Remote parking system

#The present invention relates to a remote parking system for parking a vehicle according to a remote operation from a terminal.

#A parking assist system known in the art executes parking assistance by moving a vehicle based on an instruction from a portable terminal (for example, JP2015-89733A). In this parking assist system, the vehicle moves in a case where a distance between the portable terminal and the vehicle is within a prescribed range (for example, within a few meters) where the user can check the safety of the vehicle and its vicinity. The distance between the portable terminal and the vehicle is measured by exchanging ultrasonic waves between two onboard communication units provided at front and rear ends of the vehicle and a terminal communication unit of the portable terminal. The vehicle can move when the distance between the portable terminal and the vehicle (either of the two onboard communication units) is equal to or less than the upper limit.

#In the parking assist system disclosed in JP2015-89733A, the distance between the portable terminal and the vehicle is measured by making communication between a terminal (portable terminal) and antennas (onboard communication units). If a ranging signal from the terminal to the antennas is disturbed by the surrounding environment, the communication between the terminal and the antennas may become unstable. In such a case, it is preferable that the user can move the terminal to a place where the communication between the terminal and the antennas is stable and the distance between the portable terminal and the vehicle can be easily measured.

#FIG. 1 is a functional block diagram of a remote parking system;

#FIG. 2A is a plan view showing the arrangement of ranging units on a vehicle body and stably ranging areas;

#FIG. 2B is an enlarged view of a part surrounded by a two-dot chain circle in FIG. 2A;

#In the following, a remote parking system 1 according to an embodiment of the present invention is described with reference to the drawings.

#As shown in FIG. 1, the remote parking system 1 includes a vehicle system 2 mounted on a vehicle S and at least one operation terminal 3. The vehicle system 2 includes a powertrain 4, a brake device 5, a steering device 6, an external environment sensor 7, a vehicle sensor 8, a communication device 9, a navigation device 10, a driving operation device 11, an HMI 13, a notification device 14, and a control device 15. The above components of the vehicle system 2 are connected by communication means such as a controller area network 16 (CAN) so that a signal can be transmitted between the above components.

#The powertrain 4 is configured to apply a driving force to the vehicle S. The powertrain 4 includes a power source and a transmission, for example. The power source includes at least one of an internal combustion engine such as a gasoline engine and a diesel engine and an electric motor. The brake device 5 is configured to apply a brake force to the vehicle S. For example, the brake device 5 includes a brake caliper configured to press a brake pad against a brake rotor and an electric cylinder configured to supply an oil pressure to the brake caliper. The brake device 5 includes a parking brake device configured to restrict rotations of wheels via wire cables. The steering device 6 is configured to change a steering angle of the wheels. For example, the steering device 6 includes a rack-and-pinion mechanism configured to steer (turn) the wheels and an electric motor configured to drive the rack-and-pinion mechanism. The powertrain 4, the brake device 5, and the steering device 6 are controlled by the control device 15.