JP2023114501A - remote parking device - Google Patents

Abstract

To provide a remote parking device which is improved to prevent an ignition switch from staying in on-state even though a remote parking application is compulsively ended during remote parking.SOLUTION: A remote parking device comprises: a terminal device in which a remote parking application is installed and then which is operated by a user; and a vehicle control ECU which responds to a command sent from the terminal device through wireless communication by using the remote parking application and then moves a vehicle to a target parking position to park it. The vehicle control ECU switches the ignition switch of the vehicle to an off state (S120), when it is determined that the remote parking application is compulsively ended (S110) after determining the vehicle is moved to the target parking position (S70).SELECTED DRAWING: Figure 2

Description

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

2. Description of the Related Art As a remote control device for a vehicle such as an automobile, there is known a remote control device such as a remote parking device that allows a user to remotely operate a vehicle using a portable terminal device. For example, in Patent Document 1 below, a vehicle can be operated by remote control using a mobile terminal device. A remote control configured to abort an operation is described. According to this type of remote control device, it is possible to prevent inappropriate remote control from being performed when communication between the mobile terminal device and the communication device of the vehicle is interrupted.

WO2020/022075

[Problems to be solved by the invention]
As one of the remote control devices, a remote parking application installed in the terminal device is used to respond to commands sent by wireless communication from the terminal device, and the vehicle is automatically moved to the target parking position. devices are known. In the remote parking device, when the vehicle reaches the target parking position, it is notified to the terminal device by wireless communication, and when the user of the terminal device confirms the notification, a signal indicating that the notification has been confirmed is sent from the terminal device. It is transmitted by wireless communication to the transmitting/receiving device of the vehicle. When the vehicle controller receives a signal indicating that the notification has been acknowledged, it turns off the ignition switch.

However, when the terminal device is notified by wireless communication that the vehicle has reached the target parking position, the user can determine that remote parking is complete and forcibly terminate the remote parking application without confirming the notification. be. When the remote parking application is forcibly terminated, there is a problem that the ignition switch cannot be turned off and remains on because the remote parking is not properly terminated.

SUMMARY OF THE INVENTION A primary object of the present invention is to provide an improved remote parking device that prevents the ignition switch from remaining on even if the remote parking application is terminated during remote parking.

[Means for Solving the Problems and Effect of the Invention]
According to the present invention, a terminal device (130) on which a remote parking application is installed and operated by a user, and a vehicle (110) in response to a command transmitted by wireless communication from the terminal device using the remote parking application. A remote parking device (100) including a control unit (vehicle control ECU 10) for moving the vehicle to a target parking position and parking the vehicle is provided.

The control unit is configured to turn off the ignition switch of the vehicle (S120) when it determines that the remote parking application has been forcibly terminated (S110).

According to the above configuration, the ignition switch of the vehicle is turned off when it is determined that the remote parking application has been forcibly terminated. Therefore, it is possible to prevent the ignition switch from being left on even when the remote parking application is forcibly terminated without performing the remote parking regular termination process.

[Aspect of the invention]
In one aspect of the present invention, when the control unit (vehicle control ECU 10) determines that the remote parking application has been forcibly terminated (S70) after determining that the vehicle has been moved to the target parking position, the ignition switch is turned on. configured to switch off (S120).

According to the above aspect, the ignition switch is turned off when it is determined that the remote parking application has been forcibly terminated after it is determined that the vehicle has been moved to the target parking position. Therefore, even if it is determined that the remote parking application has been forcibly terminated, it is possible to avoid turning off the ignition switch when the vehicle has not been moved to the target parking position. Therefore, for example, when the user is a driver and wants to stop remote parking and resume driving, there is no need to switch the ignition switch from off to on, so driving can be resumed efficiently. .

In another aspect of the present invention, the control unit (vehicle control ECU 10) forcibly terminates the remote parking application when wireless communication with the terminal device suddenly becomes impossible in a situation where wireless communication with the terminal device is normally possible. (S110).

According to the above aspect, it is determined that the remote parking application has been forcibly terminated when wireless communication with the terminal device suddenly becomes impossible in a situation where wireless communication with the terminal device is normally possible. Therefore, it can be determined that the remote parking application has been forcibly terminated by distinguishing between the situation where the distance between the terminal device and the vehicle gradually increases and the situation where the remaining charge of the battery of the terminal device gradually decreases.

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. FIG. 10 is a diagram showing an example of a left bird's-eye view image displayed on the display when the vehicle is remotely parked at the target parking position in the parallel parking area;

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

<Configuration>
A remote parking device 100 according to an embodiment is applied to a vehicle 110 . As shown in FIG. 1, the vehicle 110 includes a vehicle control ECU 10, a drive ECU 20, a brake ECU 30, an electric power steering ECU 40 and a meter ECU 50. Additionally, although not shown in FIG. 1, the vehicle 110 is equipped with a navigation device. 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.

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 12, a camera sensor 14, a laser sensor 16, and a setting operator 18, which wirelessly communicate with the terminal device 130. FIG. Note that the terminal device 130 may be a smart phone that wirelessly communicates with the transceiver 12 using Bluetooth (registered trademark), for example.

The camera sensor 14 has four camera units for photographing the front, rear, left and right sides of the vehicle 110, and analyzes the image data obtained by photographing by the camera units to detect white lines on roads and parking lots. and a recognition unit for recognizing. A camera unit of the camera sensor 14 photographs the scenery around the vehicle. The recognition unit of the camera sensor 14 transmits 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. LiDAR (Light Detection And Ranging) may be used instead of the camera sensor 14 .

The laser sensor 16 includes 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 setting operation device 18 is an operation device having a plurality of switches for setting whether or not automatic driving and remote parking are to be performed. The setting operation unit 18 includes a remote parking switch not shown in FIG. to implement remote parking. Furthermore, the setting operator 18 includes an ignition switch.

The drive ECU 20 is connected to a drive device 22 that accelerates the vehicle 102 by applying drive force to drive wheels (not shown in FIG. 1). The drive ECU 20 normally controls the drive device 22 so that the driving force generated by the drive device 22 changes according to the driving operation by the driver. It controls the drive device 22 .

Drive 22 may be a combination internal combustion engine and transmission. The remote parking system of the present invention is applicable to a so-called hybrid vehicle (HV) having an internal combustion engine and a motor as driving force sources, or a so-called electric vehicle (EV) having only a motor as a driving force source without an internal combustion engine. may be applied to 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 source. 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.

The braking ECU 30 is connected to a braking device 32 that decelerates the vehicle 102 by applying braking force to wheels (not shown in FIG. 1). The braking ECU 30 normally controls the braking device so that the braking force generated by the braking device 32 changes according to the braking operation by the driver. Automatic braking is performed by controlling the braking device 32 . When braking force is applied to the wheels, a brake lamp (not shown in FIG. 1) is lit.

Although not shown in FIG. 1, the braking device 32 includes an electric parking brake device, which is abbreviated as EPB (Electric Parking Brake). When the EPB device is activated under the control of the brake ECU 30, braking force is applied to the wheels to maintain the vehicle 110 in a stopped state.

An EPS device 42 is connected to the EPS-ECU 40 . The EPS-ECU 40 controls the EPS device 42 in a manner known in the art based on the steering torque Ts and the vehicle speed V detected by the driving operation sensor 60 and the vehicle state sensor 70, which will be described later. It controls the torque and reduces the driver's steering burden. Further, the EPS-ECU 40 can steer the steerable wheels as necessary by controlling the EPS device 42 . Therefore, the EPS-ECU 40 and the EPS device 42 function as a steering device that automatically steers the steered wheels as necessary.

The vehicle control ECU 10 outputs command signals to the drive ECU 20 and the brake ECU 30 to control the braking/driving force of the vehicle 110, and outputs command signals to the EPS-ECU 40 to automatically steer the steered wheels. , which enables automatic operation. In particular, as will be described later in detail, the vehicle control ECU 10 automatically moves the vehicle 110 to the target parking position along the target route for remote parking during remote parking.

The meter ECU 50 is connected to a display 52 that displays the status of control by the driving support ECU 10 and the like. The display 52 may be, for example, a head-up display or a multi-information display that displays meters and various information, or may be a display of a navigation device.

Various vehicle state sensors 60 for detecting the state of the vehicle 110 and various driving operation state sensors 70 for detecting the driving operation state are connected to the CAN 120 . The vehicle state sensor 60 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 70 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 60 and the driving operation state sensor 70 (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 .

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 parking instructions. 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 by the vehicle control ECU 10 of the vehicle 110 via the transmitter/receiver 12 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. The ROM is installed with a remote parking application for performing remote parking control, which will be described later, in cooperation with the vehicle control ECU 100 .

The remote parking application is abbreviated as "remote parking application". Further, 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 remote valet parking in a hotel or the like, 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 100 .

When the remote parking switch of the setting operator 18 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 12 and the terminal wireless transmitter/receiver. Give and receive information.

In the embodiment, when the vehicle 110 stops and the remote parking switch is turned on, the vehicle control ECU 10 controls the vehicle 110 based on the image data captured by the four camera units of the camera sensor 14. A bird's-eye view image of the surroundings is formed, and the bird's-eye view image is displayed on the display device 52 of the vehicle. When the driver selects and determines a target parking position from parking positions in the bird's-eye view image displayed on the display 52, the vehicle control ECU 10 sets a target route from the current position of the vehicle to the target parking position. The vehicle control ECU 10 cooperates with other ECUs to automatically move the vehicle 110 to the target parking position along the target route. When the vehicle 110 reaches the target parking position, the vehicle control ECU 10 outputs a command signal to the brake ECU 40 to operate the electric parking brake and shift the shift position of the transmission to the P range.

Further, the vehicle control ECU 10 transmits a signal indicating that the vehicle 110 has reached the target parking position to the terminal device 130, and the terminal ECU of the terminal device 130 displays on its display that the vehicle 110 has reached the target parking position and Display a "confirm" icon. When the user touches the confirmation icon, the terminal ECU transmits a signal indicating this to the vehicle control ECU 10 . When the vehicle control ECU 10 receives a signal indicating that the user has touched the "confirm" icon, the vehicle control ECU 10 releases the electric parking brake and turns off the ignition switch.

When the remote parking switch is turned on, the CPU of the vehicle control ECU 100 executes remote parking control according to the control routine shown in the flowchart shown in FIG. As a result, the vehicle control ECU 100 responds to the parking command transmitted from the terminal device 130 when the driver gets out of the vehicle 110, and automatically moves the vehicle to the designated target parking position and parks the vehicle.

<Remote parking control routine>
Next, a remote parking control routine in the embodiment will be described with reference to the flowchart shown in FIG. The 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 activated. be done. In the following description, remote parking control is simply referred to as "control".

First, in step S<b>10 , the CPU displays a bird's-eye view image of the surroundings of the vehicle 110 on the display 52 . In this case, when the driver touches the next candidate icon, the CPU switches and displays the front bird's-eye image, the rear bird's-eye image, the left bird's-eye image, the right bird's-eye image, and the all-around bird's-eye image in this order.

In step S20, the CPU determines whether or not the driver has determined the desired parking position (target parking position) by touching the parking position (parking section) displayed on the display 52. . When the CPU makes a negative determination, it returns the control to step S10, and when it makes an affirmative determination, it advances the control to step S30. After determining the desired parking position, the driver may exit the vehicle 110 and then operate the terminal device 130 as a user to give necessary instructions regarding remote parking.

In step S30, the CPU sets the target route from the current position of the vehicle 110 to the target parking position, and displays the target route on the display 52. FIG. The terminal device 130 is notified that the target route has been set, and the display of the terminal device 130 displays a "move" icon.

In step S<b>40 , the CPU determines whether or not a signal permitting automatic movement of the vehicle 110 is received from the terminal device 130 . When the CPU makes a negative determination, it advances the control to step S60, and when it makes an affirmative judgment, it advances the control to step S50. In this case, when the user touches the "move" icon displayed on the display of the terminal device 130, a signal indicating that is transmitted from the terminal device 130 to the vehicle control ECU 10 by wireless communication, and the signal is received. At this time, it is determined that a signal permitting automatic movement of the vehicle 110 has been received.

In step S50, the CPU cooperates with other ECUs to automatically move the vehicle 110 along the target route toward the target parking position. On the other hand, in step S60, the CPU keeps the vehicle in a stopped state when the vehicle 110 is not moving, and stops the vehicle 110 by stopping automatic driving when the vehicle 110 is moving. . After completing step S60, the CPU returns the control to step S40.

In step S70, the CPU determines whether or not the vehicle 110 has reached the target parking position based on the detection results of the camera sensor 14 and the laser sensor 16. FIG. When the CPU makes a negative determination, it returns the control to step S40, and when it makes an affirmative determination, it advances the control to step S80.

In step S80, the CPU notifies the user that vehicle 110 has reached the target parking position. That is, a signal indicating that the vehicle 110 has reached the target parking position is transmitted to the terminal device 130 by wireless communication. The CPU of terminal device 130 displays on the display that vehicle 110 has reached the target parking position.

In step S90, the CPU operates the door lock by outputting a command signal to the body ECU (not shown in FIG. 1). Further, the CPU operates the EPB device by outputting a command signal to the braking ECU 40 . Furthermore, although not shown in FIG. 2, by outputting a command signal to the drive ECU 30, the shift range of the transmission of the drive device 22 is switched to the P range in a steer-by-wire manner. Furthermore, the CPU transmits a signal indicating that the parking process has been completed to the terminal device 130 by wireless communication. The CPU of the terminal device 130 displays the completion of the parking process and a "confirm" icon on the display.

In step S100, the CPU determines whether or not the user has confirmed the completion of the parking process by touching the "Confirm" icon. 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 S110.

In step S110, the CPU determines whether or not the remote parking application has been forcibly terminated. When the CPU makes a negative determination, it returns the control to step S100, and when it makes an affirmative determination, it advances the control to step S120. In this step, it may be determined that the remote parking application has been forcibly terminated when the transceiver 12 suddenly becomes unable to wirelessly communicate with the terminal device 130 in a situation where wireless communication can be normally performed with the terminal device 130 .

Although not shown in FIG. 2, even if a negative determination is made in step S110, a preset reference time or more has elapsed since the vehicle 110 started moving toward the target parking position. When it does, control may proceed to step S120.

In step S120, the CPU outputs a command signal to the braking ECU 40 to deactivate the EPB device and turn off the ignition switch (not shown in FIG. 1).

<Operation of Embodiment>
Next, the operation of the embodiment will be described with reference to FIG. 3 when the vehicle 110 is remotely parked at the target parking position in the parallel parking area.

FIG. 3 shows a left bird's-eye view image 140 displayed on the display 52, 142 indicates a parking space, and 142A and 142B indicate available parking spaces (S10). It is assumed that the driver has determined the desired parking position (target parking position) in the parking section 142B by touching the portion 142B (S20).

In FIG. 3, vehicle 110n indicates the current position of vehicle 110, and Pn indicates a reference position such as the center of gravity of vehicle 110. In FIG. When the target parking position is determined, a target route 144 from the current position of the vehicle 110 to the target parking position 142B is set as the target trajectory of the reference position Pn, and the target route 144 is displayed on the display 52. FIG.

When the terminal device 130 is notified that the target route has been set, a “move” icon is displayed on the display of the terminal device 130 . When the user judges that the vehicle 110 can normally start moving toward the target parking position 142B, the user starts touching the "move" icon (S40). If the user determines that vehicle 110 is normally moving toward target parking position 142B, the user continues to touch the "move" icon (S40), and vehicle 110 continues to move toward target parking position 142B ( S50).

Note that when the user determines that it is necessary to stop the movement of the vehicle 110, such as when the user finds an obstacle on the route along which the vehicle 110 is scheduled to move, the user clicks the "move" icon. By stopping the touch, the movement of the vehicle 110 can be stopped (S60).

When vehicle 110 reaches target parking position 142B (S70), a signal indicating that vehicle 110 has reached the target parking position is transmitted to terminal device 130 (S80), and terminal device 130 detects that vehicle 110 has reached the target parking position. Show what you have done on the display. Further, when the vehicle 110 reaches the target parking position 142B, the door lock and EPB device are operated, and the shift range of the transmission is switched to the P range (S90). In addition, a signal is sent to the terminal device 130 indicating that the parking process has been completed, and a "confirm" icon is displayed on the display of the terminal device 130 indicating that the parking process has been completed.

When the user confirms that the parking process is completed by touching the "Confirm" icon (S100), the EPB device is deactivated and the ignition switch is turned off (S120).

Furthermore, if the user forcibly terminates the remote parking application without touching the "Confirm" icon (S110), the EPB device is deactivated and the ignition switch is turned off (S120). Therefore, even if the user forcibly terminates the remote parking application without touching the "confirm" icon, it is possible to avoid the situation where the ignition switch is on.

As described above, even if the user does not touch the "Confirm" icon and does not forcibly terminate the remote parking application (S100, S110), the preset Step S120 may be executed when the time equal to or longer than the reference time has elapsed. In this case as well, it is possible to avoid the situation where the ignition switch is on.

As can be seen from the above description, according to the embodiment, when it is determined that the remote parking application has been forcibly terminated (step S110), the ignition switch of the vehicle is turned off (step S120). Therefore, it is possible to prevent the ignition switch from being left on because the remote parking is not properly terminated.

Further, according to the embodiment, after it is determined that the vehicle has been moved to the target parking position (step S70), when it is determined that the remote parking application has been forcibly terminated (step S110), the ignition switch is turned off. (step S120). Therefore, even if it is determined that the remote parking application has been forcibly terminated, it is possible to avoid turning off the ignition switch when the vehicle has not been moved to the target parking position.

For example, in a situation where the user is a driver and the vehicle is moving toward the target parking position, if the user wants to stop remote parking and resume driving, the user can perform processing to stop remote parking. may force close the remote parking app without In this case, since the ignition switch cannot be turned off, the operation can be restarted more efficiently than when the ignition switch is turned off.

Furthermore, according to the embodiment, it is determined that the remote parking application has been forcibly terminated when wireless communication with the terminal device suddenly becomes impossible in a situation where wireless communication with the terminal device can be normally performed (step S110). Therefore, it is possible to distinguish between a situation in which the distance between the terminal device 130 and the vehicle 110 gradually increases and a situation in which the remaining battery charge of the terminal device gradually decreases, and to determine that the remote parking application has been forcibly terminated. can.

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 above-described embodiment, when the remote parking switch is turned on, a bird's-eye view image is displayed on the display 52 of the vehicle 110, and the target parking position is selected from the parking positions in the bird's-eye view displayed on the display 52. is selected and determined by the driver. However, when the remote parking switch is turned on, a parking position that is close to the current position of the vehicle 110 and that is stored in the non-volatile storage device is displayed on the display 52, and the displayed parking position is displayed. A target parking position from among may be selected and determined by the driver (memory parking position selection mode). In the case of this mode, when the vehicle is driven by the driver and parked in a parking position where the vehicle has never been parked, whether or not to register the parking position is displayed on the display 52, and the driver's intention to register is displayed. When indicated, the parking position may be registered by being stored in non-volatile storage.

In the case of remote valet parking at a hotel or the like, after the driver turns on the remote parking switch and gets out of the vehicle, an icon for starting remote parking is displayed on the display of the terminal device 130 . When the remote parking start icon is touched by the user, a map of a parking lot near the vehicle 110 and the current position of the vehicle 110 are displayed on the display of the terminal device 130, and the desired parking space (target parking position) is determined by touching. (valet parking mode).

In the case of the valet parking mode, the target route from the current position to the target parking position is displayed on the map of the parking lot on the display of the terminal device 130 . Further, when the vehicle 110 is being moved by automatic driving, the movement route of the vehicle 110 and the "Move" icon may be displayed on the map.

Further, in the above-described embodiment, when it is not determined in step S100 that the completion of the parking process has been confirmed, in step S110 it is determined whether or not the remote parking application has been forcibly terminated. However, step S110 is omitted, and determination of whether or not the remote parking application has been forcibly terminated is performed at predetermined time intervals by interrupting the remote parking control routine according to the flowchart shown in FIG. 2, and an affirmative determination is made. However, it may be modified so that the same processing as in step S120 is performed when it is determined that the vehicle has reached the target parking position.

Furthermore, in the above-described embodiment, the target parking position is the target parking section, but it may be a parking area that is not marked by white lines or the like.

DESCRIPTION OF SYMBOLS 10... Vehicle control ECU, 20... EPS*ECU, 30... Drive ECU, 40... Braking ECU, 50... Meter ECU, 60... Driving operation sensor, 70... Vehicle state sensor, 100... Remote parking device, 110... Vehicle, 130 Terminal device 140 Left overhead image 142 Target parking position 144 Target route

Claims (3)

A terminal device installed with a remote parking application and operated by a user, and in response to a command transmitted from the terminal device by wireless communication using the remote parking application, the vehicle is moved to a target parking position and parked. a control unit that causes
The remote parking device, wherein the control unit is configured to turn off an ignition switch of the vehicle when it determines that the remote parking application has been forcibly terminated. 2. The remote parking device according to claim 1, wherein the control unit turns off the ignition switch when determining that the remote parking application has been forcibly terminated after determining that the vehicle has been moved to the target parking position. Remote parking device configured to switch to. 3. The remote parking device according to claim 1, wherein the remote parking application is forcibly activated when wireless communication with the terminal device suddenly becomes impossible in a situation where wireless communication with the terminal device is normally possible. A remote parking device configured to determine that it has been terminated.

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