connects to a wireless communication unit (not illustrated) installed in the vehicle V in question. The communication unit 216 assumes a relative position between the vehicle V in question and the expansion unit 22 . The relative position is detected by the position detection unit 201 of the subject vehicle V. In addition, the communication unit 216 transmits the command execution signal generated by the command unit 215 to the subject vehicle V. A wireless local area network (LAN) such as Wi-Fi (registered trademark ), a mobile phone line or the like can also be used as the communication unit 216 .

[0048]

As shown in FIG. 1, the command execution signal transmitted to the vehicle V in question is input to the route controller 1 and the target vehicle speed generator 17 . As described above, the relative position between the vehicle V in question and the extension unit 22 is input from the position detection unit 201 to the route controller 16 and the target vehicle speed generator 17 . When the distance between the vehicle V in question and the extension unit 22 is within the remote operation distance and the command execution signal is input from the remote operation device 21, the route controller 16 outputs the target steering angle to the steering angle controller 18. Similarly, when the distance between the vehicle V in question and the extension unit 22 is within the remote operation distance and the command execution signal is input from the remote operation device 21, the target vehicle speed generator 17 outputs the target vehicle speed to the vehicle speed controller 19. Based on the target steering angle from the track controller 16, the steering angle controller 18 generates a control signal for operating the steering actuator provided in the steering system of the subject vehicle. Based on the target vehicle speed from the target vehicle speed controller 17, the vehicle speed controller 19 generates a control signal for operating the accelerator actuator provided in the drive system of the subject vehicle V.

[0049]

In the case where the distance between the subject vehicle V and the extension unit 22 is larger than the remote operation distance, the route controller 16 does not output the target steering angle to the steering angle controller 18 even when the command execution signal is input from the remote operation device 21 . Similarly, in the case where the distance between the subject vehicle V and the extension unit 22 is greater than the remote operation distance, the target vehicle speed generator 17 does not output the target vehicle speed to the vehicle speed controller 19 even when the command execution signal is input from device 21 remote operation. That is, in the case where the distance between the subject vehicle V and the extension unit 22 is greater than the remote operation distance, the autonomous parking control is not executed even when the command gesture is input from the remote operation device 21 .

[0050]

As described above, in the remote parking system 1 of the present embodiment, the command definition area for the vehicle presentation 211a on the touch panel 211 and the command operation indicated by touch are set based on the relative position of the extension unit 22 with respect to the vehicle V. On the other hand, the operator U inputs the assigned touch operation to the position on the touch panel 211 that displays the vehicle view 211a according to the command touch operation input information 211b. This position on the touch panel 211 corresponds to the position where the operator U itself is located. Thus, the type of command operation to be performed by touch and the position of the command definition area, which are set by the operation setting unit 212, as well as the type of command operation to be performed by touch and the position of the command definition area, which are entered by the operator U, match each other when the operator U carries the extension block 22, but do not match when the operator U does not carry the extension block 22.

[0051]

For example, as illustrated in FIG. 6D, when the operator U is standing on the left side of the vehicle V under consideration while carrying the extension unit 22, the operation setting unit 212 sets the command definition area Cjl on the left side to the input position of the touch command operation, and sets the command gesture Gl according to which the figure in the shape of a circle is entered counterclockwise as the specified touch command operation. In response, the operator U inputs a circle-shaped counterclockwise figure in the command definition area Cjl on the left side of the vehicle representation 211a according to the touch command operation input information 211b, and hence the touch command operation type and position of the area command definitions are the same as those set.

[0052]

On the other hand, as illustrated in FIG. 6E, when the operator U places the extension unit 22 on the left side of the roof of the subject vehicle V in order to increase the operation distance of the remote operation device 21, and is in a rearward position away from the subject vehicle V, the operation setting unit 212 sets a command definition area Cjl on the left side for the input position of the touch command operation, and sets the command gesture Gl as the specified touch command operation. In response, the operator U inputs the command gesture Gb in the command definition area Cjb at the rear of the vehicle view 211a according to the touch command operation input information 211b, and therefore the touch command operation type and position of the command definition area are not the same. that are installed. In this state, even when the operator U continues to input the touch command operation into the remote operation device 21, the subject vehicle V does not execute autonomous parking control, and therefore the operator U understands that the subject vehicle V cannot be remotely controlled until until the operator U carries the expansion unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0053]

Next, the control flow of the remote parking system 1 of the present embodiment will be described with reference to FIG. 7 and 8. Here, the scene in which the reverse parking illustrated in FIG. 2 is executed by autonomous parking control. FIG. 7 is a flowchart illustrating a control procedure executed in the remote parking system 1 of the present embodiment. FIG. 8 is a flowchart illustrating a procedure in the remote operation device 21 for setting, detecting and determining a touch operation and transmitting a command execution signal.

[0054]

First, when the subject vehicle V arrives at position P1 near the target parking space, TPS, in step S1 illustrated in FIG. 7, an operator U such as a driver turns on the remote parking start switch of the on-board device 11 for setting the target parking space to select the remote entry mode. In step S2, the target parking space setting device 11 searches for one or more available parking spaces for the vehicle V in question using a plurality of on-board cameras or the like. In step S3, the target parking space setting device 11 determines whether there is one or more available parking spaces. When there are one or more available parking spaces, the process proceeds to step S4, and when there are no available parking spaces, the process returns to step S1. When no available parking spaces are found in step S2, the operator may be informed of this fact by language display or voice, such as "no parking spaces", and the process may be terminated.

[0055]

In step S4, the target parking space setting device 11 controls the on-board display to display available parking spaces and prompts the operator U to select a desired parking space. When the operator U selects a specific parking space, TPS, the target parking space setting device 11 outputs information about the parking target position to the parking route generator 14 . In step S5, the parking path generator 14 generates the parking paths R1 and R2 illustrated in FIG. 2 from the current position P1 of the subject vehicle V to the parking space TPS, which represents the target parking position. The deceleration to object calculator 15 calculates the start point of deceleration in autonomous parking control based on the object information detected by the object detection unit 13 . The parking routes R1 and R2 generated by the parking route generator 14 are output to the route following controller 16, and the deceleration start time calculated by the object deceleration calculator 15 is output to the target vehicle speed generator 17 .

[0056]

Through the above processes, the autonomous parking control enters the standby mode; therefore, when the operator U is prompted to agree to start the autonomous parking control, and then agrees to such a start in step S6, the autonomous traffic control is started in the assistance mode. When parking in reverse illustrated in FIG. 2, once the subject vehicle V moves forward while turning right from the current position P1 and reaches the parking turn position P3, the subject vehicle V reverses while turning left to the intermediate stop position P4.

[0057]

In step S7, when the position of the subject vehicle V reaches the intermediate stop position P4, the subject vehicle V stops and the operator U is requested to exit the subject vehicle V. When the operator U is prompted to exit the subject vehicle V in step S7, and he/ it exits with the remote transaction device 21, step S7 is followed by step S8 in which the operator U activates the remote transaction device 21. This starts the remote operation. Examples of trigger input for remote operation by the remote operation device 21 include activation of an application installed in the remote operation device 21, a door unlock operation, a door lock/unlock operation, and their combination and application activation. The subject vehicle V is in a stopped state during steps S7 to S9.

[0058]

In step S9, a pairing process between the remote operation device 21 and the subject vehicle V is performed. .

[0059]

In remote control using the remote operation device 21, detection of the relative position of the extension unit 22 with respect to the vehicle V in question, that is, the relative position of the operator U who carries the extension unit 22, starts at step S101 in FIG. 8. The expander 22 receives the expander search signals transmitted from the antennas 202a-202d of the vehicle V under consideration, and measures the RF field strength of the expander search signal from each of the antennas 202a-202d. The extension unit 22 transmits the measured intensity of the RF field of the extension unit search signal to the base unit 20. The position detection unit 201 of the base unit 20 detects the relative position of the extension unit 22 with respect to the vehicle V in question based on the intensity of the radio frequency field from each of the antennas 202a-202d, which is received from the block 22 expansion. Through this operation, when the operator U carries the extension unit 22, the relative position of the operator U with respect to the vehicle V in question can be detected. The position detection unit 201 outputs the detected relative position to the route controller 16 and the target vehicle speed generator 17 (alternatively, the steering angle controller 18 and the vehicle speed controller 19 may be) and transmits the detected relative position to the remote operation device 21 .

[0060]

In the next step S102, the operation setting unit 212 of the remote operation apparatus 21 determines whether the distance between the vehicle V in question and the extension unit 22 is within a predetermined remote operation distance. When the distance between the vehicle V in question and the extension unit 22 is within the predetermined remote operation distance, the operation setting unit 212 determines, in the next step S103, the touch operation type received by the remote operation unit 21 and the position of the command determination area. For example, when the relative position of the extension unit 22 with respect to the vehicle V in question is on the right side of the vehicle V in question, as illustrated in FIG. 6C, the operation setting section 210 sets the command definition area Cjr on the right side on the right side of the vehicle representation 211a to the input position of the touch command operation. The operation setting block 212 also sets the command gesture Gr as the specified touch operation.

[0061]

When the operation determination unit 214 detects the touch operation input on the touch panel 211 in step S104, the operation determination unit 214 determines in the next step S105 whether the touch operation is performed in the command determination area Cjr on the right side. When a touch operation is input to the command determination area Cjr on the right side, the operation determination unit 214 determines in the next step S106 whether the touch operation is a command gesture Gr. In addition, when the touch-input operation is the command gesture Gr, the operation determination unit 214 determines in the next step S107 whether the input speed of the gesture is within a predetermined range. That is, when the touch operation input position is in the command determination area Cjr on the right side, the touch operation is command gesture Gr, and the input speed is within a predetermined range, the operation determination unit 214 determines that a touch command operation is input.

[0062]

When the detected touch operation is a command gesture Gr, the process proceeds to the next step S108, where the command block 215 generates a command execution signal, and the communication block 216 transmits this command execution signal to the vehicle V in question. In the next step S109, when the relative the position between the considered vehicle V and the extension unit 22 changes to such an extent that it is necessary to change the touch command operation and the command definition area, the process returns to step S103 where the touch command operation and the command definition area are set again. The case in which the relative position between the considered vehicle V and the extension unit 22 changes to such an extent that it is necessary to change the touch command operation and the command definition area refers, for example, to the case in which the extension unit 22 located on the right side of of the subject vehicle V, moved forward from the subject vehicle V, moved backward from the subject vehicle V, or moved to the left side of the subject vehicle V. In the next step S110, when detection of a touch command operation continues, the process returns to step S105, from which the determination of the command operation carried out by the touch and the transmission of the command execution signal are repeated.

[0063]

On the other hand, as illustrated in FIG. 6E, when the operator U places the extension unit 22 on the left side of the roof of the subject vehicle V in order to increase the operation distance of the remote operation device 21, and is in a rearward position away from the subject vehicle V, the operation setting unit 212 sets a command definition area Cjl on the left side for the input position of the touch command operation, and sets the command gesture Gl as the specified touch command operation. In response, the operator U inputs the command gesture Gb in the command definition area Cjb at the rear of the vehicle view 211a according to the touch command input information 211b; therefore, in step S105, it is determined that the input position of the touch command operation is different. Also, in step S106, it is determined that the touch-input operation is not the Gl command gesture. Thus, when the operator U operates the remote operation device 21 without carrying the extension unit 22, the command execution signal is not transmitted to the vehicle V in question.

[0064]

Referring again to FIG. 7, in step S11, when the distance between the subject vehicle V and the extension unit 22 is within the remote operation distance and the command execution signal from the remote operation device 21 is input, the route controller 16 outputs the target steering angle to the steering angle controller 18 . Similarly, when the distance between the vehicle V in question and the extension unit 22 is within the remote operation distance and the command execution signal is input from the remote operation device 21, the target vehicle speed generator 17 outputs the target vehicle speed to the vehicle speed controller 19. Based on the target steering angle from the track controller 16, the steering angle controller 18 generates a control signal for operating the steering actuator provided in the steering system of the subject vehicle. Based on the target vehicle speed from the target vehicle speed generator 17, the vehicle speed controller 19 generates a control signal for operating the accelerator actuator provided in the drive system of the subject vehicle V. This allows the autonomous parking control to be executed in the next step S12.

[0065]

The processes from step S10 to step S13 to be described below are executed at predetermined time intervals until the subject vehicle V arrives at the target parking space TPS in step S13. In step S13, a determination is made whether the subject vehicle V has arrived at the target parking space, TPS. Until the subject vehicle V arrives at the parking space TPS, the process returns to step S10, and when the subject vehicle V arrives at the target parking space TPS, the subject vehicle V stops and the process ends. Thus, the assist mode autonomous driving control is executed along the driving route from the current position P1 of the subject vehicle V to the intermediate stop position P4, and the autonomous driving control in the remote control mode is executed along the driving route from the intermediate stop position P4 to the target parking space, TPS .

[0066]

As described above, according to the remote parking system 1 of the present embodiment to which the vehicle remote control method and the remote control device of the present invention are applied, the relative position between the subject vehicle V and the extension unit 22 outside the subject vehicle V is detected with using the extension unit 22 and the base unit 20, and the operation setting unit 212 sets, in accordance with the detected relative position, a touch command operation to perform the operation of the vehicle V with the remote operation unit 21 . When the touch operation of the operator U is detected by the touch panel 211 of the remote operation device 21, the operation determination unit 214 determines whether the detected touch operation is a touch command operation, and when the touch operation is a touch command operation, the considered vehicle having the function autonomous motion control, controlled to perform autonomous motion control. In this operation, the touch operation that is set by the operation setting unit 212 and the touch operation that is inputted by the operator U match each other when the operator U carries the expansion unit 22, but may not match each other when the operator U does not carries the expansion unit 22. When the touch command operation that is set by the operation setting unit 212 and the touch operation that is inputted by the operator U do not match each other, the subject vehicle V does not execute autonomous parking control, and therefore the operator U understands that the subject vehicle V cannot be remotely controlled until the operator U carries the expansion unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0067]

In addition, according to the remote parking system 1 of the present embodiment, various touch command operations are set according to the relative position between the vehicle V in question and the extension unit 22 . Therefore, even when the operator U inputs a touch command operation, it may not be determined as a touch command operation depending on the relative position. When the touch command operation that is set by the operation setting unit 212 and the touch operation that is inputted by the operator U do not match each other, the subject vehicle V does not execute autonomous parking control, and therefore the operator U understands that the subject vehicle V cannot be remotely controlled until the operator U carries the expansion unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0068]

Moreover, according to the remote parking system 1 of the present embodiment, the touch command input information 211b is presented to the operator U of the remote transaction device 21 so as to prompt the operator U to input the touch command operation which is set according to the relative position. The operator U can input a touch command operation according to the touch command input information 211b, and it is possible to suppress the input of an erroneous touch operation.

[0069]

In addition, according to the remote parking system 1 of the present embodiment, the operation setting unit 212 sets the command determination area on the touch panel 211 according to the relative position between the vehicle V in question and the extension unit 22. The command definition area takes the touch operation of the operator U as the touch operation of the command. In addition, the operation determination unit 214 determines whether the detected touch operation is an operation in the command determination area, and when it is determined that the touch operation is an operation in the command determination area, the vehicle V in question is controlled to execute autonomous motion control. In this operation, the command definition area that is set by the operation setting unit 212 and the position at which the operator U enters the touch operation match each other when the operator U carries the extension unit 22, but may not match each other when the operator U does not carry the expansion unit 22. When the command definition area that is set by the operation setting unit 212 and the position at which the operator U enters the touch operation do not match, the subject vehicle V does not execute autonomous parking control, and therefore the operator U understands that the subject vehicle V cannot be controlled remotely until the operator U carries the expansion unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0070]

In addition, according to the remote parking system 1 of the present embodiment, the operation setting unit 212 sets the command gesture as a touch command operation according to the relative position between the vehicle V in question and the extension unit 22. The command gesture is for performing an operation of the vehicle V by the remote operation device 21 . In addition, the operation determination unit 214 determines whether the touch-input operation is a command gesture, and when it is determined that the touch-input operation is a command gesture, the vehicle V in question is controlled to execute autonomous motion control. In this operation, the command gesture which is set by the operation setting block 212 and the touch operation which is inputted by the operator U match each other when the operator U carries the extension block 22, but may not match each other when the operator U does not carry the block. 22 extensions. When the command gesture that is set by the operation setting unit 212 and the touch operation that is input by the operator U do not match each other, the subject vehicle V does not perform autonomous parking control, and therefore the operator U understands that the subject vehicle V cannot be controlled remotely until the operator U carries the expansion unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0071]

In addition, according to the remote parking system 1 of the present embodiment, the operation setting unit 212 sets the command definition area on the touch panel 211 and the command gesture as a touch command operation according to the relative position between the vehicle V in question and the extension unit 22. The command definition area accepts the touch operation of the operator as the touch operation of the command. The command gesture is for performing an operation of the vehicle V by the remote operation device 21 . In addition, the operation determination unit 214 determines whether the detected touch operation is an operation in the command determination area, whether it is a command gesture, and when it is determined that the touch operation is an operation in the command determination area and is a command gesture, the considered vehicle V controlled to perform autonomous motion control. In this operation, the command gesture and the command determination area that are set by the operation setting block 212 and the touch operation input by the operator U and the position at which the operator U enters this touch operation are the same with each other when the operator U carries the block 22 extensions, but may not match each other when the operator U does not carry the extension unit 22. When the command gesture and the command determination area that are set by the operation setting unit 212 and the touch operation input by the operator U and the position at which the operator U inputs this touch operation do not match, the subject vehicle V does not execute autonomous parking control, and therefore the operator U understands that the vehicle V in question cannot be remotely controlled until the operator U carries the extension unit 22. This may cause the operator U to operate the remote operation device 21 in the transfer state of the extension unit 22 .

[0072]

In addition, according to the remote parking system 1 of the present embodiment, the operation setting unit 212 sets the command definition area with reference to the representation of the considered vehicle V displayed on the touch panel 211; therefore, when the operator U inputs the touch command operation according to the relative position between the vehicle V in question and the extension unit 22, it is easy for the operator U to understand the position of the command definition area for inputting the touch command operation.

[0073]

In addition, according to the remote parking system 1 of the present embodiment, when the relative position of the extension unit 22 with respect to the subject vehicle V is in front of the subject vehicle V, the touch operation of swiping forward in front of the vehicle presentation 211a along the forward-backward direction of the presentation 211a of the vehicle is set as the command gesture. Additionally or alternatively, when the relative position of the extension unit 22 with respect to the vehicle V under consideration is behind the vehicle V under consideration, the touch operation of swiping backward behind the vehicle view 211a along the front-back direction of the vehicle view 211a is set as a command gesture. Additionally or alternatively, when the relative position of the expansion unit 22 with respect to the vehicle V in question is on the right side of the vehicle V in question, the touching operation of swiping a circle in the first circumferential direction is set as a command gesture. Additionally or alternatively, when the relative position of the extension unit 22 with respect to the vehicle V in question is on the left side of the vehicle V in question, the touch operation of swiping a circle in the second circumferential direction opposite to the first circumferential direction is set as the command gesture. Thus, the gesture associated with the relative position between the subject vehicle V and the extension unit 22 is set as the command gesture according to the relative position, and therefore it is easy for the operator U to understand the input of the command gesture by the operator U.

[0074]

In addition, according to the remote parking system 1 of the present embodiment, when the touch command operation is no longer detected, the vehicle V in question is controlled to stop the autonomous parking control. Therefore, the control operation of the subject vehicle V is not required to stop the autonomous parking control, and thus the remote operation of the vehicle (vehicle) V is simple.

[0075]

In addition, according to the remote parking system 1 of the present embodiment, the parking control for parking the subject vehicle V is performed as an autonomous driving control, and therefore it is possible to remotely operate and park the subject vehicle V from a remote position.

[0076]

"Second Embodiment"

Next, a second embodiment of the remote parking system to which the remote control method and the remote control device for a vehicle of the present invention are applied will be described. For the same configurations as in the first embodiment, the same reference numerals as in the first embodiment will be used and their detailed description will be omitted.

[0077]

In the present embodiment, a control procedure for suspending or inhibiting the autonomous driving control of the subject vehicle V during execution of the autonomous driving control will be described. As shown in the flowchart of FIG. 9, it is assumed that detection of the relative position of the extension unit 22 with respect to the subject vehicle V starts at step S21, remote operation using the remote operation device 21 starts at step S22, and the subject vehicle V executes autonomous parking control at step S23. . Step S21 is similar to step S101 of the flowchart illustrated in FIG. 8, and steps S22 and S23 are the same as steps S10 and S12 of the flowchart illustrated in FIG. 7, so a detailed description will be omitted.

[0078]

As illustrated in FIG. 1, the relative position between the vehicle V in question and the extension unit 22 that is output from the base unit 20 is input to the route controller 16 and the target vehicle speed generator 17 (alternatively, the steering angle controller 18 and the speed controller 19 may be vehicle V of the subject vehicle V. In step S24, the path following controller 16 and the target vehicle speed generator 17 compare the relative position between the subject vehicle V and the extension unit 22, which is input after the start of autonomous parking control of the subject vehicle V, with the relative position position before starting autonomous parking control. Then, when the relative position does not change, it is determined that the extension unit 22 is placed on the roof of the vehicle V in question, as illustrated in FIG. 6E, and in step S25, autonomous parking control of the subject vehicle V is suspended or prohibited.

[0079]

Thus, according to the remote parking system 1 of the present embodiment, when the relative position between the subject vehicle V and the extension unit 22 does not change due to the movement of the subject vehicle V by the autonomous motion control, the autonomous motion control of the subject vehicle V stops. This can suspend or prohibit the autonomous parking control of the subject vehicle V even when it is detected, during the execution of the autonomous parking control of the subject vehicle V, that the operator U is not carrying the extension unit 22 .

[0080]

"Third Embodiment"

Next, a third embodiment of the remote parking system to which the remote control method and the remote control device for a vehicle of the present invention are applied will be described. For the same configurations as in the first embodiment, the same reference numerals as in the first embodiment will be used and their detailed description will be omitted.

[0081]

As in the second embodiment, the present embodiment provides a control procedure for suspending or inhibiting the autonomous driving control of the subject vehicle V during the execution of the autonomous driving control. FIG. 10 illustrates an example in which the subject vehicle V is driven by autonomous parking control from the right side position indicated by dashed lines to the left side position indicated by solid lines. In the present embodiment, the position detection unit 201 calculates the post-movement relative position estimate value L3 based on the first relative position L1 between the subject vehicle V and the extension unit 22 before the start of movement and the amount of movement of the subject vehicle V. The amount of movement of the subject vehicle V is calculated from using a wheel speed sensor and a steering wheel angle sensor. The position detecting unit 201 also detects the second relative position L2 between the vehicle V in question and the extension unit 22 after moving. As illustrated in FIG. 10, when the relative position estimate L3 and the second post-movement relative position L2 match each other, it is determined that the operator U carries the extension unit 22, and autonomous parking control of the subject vehicle V is enabled. On the other hand, as illustrated in FIG. 11, when the relative position estimate L3 and the second relative position L2 after movement do not match each other, it can be determined that the operator U does not carry the extension unit 22, for example, due to the location of the extension unit 22 on the roof of the vehicle V in question. The autonomous parking control of the vehicle V in question is thus suspended or prohibited.

[0082]

That is, according to the remote parking system 1 of the present embodiment, the estimated value L3 of the relative position of the extension unit 22 with respect to the subject vehicle V is calculated based on the first relative position L1 of the extension unit 22 with respect to the subject vehicle V, which is detected before starting the autonomous driving control of the subject vehicle V, and a travel distance by the autonomous motion control of the subject vehicle V. In addition, when the autonomous motion control of the subject vehicle V is executed, the second relative position L2 of the extension unit 22 with respect to the subject vehicle V is detected. Then, when the relative position estimate L3 and the second relative position L2 match each other, the autonomous driving control of the subject vehicle V is enabled, while when the relative position estimate L3 and the second relative position L2 do not match each other, the autonomous driving control of the subject vehicle V stops. This can suspend or prohibit the autonomous parking control of the subject vehicle V even when it is detected, during the execution of the autonomous parking control of the subject vehicle V, that the operator U is not carrying the extension unit 22 .

[0083]

"Fourth Embodiment"

Next, a fourth embodiment of the remote parking system to which the remote control method and the remote control device for a vehicle of the present invention are applied will be described. For the same configurations as in the first embodiment, the same reference numerals as in the first embodiment will be used and their detailed description will be omitted.

[0084]

In the present embodiment, when the touch command operation is set by the operation setting unit 212, a different type of touch command operation is set for each direction in which the subject vehicle V is turned by the autonomous driving control. For example, as illustrated in FIG. 12, when the subject vehicle V turns right while driving forward along the route R1a, that is, when the subject vehicle V turns clockwise, then, as indicated on the remote operation device 21A, the command determination area Cjr is on the right side on the right side of the vehicle view 211a is set as the specified command definition area, and the circle shape command gesture Gr in the clockwise direction is set as the specified touch command operation. On the other hand, when the subject vehicle V turns left while driving back along the route R2a, that is, when the subject vehicle V turns counterclockwise, then, as indicated on the remote operation device 21B, the command determination area Cjl on the left side the side of the vehicle representation 211a is set as the specified command definition area, and the circular figure drawing command gesture Gl in the counterclockwise direction is set as the specified touch command operation.

[0085]

As illustrated in FIG. 13, when the subject vehicle V turns left while driving straight along the route R1b, that is, when the subject vehicle V turns counterclockwise, then, as indicated on the remote operation device 21A, the command determination area Cjl is on the left side on the left side of the vehicle view 211a is set as the specified command definition area, and the circle shape command gesture Gl in the counterclockwise direction is set as the specified touch command operation. On the other hand, when the subject vehicle V turns to the right while moving backward along the route R2b, that is, when the subject vehicle V turns clockwise, then, as indicated on the remote operation device 21B, the command determination area Cjr on the right side of the right the side of the vehicle representation 211a is set as the specified command definition area, and the circle shape command gesture Gr in the clockwise direction is set as the specified touch command operation.

[0086]

Thus, according to the remote parking system 1 of the present embodiment, the touch command operation is set to a different type for each direction in which the subject vehicle V turns by the autonomous motion control. More specifically, when the turning direction of the subject vehicle V is the clockwise direction, the clockwise touch operation is set as the command gesture. When the turning direction of the subject vehicle V is counterclockwise, the counterclockwise touch operation is set as the command gesture. This allows the direction of rotation of the vehicle V in question and the direction of operation of the command gesture to coincide with each other, and thus it is easy for the operator U to understand the input of the touch command operation.

[0087]

In the above first to fourth embodiments, an example of using a swipe command gesture on the touch panel 211 or the like as a touch command operation has been described, but as described above, the touch command operation by gesture is not limited, and various touch operations other than gestures can be used as touch command operations provided that the operation can be detected by the touch panel 211. For example, such other touch operations that can be used as touch command operations include an operation of pressing a predetermined position on the touch panel 211, a button displayed on the touch panel 211, or the like a predetermined number of times or more, or for a predetermined time or more. In addition, the touch command operation is not limited to the case of one finger touch operation, and the touch operation of moving two or more fingers in the same direction or in different directions can also be used as the command touch operation.

[Description of tags]

[0088]

1 Remote parking system

11 Target parking space setting device

12 Vehicle position detection unit

13 Object detection unit

14 Parking route generator

15 Deceleration calculator to object

16 Route controller

17 Vehicle target speed generator

18 Angle controller

19 Vehicle speed controller

20 Base unit

22 Extension unit

21 Remote operation device

211 Touch panel

212 Operation setting block

213 View block

214 Operation definition block

212a Representation of the vehicle

212b Gesture input information

215 Command block

216 Communication block

Gf, Gb, Gr, Gl Command Gesture (Command Operation by Touch)

Cjf, Cjb, Cjr, Cjl Command scope

Ga0, Ga1, Ga2 Gesture definition area

V Vehicle in question

L1 First relative position

L2 Second relative position

L3 Estimated value of relative position

TPS Target parking space

R1, R2 Parking route

W Wall (obstacle)

H1, H2 Home (obstacle)

WD Garden tree (obstacle)

Claims (53)

1. A method for remote control of a vehicle, comprising: detecting the relative position of the expansion unit with respect to the vehicle, the expansion unit being outside the vehicle; setting, according to the relative position of the extension unit, a touch command operation for performing a vehicle operation with the remote operation device; detecting a touch operation that the operator inputs on the touch panel of the remote operation device; determining whether the detected touch operation is said command touch operation, and when the touch operation is a touch command operation, controlling the vehicle to execute autonomous driving control, the vehicle having an autonomous driving control function. 2. A method for remotely controlling a vehicle according to claim 1, comprising setting another touch command operation according to the relative position. 3. A method for remotely controlling a vehicle according to claim 1 or 2, comprising providing the operator of the remote operation device with input information of the touch command operation so as to prompt the operator to input the touch command operation which is set according to the relative position. 4. The method of remote control of the vehicle according to any one of paragraphs. 1-3 containing: setting a command definition area on the touch panel according to a relative position, the command definition area accepting a touch operation of an operator as a touch command operation; determining whether the detected touch operation is an operation in the command definition area; And when determining that the touch operation is an operation in the command definition area, control the vehicle to execute the autonomous motion control. 5. The method of remote control of the vehicle according to any one of paragraphs. 1-4 containing: setting the command gesture as a touch command operation according to the relative position, the command gesture being for performing a vehicle operation with the remote operation device; determining whether the touch operation is said command gesture; And when determining that the touch operation is a command gesture, control the vehicle to execute the autonomous motion control. 6. The method of remote control of the vehicle according to any one of paragraphs. 1-5 containing: setting the command definition area of the touch panel and the command gesture as a touch command operation according to the relative position, the command definition area accepting the operator's touch operation as the touch command operation, the command gesture being to perform a vehicle operation with the device remote implementation of the operation; determining whether the detected touch operation is an operation in the command definition area and whether it is said command gesture; And when determining that the touch operation is an operation in the command definition area and is said command gesture, control the vehicle to execute the autonomous motion control. 7. The method for remotely controlling a vehicle according to claim 4, wherein the command determination area is set relative to a vehicle image displayed on the touch panel. 8. A method for remotely controlling a vehicle according to claim 5 or 6, comprising, when the relative position of the extension unit with respect to the vehicle is in front of the vehicle, setting as a command gesture a touching forward swipe operation in front of the vehicle representation along the front-back direction of said vehicle representation. 9. A method for remotely controlling a vehicle according to claim 5 or 6, comprising, when the relative position of the extension unit with respect to the vehicle is behind the vehicle, setting as a command gesture a touch operation of swiping backward from the rear of the vehicle representation along the front-back direction of said vehicle representation. 10. A method for remotely controlling a vehicle according to claim 5 or 6, comprising, when the relative position of the extension unit with respect to the vehicle is on the right side of the vehicle, setting as a command gesture a touching operation of swiping a finger in a circle in the first circumferential direction. 11. A method for remotely controlling a vehicle according to claim 10, comprising, when the relative position of the extension unit with respect to the vehicle is on the left side of the vehicle, setting as a command gesture a touch operation of swiping a finger in a circle in the second circumferential direction opposite to the first circumferential direction. 12. The remote control method of a vehicle according to claim 5 or 6, wherein the command gesture is set to a different type for each direction in which the vehicle turns by autonomous motion control. 13. A method for remotely controlling a vehicle according to claim 12, comprising, when the direction in which the vehicle turns is the clockwise direction, setting the clockwise touch operation as a command gesture. 14. A method for remotely controlling a vehicle according to claim 12, comprising, when the direction in which the vehicle turns is the counterclockwise direction, setting the counterclockwise touch operation as a command gesture. 15. The method of remote control of the vehicle according to any one of paragraphs. 1-14 containing, when the relative position between the vehicle and the extension unit does not change due to the movement of the vehicle by the autonomous motion control, stopping the autonomous motion control of the vehicle. 16. The method of remote control of the vehicle according to any one of paragraphs. 1-14 containing: calculating an estimated value of the relative position of the expansion unit with respect to the vehicle based on the first relative position of the expansion unit with respect to the vehicle and the travel distance by the autonomous driving control of the vehicle, the first relative position being detected before starting the autonomous driving control of the vehicle; detecting a second relative position of the extension unit with respect to the vehicle when executing autonomous vehicle motion control; when the estimated value of the relative position and the second relative position match each other, enabling the autonomous driving of the vehicle; And when the estimated value of the relative position and the second relative position do not match each other, stopping the autonomous driving control of the vehicle. 17. The method of remote control of the vehicle according to any one of paragraphs. 1-16 containing, when the touch operation is no longer detectable, controlling the vehicle to stop the autonomous driving control. 18. The method of remote control of the vehicle according to any one of paragraphs. 1-17, in which the autonomous motion control is a parking control for parking a vehicle. 19. A remote control device for a vehicle, comprising: a remote operation device for the vehicle, the remote operation device comprising a touch panel configured to detect a touch operation entered by an operator; an operation establishing unit configured to: detecting the relative position of the expansion unit with respect to the vehicle, the expansion unit being outside the vehicle; And establishing, according to the relative position of the extension unit, a touch command operation to perform a vehicle operation with the remote operation device; an operation determination unit configured to determine whether the detected touch operation is said command operation by touch, and a command block configured, when the touch operation is a touch command operation, to control the vehicle to execute autonomous motion control, wherein the vehicle has an autonomous motion control function.

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