JP2004056867A - Hybrid vehicle control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hybrid vehicle control system in which a regenerative current is sufficiently recovered to a battery while an SOC is controlled not to exceed a set control width for a sufficiently reduced fuel consumption amount, by appropriately adjusting the control width of the SOC of a battery. <P>SOLUTION: A road information acquiring part acquires a road information about a scheduled travel route of a vehicle. A control width and travel means decision process part decide a travel means so that the SOC is within the control width at the end point of a prescribed section, by calculating the SOC of a power storage means in the prescribed section of the scheduled travel route of the vehicle. Based on the calculated SOC, controlled width of the SOC is changes, which is set in advance. A control processing part performs variable control with the control width which is decided by the control width and travel means decision process part, and controls the travelling of the vehicle based on the travel means decided by the control width and travel means decision process part. <P>COPYRIGHT: (C)2004,JPO

Description

【００７３】
なお、表に示される数値は一例に過ぎず、適宜変更することができるものであり、式（４）における係数βを変更することによって調整することができる。すなわち、モータの使用割合を増加させる場合には係数βを大きくし、モータの使用割合を減少させる場合には係数βを小さくする。
【００７４】
このようにして、車両の走行予定経路の所定区間において蓄電手段の蓄電量であるＳＯＣを算出し、算出された該ＳＯＣに基づいてあらかじめ車両において設定されているＳＯＣの管理幅を変化させ、所定区間の終点におけるＳＯＣがあらかじめ車両において設定されている管理幅内に設定された所定区間の終点におけるＳＯＣの目標値であるＳｓｔａと所定区間の終点におけるＳＯＣとの差分を区区間数で等分割し、小区間毎に管理幅の可変制御を実行し、走行方法である走行パターンを決定する。
【００７５】
次に、フローチャートについて説明する。
ステップＳ２−８−１　Ｅｉｓｔａを読み込む。
ステップＳ２−８−２　Ｅｃｈａ（ｉ−１）とＥｉｓｔａとの和を求めてＳＯＣの値Ｅｃｈａを算出する。
ステップＳ２−８−３　ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵ以上である場合はステップＳ２−８−４に進み、ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵより小さい場合はステップＳ２−８−９に進む。
ステップＳ２−８−４　バッテリの通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が最小充電可能値ＳＣより大きいか否かを判断する。最小充電可能値ＳＣより大きい場合はステップＳ２−８−５に進み、最小充電可能値ＳＣ以下である場合はステップＳ２−８−８に進む。
ステップＳ２−８−５　通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が通常最小管理値Ｓｍｉｎ以上であるか否かを判断し、通常最小管理値Ｓｍｉｎ以上である場合はステップＳ２−８−６に進み、通常最小管理値Ｓｍｉｎより小さい場合はステップＳ２−８−７に進む。
ステップＳ２−８−６　フラグを１に設定する。
ステップＳ２−８−７　フラグを２に設定する。
ステップＳ２−８−８　フラグを３に設定する。
ステップＳ２−８−９　ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きいか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きい場合はステップＳ２−８−１０に進み、ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎ以下である場合はステップＳ２−８−１３に進む。
ステップＳ２−８−１０　ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上である場合はステップＳ２−８−１１に進み、ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより小さい場合はステップＳ２−８−１２に進む。
ステップＳ２−８−１１　フラグを４に設定する。
ステップＳ２−８−１２　フラグを５に設定する。
ステップＳ２−８−１３　ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上である場合はステップＳ２−８−１４に進み、ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣより小さい場合はステップＳ２−８−１５に進む。
ステップＳ２−８−１４　フラグを６に設定する。
ステップＳ２−８−１５　フラグを７に設定する。
ステップＳ２−８−１６　最小管理値ＳＣｔｅｍｐ、最大管理値ＳＵｔｅｍｐ、余剰エネルギＥｅｘｔを設定する。
ステップＳ２−８−１７　余剰エネルギＥｅｘｔが０でないか否かを判断する。余剰エネルギＥｅｘｔが０でない場合はステップＳ２−８−１８に進み、余剰エネルギＥｅｘｔが０である場合はステップＳ２−８−２１に進む。
ステップＳ２−８−１８　余剰エネルギＥｅｘｔが０より小さいか否かを判断する。余剰エネルギＥｅｘｔが０より小さい場合はステップＳ２−８−１９に進み、余剰エネルギＥｅｘｔが０以上である場合はステップＳ２−８−２０に進む。
ステップＳ２−８−１９　Ｅｅｘｔを消費する走行パターンに変更し、処理を終了する。
ステップＳ２−８−２０　Ｅｅｘｔを消費しない走行パターンに変更し、処理を終了する。
ステップＳ２−８−２１　通常の走行パターンとして設定した走行パターンのまま走行し、処理を終了する。
【００７６】
次に、Ｎ番目の小区間での容量調整処理の詳細な動作について説明する。
【００７７】
図１３は本発明の第１の実施の形態におけるＮ番目の小区間での容量調整処理のサブルーチンを示すフローチャートである。
【００７８】
図７に示されるステップＳ２−５〜Ｓ２−７の動作において、Ｎ番目の小区間でのバッテリ１６のＳＯＣが管理幅内に入るように設定したが、１番目〜Ｎ−１番目の小区間について管理幅可変設定処理を実行したので、走行予定経路の目標値であるＮ番目の小区間のＳＯＣの値が、車両においてあらかじめ設定された管理幅に入っていない可能性がある。そこで、Ｎ番目の小区間での走行パターンの補正処理を行うようになっている。
【００７９】
この場合、区間消費エネルギ算出及び走行方法決定処理部３２は、まず、Ｎ番目の小区間の終点におけるバッテリ１６のＳＯＣの値Ｅｃｈａを算出する。
【００８０】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｎ番目の小区間におけるＥｃｈａが通常管理幅内に入っているか否かを判断する。そして、Ｅｃｈａが通常管理幅内に入っている場合は、通常の走行パターンとして設定された走行パターンを走行パターンとして設定する。
【００８１】
また、Ｅｃｈａが通常管理幅内に入っていない場合、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｎ番目の小区間における制御目標値である特定値ＳｓｔａとＳＯＣの値Ｅｃｈａとの差を算出する。そして、ＳｓｔａからＥｃｈａを減算した値が正である場合は、バッテリ１６のエネルギが足りている場合であるから、Ｅｃｈａを通常管理幅内に入れるためには、バッテリ１６のエネルギを消費する必要がある。また、ＳｓｔａからＥｃｈａを減算した値が負（偽）である場合は、バッテリ１６のエネルギが不足している場合であるから、Ｅｃｈａを通常管理幅内に入れるためには、エネルギを回生する必要がある。
【００８２】
そこで、区間消費エネルギ算出及び走行方法決定処理部３２は、ＳｓｔａからＥｃｈａを減算した値が正である場合、すなわち、ＥｃｈａがＳｍａｘより大きい場合は、ＥｅｘｔにＥｃｈａからＳｍｉｎを減算した値（＜０）を代入する。また、ＳｓｔａからＥｃｈａを減算した値が負である場合、すなわち、ＥｃｈａがＳｍｉｎより小さい場合は、ＥｅｘｔにＥｃｈａからＳｍａｘを減算した値（＞０）を代入する。
【００８３】
次に、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｅｘｔが０より小さいか否かを判断する。
【００８４】
そして、Ｅｅｘｔが０より小さい場合、すなわち、ＳｓｔａからＥｃｈａを減算した値が正である場合は、Ｅｅｘｔを消費することがないような走行パターンに変更する。また、Ｅｅｘｔが０以上である場合、すなわち、ＳｓｔａからＥｃｈａを減算した値が負である場合は、エネルギを消費する必要があるので、Ｅｅｘｔを消費するような走行パターンに変更する。
【００８５】
次に、フローチャートについて説明する。
ステップＳ２−９−１　Ｎ番目の小区間におけるＳＯＣの値Ｅｃｈａを算出する。
ステップＳ２−９−２　通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａより大きい、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより大きいか否かを判断する。通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａより大きい、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより大きい場合はステップＳ２−９−３に進み、通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａ以下、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以下である場合はステップＳ２−９−９に進む。
ステップＳ２−９−３　特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０より大きいか否かを判断する。特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０より大きい場合はステップＳ２−９−４に進み、特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０以下である場合はステップＳ２−９−５に進む。
ステップＳ２−９−４　余剰エネルギＥｅｘｔにＳＯＣの値Ｅｃｈａから通常最小管理値Ｓｍｉｎ（＜０）を減算した値を代入する。
ステップＳ２−９−５　余剰エネルギＥｅｘｔにＳＯＣの値Ｅｃｈａから通常最大管理値Ｓｍａｘ（＞０）を減算した値を代入する。
ステップＳ２−９−６　余剰エネルギＥｅｘｔが０より小さいか否かを判断する。余剰エネルギＥｅｘｔが０より小さい場合はステップＳ２−９−７に進み、余剰エネルギＥｅｘｔが０以上である場合はステップＳ２−９−８に進む。
ステップＳ２−９−７　Ｅｅｘｔを消費しないような走行パターンに変更し、処理を終了する。
ステップＳ２−９−８　Ｅｅｘｔを消費するための走行パターンに変更し、処理を終了する。
ステップＳ２−９−９　通常の走行パターンとして設定した走行パターンのまま走行し、処理を終了する。
【００８６】
次に、制御実行処理の詳細な動作について説明する。
【００８７】
図１４は本発明の第１の実施の形態における制御実行処理のサブルーチンを示すフローチャートである。
【００８８】
制御実行処理部３３は、まず、１〜Ｎ番目の小区間のそれぞれに関する最小管理値ＳＣｔｅｍｐ又は最大管理値ＳＵｔｅｍｐを読み込んで設定を行う。なお、ＳＵｔｅｍｐ又はＳＣｔｅｍｐの設定を行うタイミングは、該当する小区間に車両が進入する前であればいつでもよい。
【００８９】
続いて、制御実行処理部３３は、１〜Ｎ番目の小区間のそれぞれに関して設定した走行パターンを読み込んで、該走行パターンの設定を行う。なお、走行パターンの設定を行うタイミングは、該当する小区間に車両が進入する前であればいつでもよい。
【００９０】
そして、制御実行処理部３３は、バッテリ１６のＳＯＣを確認し、モータ１４及びエンジン１１の制御機構１１ａに回転数、トルク等の指令値を送信する。
【００９１】
次に、フローチャートについて説明する。
ステップＳ３−１　設定した最小管理値ＳＣｔｅｍｐ又は最大管理値ＳＵｔｅｍｐを読み込んで設定を行う。
ステップＳ３−２　走行パターンを読み込んで設定を行う。
ステップＳ３−３　バッテリ１６のＳＯＣを確認する。
ステップＳ３−４　モータ１４、エンジン１１に制御機構１１ａに指令値（回転数、トルク）を出力し、処理を終了する。
【００９２】
このように、本実施の形態においては、区間分割処理部３１が車両の出発地と目的地との間の区間を道路属性データに基づいて複数の小区間に分割し、区間消費エネルギ算出及び走行方法決定処理部３２が各小区間で消費するエネルギを算出し、各小区間でのＳＯＣの管理幅及び走行方法を設定し、制御実行処理部３３が小区間毎におけるＳＯＣの管理幅及び走行方法に基づいて走行制御を行うようになっている。この場合、所定区間の終点におけるバッテリ１６のＳＯＣと目標値としてのＳｓｔａの差分を小区間のそれぞれに分配する。
【００９３】
そのため、バッテリ１６のＳＯＣが管理幅を越えことがなく、しかも、回生されたエネルギとしての回生電流を十分にバッテリ１６に回収することができ、エンジン１１の燃料消費量を十分に低減することができる。
【００９４】
次に、本発明の第２の実施の形態について説明する。なお、前記第１の実施の形態と同じ構造を有するもの及び同じ動作については、その説明を省略する。
【００９５】
この場合、区間分割処理部３１の行う区間分割処理は、前記第１の実施の形態と同様なので、説明を省略する。また、制御実行処理部３３の行う制御実行処理も、前記第１の実施の形態と同様であるので説明を省略する。そして、区間消費エネルギ算出及び走行方法決定処理部３２の行う区間消費エネルギ算出及び走行方法決定処理について説明する。
【００９６】
図１５は本発明の第２の実施の形態における区間消費エネルギ算出及び走行方法決定処理のサブルーチンを示すフローチャート、図１６は本発明の第２の実施の形態における各小区間でのＳＯＣの例を示す図、図１７は本発明の第２の実施の形態におけるＳＯＣと最終目標値との差を算出する方法を示す図である。
【００９７】
本実施の形態において、区間消費エネルギ算出及び走行方法決定処理部３２は、まず、走行経路の小区間のそれぞれに付与された道路属性データを読み込み、図１６に示されるように、前記小区間のぞれぞれにおけるバッテリ１６のエネルギとしてのＳＯＣの変化量Ｅｉ（ｉ＝１〜Ｎ）を算出する。
【００９８】
続いて、前記区間消費エネルギ算出及び走行方法決定処理部３２は、実際にバッテリ１６に充電されている充電量、すなわち、ＳＯＣを消費エネルギを計算する際の初期値Ｅ０として読み込み、該初期値Ｅ０と道路情報取得手段である、例えば、ナビゲーション装置からの道路情報、すなわち、登坂路、降坂路、平坦路からすべての小区間におけるバッテリ１６のＳＯＣ変化量Ｅｉとを合算する。すなわち、初期値Ｅ０とすべての小区間におけるバッテリ１６のＳＯＣ変化量Ｅｉとの和であるΣＥｉ（ｉ＝０→Ｎ）を求める。
【００９９】
続いて、前記区間消費エネルギ算出及び走行方法決定処理部３２は、前記和ΣＥｉ、すなわち、走行予定経路上の目標値での蓄電手段である、例えば、バッテリ１６の蓄電量であるＳＯＣがあらかじめ車両において設定されたバッテリ１６のＳＯＣについての管理幅内にあるか否かを判断する。そして、管理幅内にない場合、図１７に示されるように、和ΣＥｉと管理幅内におけるＳＯＣの目標値Ｓｓｔａとの差Ｅｒｅｍを算出する。また、該差Ｅｒｅｍを余剰エネルギＥｅｘｔを処理するための図示されない処理用バッファに格納する。
【０１００】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、管理幅可変設定処理を実行し、各小区間毎に最大管理値ＳＵｔｅｍｐ又は最小管理値ＳＣｔｅｍｐを設定し、各小区間で処理することができなかったエネルギを算出しＥｅｘｔに代入する。なお、該Ｅｅｘｔに代入されたエネルギは、次の小区間で処理される。
【０１０１】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｎ番目の小区間でのＳＯＣの最終的な調整処理を実行する。ここで、Ｎ番目の小区間でのＳＯＣは１番目〜Ｎ−１番目の小区間で処理するようになっているが、小区間毎に走行パターンを変更するので、再度調整を行う必要があり、前記ＳＯＣの最終的な調整処理を実行するようになっている。
【０１０２】
次に、フローチャートについて説明する。
ステップＳ２−１０　道路情報取得部３０からの道路情報を読み込む。
ステップＳ２−１１　小区間の道路属性データを読み込む。
ステップＳ２−１２　各小区間のＳＯＣの変化量Ｅｉを算出する。
ステップＳ２−１３　バッテリ１６に充電されている充電量の初期値としてのＳＯＣの初期値Ｅ０を読み込む。
ステップＳ２−１４　初期値Ｅ０と各小区間のＳＯＣの変化量Ｅｉとの和であるΣＥｉを求める。
ステップＳ２−１５　和ΣＥｉが管理幅内でないか否かを判断する。管理幅内でない場合はステップＳ２−１６に進み、管理幅内である場合はステップＳ２−１８に進む。
ステップＳ２−１６　和ΣＥｉと目標値Ｓｓｔａとの差Ｅｒｅｍを算出する。
ステップＳ２−１７　差Ｅｒｅｍを該余剰エネルギＥｅｘｔに代入する。
ステップＳ２−１８　管理幅可変設定処理を実行する。
ステップＳ２−１９　Ｎ番目の小区間でのＳＯＣ調整処理を実行し、処理を終了する。
【０１０３】
次に、管理幅可変設定処理の詳細な動作について説明する。
【０１０４】
図１８は本発明の第２の実施の形態における管理幅可変設定処理のサブルーチンを示す第１のフローチャート、図１９は本発明の第２の実施の形態における管理幅可変設定処理のサブルーチンを示す第２のフローチャート、図２０は本発明の第２の実施の形態における走行パターン変更後の余剰エネルギを代入する方法を示す図である。
【０１０５】
まず、区間消費エネルギ算出及び走行方法決定処理部３２は、カウンタｉに１をセットし、余剰エネルギＥｅｘｔを読み込む。なお、初期値はＮ番目の小区間、すなわち、走行予定経路の目標地におけるＳＯＣにおけるＥｅｘｔであり、２番目以降の小区間においては、当該小区間のＥｅｘｔが読み込まれる。
【０１０６】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、ＳＯＣの値ＥｃｈａにＳＯＣと１番目の小区間から当該小区間までのエネルギの総和を代入する。
【０１０７】
次に、区間消費エネルギ算出及び走行方法決定処理部３２は、前記第１の実施の形態と同様にして（図９におけるステップＳ２−８−３〜ステップＳ２−８−１６参照）、小区間毎のＳＵｔｅｍｐ、ＳＣｔｅｍｐ及びＥｅｘｔを算出し、算出したＳＵｔｅｍｐ、ＳＣｔｅｍｐ及びＥｅｘｔを設定する。
【０１０８】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｅｘｔが０でないか否かを判断する。そして、Ｅｅｘｔが０である場合、通常の走行パターンとして設定された走行パターンを走行パターンとして設定する。
【０１０９】
また、Ｅｅｘｔが０でない場合、Ｅｅｘｔの処理するための走行パターンを選択するために、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｅｘｔが０より小さいか否かを判断する。そして、Ｅｅｘｔが０より小さい場合は、充電することができる管理幅のＳＣ以上に回生することができることになるので、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｅｘｔを消費する走行パターンに変更する。
【０１１０】
また、Ｅｅｘｔが０以上である場合は、ＥｅｘｔがＳＣ以下になるので過放電してしまう。したがって、区間消費エネルギ算出及び走行方法決定処理部３２は、過放電することがない走行パターンに変更し、Ｅｅｘｔを消費することがない走行パターンに変更する。
【０１１１】
次に、区間消費エネルギ算出及び走行方法決定処理部３２は、走行パターン変更前と走行パターン変更後とのＳＯＣの差を算出し、Ｅｒｅｓｔに代入する。なお、Ｅｒｅｓｔは残りエネルギのことである。
【０１１２】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、図２０に示されるように、Ｅｅｘｔに走行パターンを変更した後のＥｅｘｔとＥｒｅｓｔとの差、すなわち、Ｅｅｘｔ−Ｅｒｅｓｔを代入する。
【０１１３】
そして、区間消費エネルギ算出及び走行方法決定処理部３２は、カウンタｉに１を加算し、カウンタｉがＮより大きいか否かを判断する。なお、カウンタｉがＮより大きいか否かを判断するのは、前述の処理を１番目からＮ−１番目の小区間まで続けるためである。ところで、前記処理は１番目からＮ−１番目の小区間に限定する必要はなく、Ｌ１番目の小区間からＬ２番目の小区間まで行ってもよい（Ｌ１≠１、Ｌ２≠Ｎ−１、Ｎ）。
【０１１４】
次に、フローチャートについて説明する。
ステップＳ２−１８−１　カウンタｉに１をセットする。
ステップＳ２−１８−２　余剰エネルギＥｅｘｔを読み込む。
ステップＳ２−１８−３　初期値Ｅ０と和ΣＥｉと余剰エネルギＥｅｘｔとを加算してＳＯＣの値Ｅｃｈａを算出する。
ステップＳ２−１８−４　ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵ以上である場合はステップＳ２−１８−５に進み、ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵより小さい場合はステップＳ２−１８−１０に進む。
ステップＳ２−１８−５　バッテリ１６の通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が最小充電可能値ＳＣより大きいか否かを判断する。最小充電可能値ＳＣより大きい場合はステップＳ２−１８−６に進み、最小充電可能値ＳＣ以下である場合はステップＳ２−１８−９に進む。
ステップＳ２−１８−６　通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が通常最小管理値Ｓｍｉｎ以上であるか否かを判断し、通常最小管理値Ｓｍｉｎ以上である場合はステップＳ２−１８−７に進み、通常最小管理値Ｓｍｉｎより小さい場合はステップＳ２−１８−８に進む。
ステップＳ２−１８−７　フラグを１に設定する。
ステップＳ２−１８−８　フラグを２に設定する。
ステップＳ２−１８−９　フラグを３に設定する。
ステップＳ２−１８−１０　ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きいか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きい場合はステップＳ２−１８−１１に進み、ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎ以下である場合はステップＳ２−１８−１４に進む。
ステップＳ２−１８−１１　ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上である場合はステップＳ２−１８−１２に進み、ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより小さい場合はステップＳ２−１８−１３に進む。
ステップＳ２−１８−１２　フラグを４に設定する。
ステップＳ２−１８−１３　フラグを５に設定する。
ステップＳ２−１８−１４　ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上である場合はステップＳ２−１８−１５に進み、ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣより小さい場合はステップＳ２−１８−１６に進む。
ステップＳ２−１８−１５　フラグを６に設定する。
ステップＳ２−１８−１６　フラグを７に設定する。
ステップＳ２−１８−１７　最小管理値ＳＣｔｅｍｐ、最大管理値ＳＵｔｅｍｐ、余剰エネルギＥｅｘｔを設定する。
ステップＳ２−１８−１８　余剰エネルギＥｅｘｔが０でないか否かを判断する。余剰エネルギＥｅｘｔが０でない場合はステップＳ２−１８−１９に進み、余剰エネルギＥｅｘｔが０である場合はステップＳ２−１８−２２に進む。
ステップＳ２−１８−１９　余剰エネルギＥｅｘｔが０より小さいか否かを判断する。余剰エネルギＥｅｘｔが０より小さい場合はステップＳ２−１８−２０に進み、余剰エネルギＥｅｘｔが０以上である場合はステップＳ２−１８−２１に進む。
ステップＳ２−１８−２０　Ｅｅｘｔを消費する走行パターンに変更する。
ステップＳ２−１８−２１　Ｅｅｘｔを消費しないような走行パターンに変更する。
ステップＳ２−１８−２２　通常の走行パターンとして設定した走行パターンを設定する。
ステップＳ２−１８−２３　走行パターン変更前と走行パターン変更後とのＳＯＣの差Ｅｒｅｓｔを算出する。
ステップＳ２−１８−２４　余剰エネルギＥｅｘｔから差Ｅｒｅｓｔを減算した値を余剰エネルギＥｅｘｔに代入する。
ステップＳ２−１８−２５　カウンタｉに１を加算する。
ステップＳ２−１８−２６　カウンタｉがＮより大きいか否かを判断する。カウンタｉがＮより大きい場合はステップＳ２−１８−２に戻り、カウンタｉがＮ以下である場合は処理を終了する。
【０１１５】
次に、Ｎ番目の小区間での容量調整処理の詳細な動作について説明する。
【０１１６】
図２１は本発明の第２の実施の形態におけるＮ番目の小区間での容量調整処理のサブルーチンを示すフローチャート、図２２は本発明の第２の実施の形態における容量調整処理を示す第１の図、図２３は本発明の第２の実施の形態における容量調整処理を示す第２の図、図２４は本発明の第２の実施の形態における容量調整処理を示す第３の図である。
【０１１７】
既に、Ｎ番目の小区間においてバッテリ１６のＳＯＣが管理幅内に入るように設定したが、１番目〜Ｎ−１番目の小区間について管理幅可変設定処理を実行したので、走行予定経路の目標地であるＮ番目の小区間のＳＯＣの値が車両においてあらかじめ設定された管理幅内に入っていない可能性がある。そこで、Ｎ番目の小区間での走行パターンの補正処理を行うようになっている。
【０１１８】
この場合、区間消費エネルギ算出及び走行方法決定処理部３２は、まず、Ｎ番目の小区間の終点におけるバッテリ１６のＳＯＣの値Ｅｃｈａを算出する。
【０１１９】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｎ番目の小区間におけるＥｃｈａが通常管理幅内に入ってるか否かを判断する。そして、Ｅｃｈａが通常管理幅内に入っている場合は、通常の走行パターンとして設定された走行パターンを走行パターンとして設定する。なお、Ｅｃｈａは、次の式（１３）で表される。
Ｅｃｈａ＝ΣＥｉ＋Ｅｅｘｔ・・・式（１３）
また、Ｅｃｈａが通常管理幅内に入っていない場合、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｎ番目の小区間における制御目標値である特定値ＳｓｔａとＳＯＣの値Ｅｃｈａとの差Ｅｒｅｍを算出する。そして、ＳｓｔａからＥｃｈａを減算した値が正である場合は、バッテリ１６のエネルギが足りている場合であるから、Ｅｃｈａを通常管理幅内に入れるためには、バッテリ１６のエネルギを消費する必要がある。また、ＳｓｔａからＥｃｈａを減算した値が負である場合は、バッテリ１６のエネルギが不足している場合であるから、Ｅｃｈａを通常管理幅内に入れるためには、エネルギを回生する必要がある。
【０１２０】
そこで、区間消費エネルギ算出及び走行方法決定処理部３２は、ＳｓｔａからＥｃｈａを減算した値が正である場合、すなわち、ＥｃｈａがＳｍａｘより大きい場合は、ＥｒｅｍにＥｃｈａからＳｍｉｎを減算した値（＜０）を代入する。また、ＳｓｔａからＥｃｈａを減算した値が負である場合、すなわち、ＥｃｈａがＳｍｉｎより小さい場合は、ＥｅｘｔにＥｃｈａからＳｍａｘを減算した値（＞０）を代入する。
【０１２１】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｒｅｍが０より小さいか否かを判断する。そして、Ｅｒｅｍが０より小さい場合、すなわち、ＳｓｔａからＥｃｈａを減算した値が正である場合は、Ｅｒｅｍを消費することがないような走行パターンに変更する。また、Ｅｒｅｍが０以上である場合、すなわち、ＳｓｔａからＥｃｈａを減算した値が負である場合は、エネルギを消費する必要があるので、Ｅｒｅｍを消費するような走行パターンに変更する。
【０１２２】
次に、フローチャートについて説明する。
ステップＳ２−１９−１　Ｎ番目の小区間におけるＳＯＣの値Ｅｃｈａを算出する。
ステップＳ２−１９−２　通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａより大きい、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより大きいか否かを判断する。通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａより大きい、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより大きい場合はステップＳ２−１９−３に進み、通常最小管理値ＳｍｉｎがＳＯＣの値Ｅｃｈａ以下、又は該ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以下である場合はステップＳ２−１９−９に進む。
ステップＳ２−１９−３　特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０より大きいか否かを判断する。特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０より大きい場合はステップＳ２−１９−４に進み、特定値ＳｓｔａからＳＯＣの値Ｅｃｈａを減算した値が０以下である場合はステップＳ２−１９−５に進む。
ステップＳ２−１９−４　差ＥｒｅｍにＳＯＣの値Ｅｃｈａから通常最小管理値Ｓｍｉｎ（＜０）を減算した値を代入する。
ステップＳ２−１９−５　差ＥｒｅｍにＳＯＣの値Ｅｃｈａから通常最大管理値Ｓｍａｘ（＞０）を減算した値を代入する。
ステップＳ２−１９−６　差Ｅｒｅｍが０より小さいか否かを判断する。差Ｅｒｅｍが０より小さい場合はステップＳ２−１９−７に進み、差Ｅｒｅｍが０以上である場合はステップＳ２−１９−８に進む。
ステップＳ２−１９−７　Ｅｒｅｍを消費しないような走行パターンに変更し、処理を終了する。
ステップＳ２−１９−８　Ｅｒｅｍを消費するための走行パターンに変更し、処理を終了する。
ステップＳ２−１９−９　通常の走行パターンとして設定した走行パターンのまま走行し、処理を終了する。
【０１２３】
このように、本実施の形態においては、図２２に示されるようなＮ番目の小区間における制御目標値である特定値ＳｓｔａとＳＯＣの値Ｅｃｈａとの差Ｅｒｅｍを、図２３に示されるように、出発地直後の小区間である１番目の小区間のＥ_１に与えるようになっている。そして、１番目の小区間でできるだけ消費又は充電することによって、Ｅ_１＋Ｅｒｅｍを減少させ、図２４に示されるように、余剰分Ｅｅｘｔを次の小区間である２番目の小区間のＥ_２に繰り延べるようになっている。すなわち、所定区間の終点としての目的地におけるバッテリ１６のＳＯＣと目標値Ｓｓｔａとの差分を前記所定区間における最初の小区間から順次分配する。ここで、分配するとは、道路情報取得手段に基づき算出された小区間におけるＳＯＣを他の小区間に割り当てることである。
【０１２４】
そのため、本実施の形態は、余剰分Ｅｅｘｔを順々に次の小区間に繰り延べることによって、目的地でのＳＯＣを最終の制御値に近付けようとする点において、Ｎ番目の小区間におけるＥｅｘｔを各小区間に分配する前記第１の実施の形態と相違する。そして、バッテリ１６のＳＯＣが管理幅を越えることがなく、しかも、回生されたエネルギとしての回生電流を十分にバッテリ１６に回収することができ、エンジン１１の燃料消費量を十分に低減することができる。
【０１２５】
なお、本実施の形態において制御実行処理部３３の行う制御実行処理については、前記第１の実施の形態と同様であるので説明を省略する。
【０１２６】
次に、本発明の第３の実施の形態について説明する。なお、第１及び第２の実施の形態と同じ構造を有するもの及び同じ動作については、その説明を省略する。この場合、区間分割処理部３１の行う区間分割処理は、前記第１及び第２の実施の形態と同様であるので、説明を省略する。そして、区間消費エネルギ算出及び走行方法決定処理部３２の行う区間消費エネルギ算出及び走行方法決定処理について説明する。
【０１２７】
また、本実施の形態における区間消費エネルギ算出及び走行方法決定処理は、管理幅可変設定処理及び容量調整処理のみが前記第２の実施の形態と相違する。そこで、図１５におけるステップＳ２−１１〜ステップＳ２−１７に対応する動作について、前記第２の実施の形態と同様であるので説明を省略する。
【０１２８】
次に、区間消費エネルギ算出及び走行方法決定処理における管理幅可変設定処理の詳細な動作について説明する。
【０１２９】
図２５は本発明の第３の実施の形態における管理幅可変設定処理のサブルーチンを示す第１のフローチャート、図２６は本発明の第３の実施の形態における管理幅可変設定処理のサブルーチンを示す第２のフローチャートである。
【０１３０】
まず、区間消費エネルギ算出及び走行方法決定処理部３２は、カウンタｉにＮ−１をセットする。なお、カウンタｉは、Ｎ−１番目の小区間から２番目の小区間目まで、後述されるステップＳ２−１８−３２〜Ｓ２−１８−５６の動作を繰り返すためのカウンタである。
【０１３１】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、余剰エネルギＥｅｘｔを読み込む。なお、初期値はＮ番目の小区間での余剰エネルギであり、Ｎ−２番目から２番目の小区間の間は、該当する小区間のＥｅｘｔが読み込まれる。
【０１３２】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｃｈａを算出する。ここで、Ｅｃｈａには、次の式（１４）が代入される。
ΣＥｉ＋Ｅ０＋Ｅｅｘｔ・・・式（１４）
なお、以降の動作、すなわち、フローチャートにおけるステップＳ２−１８−３４〜Ｓ２−１８−５４の動作は、前記第２の実施の形態におけるステップＳ２−１８−４〜Ｓ２−１８−２４の動作と同様であるので説明を省略する。
【０１３３】
最後に、区間消費エネルギ算出及び走行方法決定処理部３２は、カウンタｉから１を減算し、カウンタｉが１以上であるか否かを判断する。そして、カウンタｉが１以上である場合には、前述の動作を繰り返し、カウンタｉが１より小さくなった場合は管理幅可変設定処理を終了する。
【０１３４】
次に、フローチャートについて説明する。
ステップＳ２−１８−３１　カウンタｉにＮ−１をセットする。
ステップＳ２−１８−３２　余剰エネルギＥｅｘｔを読み込む。
ステップＳ２−１８−３３　初期値Ｅ０と和ΣＥｉと余剰エネルギＥｅｘｔとを加算してＳＯＣの値Ｅｃｈａを算出する。
ステップＳ２−１８−３４　ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵ以上である場合はステップＳ２−１８−３５に進み、ＳＯＣの値Ｅｃｈａがバッテリの最大充電可能値ＳＵより小さい場合はステップＳ２−１８−４０に進む。
ステップＳ２−１８−３５　バッテリの通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が最小充電可能値ＳＣより大きいか否かを判断する。最小充電可能値ＳＣより大きい場合はステップＳ２−１８−３６に進み、最小充電可能値ＳＣ以下である場合はステップＳ２−１８−３９に進む。
ステップＳ２−１８−３６　通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が通常最小管理値Ｓｍｉｎ以上であるか否かを判断し、通常最小管理値Ｓｍｉｎ以上である場合はステップＳ２−１８−３７に進み、通常最小管理値Ｓｍｉｎより小さい場合はステップＳ２−１８−３８に進む。
ステップＳ２−１８−３７　フラグを１に設定する。
ステップＳ２−１８−３８　フラグを２に設定する。
ステップＳ２−１８−３９　フラグを３に設定する。
ステップＳ２−１８−４０　ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きいか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きい場合はステップＳ２−１８−４１に進み、ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎ以下である場合はステップＳ２−１８−４４に進む。
ステップＳ２−１８−４１　ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上である場合はステップＳ２−１８−４２に進み、ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより小さい場合はステップＳ２−１８−４３に進む。
ステップＳ２−１８−４２　フラグを４に設定する。
ステップＳ２−１８−４３　フラグを５に設定する。
ステップＳ２−１８−４４　ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上である場合はステップＳ２−１８−４５に進み、ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣより小さい場合はステップＳ２−１８−４６に進む。
ステップＳ２−１８−４５　フラグを６に設定する。
ステップＳ２−１８−４６　フラグを７に設定する。
ステップＳ２−１８−４７　最小管理値ＳＣｔｅｍｐ、最大管理値ＳＵｔｅｍｐ、余剰エネルギＥｅｘｔを設定する。
ステップＳ２−１８−４８　余剰エネルギＥｅｘｔが０でないか否かを判断する。余剰エネルギＥｅｘｔが０でない場合はステップＳ２−１８−４９に進み、余剰エネルギＥｅｘｔが０である場合はステップＳ２−１８−５２に進む。
ステップＳ２−１８−４９　余剰エネルギＥｅｘｔが０より小さいか否かを判断する。余剰エネルギＥｅｘｔが０より小さい場合はステップＳ２−１８−５０に進み、余剰エネルギＥｅｘｔが０以上である場合はステップＳ２−１８−５１に進む。
ステップＳ２−１８−５０　Ｅｅｘｔを消費する走行パターンに変更する。
ステップＳ２−１８−５１　Ｅｅｘｔを消費しないような走行パターンに変更する。
ステップＳ２−１８−５２　通常の走行パターンとして設定した走行パターンを設定する。
ステップＳ２−１８−５３　走行パターン変更前と走行パターン変更後とのＳＯＣの差Ｅｒｅｓｔを算出する。
ステップＳ２−１８−５４　余剰エネルギＥｅｘｔから差Ｅｒｅｓｔを減算した値を余剰エネルギＥｅｘｔに代入する。
ステップＳ２−１８−５５　カウンタｉから１を減算する。
ステップＳ２−１８−５６　カウンタｉ１以上であるか否かを判断する。カウンタｉが１以上である場合はステップＳ２−１８−３２に戻り、カウンタｉが１より小さい場合は処理を終了する。
【０１３５】
次に、Ｎ番目の小区間での容量調整処理の詳細な動作について説明する。
【０１３６】
図２７は本発明の第３の実施の形態における１番目の小区間での容量調整処理のサブルーチンを示すフローチャート、図２８は本発明の第３の実施の形態における余剰エネルギの分配方法を示す図である。
【０１３７】
まず、区間消費エネルギ算出及び走行方法決定処理部３２は、走行予定経路の出発地であるバッテリ１６のＳＯＣの初期値Ｅ０とＥｅｘｔとの差を求め、Ｅｒｅｍに代入し、絶対値｜Ｅｒｅｍ｜がε（所定の小さい値）より小さいか否かを判断する。ここでεは、Ｅｒｅｍが所定の範囲内に入っているか否かを判断する所定値であり、どのような値であってもよい。
【０１３８】
そして、区間消費エネルギ算出及び走行方法決定処理部３２は、絶対値｜Ｅｒｅｍ｜がεより小さい場合は処理を終了し、絶対値｜Ｅｒｅｍ｜がε以上である場合は、対象となる小区間を決めてＥｅｘｔを分配する余剰エネルギ分配処理を行う。ここで、絶対値｜Ｅｒｅｍ｜がε以上である場合は、図２８に示されるように、特定の小区間（Ｋ１番目からＮ−Ｋ２番目の小区間であってフラグ４、５又はフラグ１、２、４、５に対応する小区間）にだけＥｅｘｔを不均等に分配する。例えば、１番目からＮ番目まで小区間を設定してしまうと、これまでに設定した走行パターンを更に再設定することになってしまうので、特定の小区間だけに分配する。なお、Ｋ１、Ｋ２は任意の数字であり、小区間を限定するために用いる。
【０１３９】
次に、フローチャートについて説明する。
ステップＳ２−１９−１１　初期値Ｅ０から余剰エネルギＥｅｘｔを減算し、Ｅｒｅｍに代入する。
ステップＳ２−１９−１２　絶対値｜Ｅｒｅｍ｜がε（所定の小さい値）より小さいか否かを判断する。絶対値｜Ｅｒｅｍ｜がε（所定の小さい値）より小さい場合は処理を終了し、絶対値｜Ｅｒｅｍ｜がε（所定の小さい値）以上である場合はステップＳ２−１９−１３に進む。
ステップＳ２−１９−１３　余剰エネルギ分配処理を実行し、処理を終了する。
【０１４０】
次に、余剰エネルギ分配処理の詳細な動作について説明する。
【０１４１】
図２９は本発明の第３の実施の形態における余剰エネルギ分配処理のサブルーチンを示すフローチャート、図３０は本発明の第３の実施の形態におけるＳＯＣと最終目標値との差を算出する方法を示す図、図３１は本発明の第３の実施の形態における特定の小区間を設定する方法を示す第１の図、図３２は本発明の第３の実施の形態における特定の小区間を設定する方法を示す第２の図である。
【０１４２】
まず、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｒｅｍの正負によって初期値Ｅ０に対しての大小関係を判断する。前記差Ｅｒｅｍの値は、次の式（１５）で表され、大小関係は図３０に示されるようになる。
Ｅｒｅｍ＝Ｅ０−Ｅｅｘｔ・・・式（１５）
そして、Ｅｒｅｍが０より小さい場合は、図３１に示されるように、Ｋ１番目からＮ−Ｋ２番目の小区間の中でフラグが４、５の小区間を抽出する。この場合、エネルギを消費しなければならない状態にあるので、走行方法である走行パターンを変更し、エネルギを消費するための区間を選択する。例えば、ここでは、フラグ４、５を抽出する。
【０１４３】
また、Ｅｒｅｍが０以上である場合は、図３２に示されるように、Ｋ１番目からＮ−Ｋ２番目の小区間の中でフラグが１、２、４、５の小区間を抽出する。この場合、エネルギを消費しない走行にする必要があるので、走行パターンを変更する。なお、フラグが１、２の時は、Ｅｒｅｍを蓄えるために抽出し、フラグが４、５の時は、Ｅｒｅｍを消費しない走行パターンに変更するために抽出する。
【０１４４】
なお、以降の動作については、前記第１の実施の形態における図９に示されるステップＳ２−８−３〜ステップＳ２−８−２１における動作と同様であるので説明を省略する。
【０１４５】
次に、フローチャートについて説明する。
ステップＳ２−１９−１３−１　差Ｅｒｅｍが０より小さいか否かを判断する。差Ｅｒｅｍが０より小さい場合はステップＳ２−１９−１３−２に進み、差Ｅｒｅｍが０以上である場合はステップＳ２−１９−１３−３に進む。
ステップＳ２−１９−１３−２　Ｋ１区間〜Ｋ２区間でフラグが４、５のすべての区間を検出する。
ステップＳ２−１９−１３−３　Ｋ１区間〜Ｎ−Ｋ２区間でフラグが１、２、４、５のすべての区間を検出する。
ステップＳ２−１９−１３−４　Ｅｒｅｍ分配処理を実行する。
ステップＳ２−１９−１３−５　ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵ以上である場合はステップＳ２−１９−１３−６に進み、ＳＯＣの値Ｅｃｈａがバッテリ１６の最大充電可能値ＳＵより小さい場合はステップＳ２−１９−１３−１１に進む。
ステップＳ２−１９−１３−６　バッテリ１６の通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が最小充電可能値ＳＣより大きいか否かを判断する。最小充電可能値ＳＣより大きい場合はステップＳ２−１９−１３−７に進み、最小充電可能値ＳＣ以下である場合はステップＳ２−１９−１３−１０に進む。
ステップＳ２−１９−１３−７　通常最小管理値ＳｍｉｎからＳＯＣの値Ｅｃｈａを減算し、その値に最大充電可能値ＳＵを加算した値が通常最小管理値Ｓｍｉｎ以上であるか否かを判断し、通常最小管理値Ｓｍｉｎ以上である場合はステップＳ２−１９−１３−８に進み、通常最小管理値Ｓｍｉｎより小さい場合はステップＳ２−１９−１３−９に進む。
ステップＳ２−１９−１３−８　フラグを１に設定する。
ステップＳ２−１９−１３−９　フラグを２に設定する。
ステップＳ２−１９−１３−１０　フラグを３に設定する。
ステップＳ２−１９−１３−１１　ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きいか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎより大きい場合はステップＳ２−１９−１３−１２に進み、ＳＯＣの値Ｅｃｈａが通常最小管理値Ｓｍｉｎ以下である場合はステップＳ２−１９−１３−１５に進む。
ステップＳ２−１９−１３−１２　ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘ以上である場合はステップＳ２−１９−１３−１３に進み、ＳＯＣの値Ｅｃｈａが通常最大管理値Ｓｍａｘより小さい場合はステップＳ２−１９−１３−１４に進む。
ステップＳ２−１９−１３−１３　フラグを４に設定する。
ステップＳ２−１９−１３−１４　フラグを５に設定する。
ステップＳ２−１９−１３−１５　ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上であるか否かを判断する。ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣ以上である場合はステップＳ２−１９−１３−１６に進み、ＳＯＣの値Ｅｃｈａが最小充電可能値ＳＣより小さい場合はステップＳ２−１９−１３−１７に進む。
ステップＳ２−１９−１３−１６　フラグを６に設定する。
ステップＳ２−１９−１３−１７　フラグを７に設定する。
ステップＳ２−１９−１３−１８　最小管理値ＳＣｔｅｍｐ、最大管理値ＳＵｔｅｍｐ、余剰エネルギＥｅｘｔを設定する。
ステップＳ２−１９−１３−１９　余剰エネルギＥｅｘｔが０でないか否かを判断する。余剰エネルギＥｅｘｔが０でない場合はステップＳ２−１９−１３−２０に進み、余剰エネルギＥｅｘｔが０である場合はステップＳ２−１９−１３−２３に進む。
ステップＳ２−１９−１３−２０　余剰エネルギＥｅｘｔが０より小さいか否かを判断する。余剰エネルギＥｅｘｔが０より小さい場合はステップＳ２−１９−１３−２１に進み、余剰エネルギＥｅｘｔが０以上である場合はステップＳ２−１９−１３−２２に進む。
ステップＳ２−１９−１３−２１　Ｅｅｘｔを消費するパターンに変更する。
ステップＳ２−１９−１３−２２　Ｅｅｘｔを消費しないような走行パターンに変更する。
ステップＳ２−１９−１３−２３　通常の走行パターンとして設定した走行パターンを設定する。
【０１４６】
次に、Ｅｒｅｍ分配処理の詳細な動作について説明する。
【０１４７】
図３３は本発明の第３の実施の形態におけるＥｒｅｍ分配処理のサブルーチンを示すフローチャート、図３４は本発明の第３の実施の形態におけるＥｒｅｃを算出する方法を示す第１の図、図３５は本発明の第３の実施の形態におけるＥｒｅｃを算出する方法を示す第２の図、図３６は本発明の第３の実施の形態におけるＥｒｅｃ＿ｌｏｗｅｓｔを分配する方法を示す図、図３７は本発明の第３の実施の形態におけるＥｒｅｍを更新する方法を示す図である。
【０１４８】
まず、区間消費エネルギ算出及び走行方法決定処理部３２は、カウンタｉに初期値Ｋ１を設定し、Ｋ１番目からＮ−Ｋ２番目の小区間毎の小区間におけるバッテリ１６のＳＯＣ変化量Ｅｉを算出する。
【０１４９】
続いて、区間消費エネルギ算出及び走行方法決定処理部３２は、Ｅｄｅｆ（＝ｄｅｆａｕｌｔ：既定値）、すなわち、特定の管理幅を設定する。前記Ｅｄｅｆの上限及び下限は、ＳＵｔｅｍｐ及びＳＣｔｅｍｐでもよいし、Ｋ１番目からＮ−Ｋ２番目の小区間の中で最大のエネルギを蓄える小区間のＥｉを基準に設定してもよい。すなわち、Ｅｄｅｆは、各区間毎のＳＯＣの変化量Ｅｉから分配するエネルギーを算出するための基準となるＥｉを設定できさえすればよい。なお、Ｅｒｅｃ（＝ｒｅｃｏｕｐｍｅｎｔ：差し引き）は、Ｅｄｅｆ−｜Ｅｉ｜である。
【０１５０】
そして、区間消費エネルギ算出及び走行方法決定処理部３２は、図３４に示されるように、フラグで検出された小区間毎にＥｒｅｃを算出し、図３５に示されるように、Ｅｒｅｃの中から最も小さいＥｒｅｃ＿ｌｏｗｅｓｔ（≠０）を選択する。
【０１５１】
次に、区間消費エネルギ算出及び走行方法決定処理部３２は、図３６に示されるように、ステップＳ２−９−３−３で抽出した小区間にＥｒｅｃ＿ｌｏｗｅｓｔを分配する。つまり、ステップＳ２−９−３−２で抽出した区間の変化量ＥｉからＥｒｅｃ＿ｌｏｗｅｓｔを差し引きし、ステップＳ２−９−３−３で抽出した区間にそれぞれ割り当てることで分配する。ただし、図３３に示されるステップＳ２−１９−１３−４−２〜Ｓ２−１９−１３−４−８の動作を複数回繰り返しても、フラグで検出した小区間にＥｒｅｃ＿ｌｏｗｅｓｔが入りきらない場合、該区間にはＥｒｅｃ＿ｌｏｗｅｓｔを分配せず、ＮｕｍにＥｒｅｃ＿ｌｏｗｅｓｔを分配した区間の数を入力する。
【０１５２】
そして、図３７に示されるように、Ｅｒｅｍから分割したＥｒｅｃ＿ｌｏｗｅｓｔのエネルギを減算し、Ｅｒｅｃ＿ｌｏｗｅｓｔを分配したことによるＥｒｅｍの減少した変化量を算出し、次の式（１６）で表されるようにＥｒｅｍの値を更新する。
Ｅｒｅｍ←Ｅｒｅｍ−｜Ｅｒｅｃ＿ｌｏｗｅｓｔ｜×Ｎｕｍ・・・式（１６）
そして、区間消費エネルギ算出及び走行方法決定処理部３２は、更新後のＥｒｅｍの値がεより大きいか否かを判断し、更新後のＥｒｅｍの値が所定値εより大きい場合は、カウンタｉに１を加算する。また、更新後のＥｒｅｍの値が所定値ε以下である場合は、所定の許容の範囲であるとして処理を終了する。ここでεは、所定の小さい値である。
【０１５３】
続いて、カウンタｉがＮ−Ｋ２以下であるか否かを判断し、カウンタｉがＮ−Ｋ２以下である場合は処理を継続し、カウンタｉがＮ−Ｋ２より大きい場合は処理を終了する。
【０１５４】
次に、フローチャートについて説明する。
ステップＳ２−１９−１３−４−１　カウンタｉにＫ１をセットする。
ステップＳ２−１９−１３−４−２　Ｋ１区間からＮ−Ｋ２区間の各小区間ごとのＳＯＣの変化量Ｅｉを算出する。
ステップＳ２−１９−１３−４−３　Ｅｒｅｃ←（Ｅｄｅｆ−｜Ｅｉ｜）を計算し、Ｅｒｅｃの中から最小となるＥｒｅｃ＿ｌｏｗｅｓｔを算出する。
ステップＳ２−１９−１３−４−４　Ｅｒｅｃ＿ｌｏｗｅｓｔをフラグで抽出した小区間に分配し、その分配した小区間の数をＮｕｍに保存する。
ステップＳ２−１９−１３−４−５　Ｅｒｅｍの値を更新する。
ステップＳ２−１９−１３−４−６　Ｅｒｅｍの値が所定値εより大きいか否かを判断する。Ｅｒｅｍの値が所定値εより大きい場合はステップＳ２−１９−１３−４−７に進み、Ｅｒｅｍの値が所定値ε以下である場合は処理を終了する。
ステップＳ２−１９−１３−４−７　カウンタｉに１を加算する。
ステップＳ２−１９−１３−４−８　カウンタｉがＮ−Ｋ２以下であるか否かを判断する。カウンタｉがＮ−Ｋ２以下である場合はステップＳ２−１９−１３−４−２に戻り、カウンタｉがＮ−Ｋ２より大きい場合は処理を終了する。
【０１５５】
このように、本実施の形態においては、Ｎ番目の小区間での余剰エネルギとＳＯＣの初期値との差を特定の小区間だけに分配するようになっている。すなわち、所定区間の終点としての目的地におけるバッテリ１６のＳＯＣと目標値Ｓｓｔａとの差分を前記所定区間における終点に近い小区間に分配する。
【０１５６】
そのため、本実施の形態は、余剰エネルギを目的地に近い小区間に分配することができる点において、出発地に近い小区間に分配する前記第２の実施の形態と相違する。そして、バッテリ１６のＳＯＣが管理幅を越えることがなく、しかも、回生されたエネルギとしての回生電流を十分にバッテリ１６に回収することができ、エンジン１１の燃料消費量を十分に低減することができる。
【０１５７】
なお、本実施の形態において制御実行処理部３３の行う制御実行処理については、前記第１及び第２の実施の形態と同様であるので説明を省略する。
【０１５８】
また、本発明は前記実施の形態に限定されるものではなく、本発明の趣旨に基づいて種々変形させることが可能であり、それらを本発明の範囲から排除するものではない。
【０１５９】
【発明の効果】
以上詳細に説明したように、本発明によれば、ハイブリッド車両制御システムにおいては、車両の走行予定経路の道路情報を取得する道路情報取得部と、車両の走行予定経路の所定区間において蓄電手段の蓄電量であるＳＯＣを算出し、算出されたＳＯＣに基づいてあらかじめ設定されているＳＯＣの管理幅を変化させ、前記所定区間の終点におけるＳＯＣが前記管理幅内に収まるように走行方法を決定する管理幅及び走行方法決定処理部と、該管理幅及び走行方法決定処理部が決定した前記管理幅の可変制御を実行し、前記管理幅及び走行方法決定処理部が決定した走行方法に基づいて車両の走行制御を実行する制御実行処理部とを有する。
【０１６０】
この場合、走行予定経路における目標地点において、蓄電手段のＳＯＣが車両においてあらかじめ設定された管理幅を越えないように制御しながらも、回生エネルギを十分に蓄電手段に回収することができ、燃料消費量を十分に低減することができる。
【０１６１】
他のハイブリッド車両制御システムにおいては、さらに、前記所定区間を道路属性データに基づいて複数の小区間に分割する区間分割処理部を有し、前記管理幅及び走行方法決定処理部は、前記道路情報に基づき前記小区間毎にＳＯＣを算出し、算出された小区間毎のＳＯＣに基づいて前記小区間毎に前記管理幅を変化させて走行方法を決定し、前記制御実行処理部は、前記小区間毎に前記管理幅の可変制御を実行し、前記走行制御を実行する。
【０１６２】
この場合、道路の属性に応じて適切に車両においてあらかじめ設定された管理幅を変化させることができる。
【０１６３】
更に他のハイブリッド車両制御システムにおいては、さらに、前記管理幅及び走行方法決定処理部は、前記小区間毎のＳＯＣの変化量を合算して前記所定区間の終点におけるＳＯＣを算出し、算出された前記所定区間の終点におけるＳＯＣが前記管理幅内に収まらない場合、前記所定区間の終点におけるＳＯＣが前記管理幅内に収まるように、前記小区間毎に前記管理幅を変化させる。
【０１６４】
この場合、回生エネルギを効率的に蓄電手段に回収することができる。
【０１６５】
更に他のハイブリッド車両制御システムにおいては、前記差分を前記小区間の数で等分割し、該小区間に分配する。
【０１６６】
この場合、小区間毎に差分を等分配するので、各小区間毎の回生電流を十分にバッテリに回収することができるので燃料消費を十分に低減することができる。
【０１６７】
更に他のハイブリッド車両制御システムにおいては、前記差分を前記小区間毎のＳＯＣに基づいて不等分割し、前記小区間に分配する。
【０１６８】
この場合、小区間毎に差分を不等分配するので、各小区間毎のＳＯＣに応じて差分を各小区間毎に不等分配することができるので、回生電流を十分にバッテリに回収することができ、燃料消費を十分に低減することができる。
【０１６９】
更に他のハイブリッド車両制御システムにおいては、ＳＯＣの特定の管理幅と小区間毎のＳＯＣの変化量との差分の最小値をＳＯＣが特定の値の小区間に分配する。
【０１７０】
この場合、各小区間毎のＳＯＣに応じて所定区間の終点におけるＳＯＣと所定区間の終点におけるＳＯＣの目標値との差分を不等分配することができるので、小区間毎に回生電流を十分にバッテリに回収することができ、燃料消費を十分に低減することができる。
【図面の簡単な説明】
【図１】本発明の第１の実施の形態におけるハイブリッド車両制御システムの動作を示すメインフローチャートである。
【図２】本発明の第１の実施の形態におけるハイブリッド車両制御システムの構成を示す概念図である。
【図３】本発明の第１の実施の形態におけるハイブリッド車両の制御用テーブルの例を示す図である。
【図４】本発明の第１の実施の形態におけるハイブリッド車両制御システムの機能を示す図である。
【図５】本発明の第１の実施の形態における区間分割処理のサブルーチンを示すフローチャートである。
【図６】本発明の第１の実施の形態における区間分割の例を示す図である。
【図７】本発明の第１の実施の形態における区間消費エネルギ算出及び走行方法決定処理のサブルーチンを示すフローチャートである。
【図８】本発明の第１の実施の形態における小区間を微小区間に分割した例を示す図である。
【図９】本発明の第１の実施の形態における管理幅可変設定処理のサブルーチンを示すフローチャートである。
【図１０】本発明の第１の実施の形態におけるフラグの意味を示す表である。
【図１１】本発明の第１の実施の形態における管理幅とフラグとの関係を示す図である。
【図１２】本発明の第１の実施の形態における記号の意味を示す表である。
【図１３】本発明の第１の実施の形態におけるＮ番目の小区間での容量調整処理のサブルーチンを示すフローチャートである。
【図１４】本発明の第１の実施の形態における制御実行処理のサブルーチンを示すフローチャートである。
【図１５】本発明の第２の実施の形態における区間消費エネルギ算出及び走行方法決定処理のサブルーチンを示すフローチャートである。
【図１６】本発明の第２の実施の形態における各小区間でのＳＯＣの例を示す図である。
【図１７】本発明の第２の実施の形態におけるＳＯＣと最終目標値との差を算出する方法を示す図である。
【図１８】本発明の第２の実施の形態における管理幅可変設定処理のサブルーチンを示す第１のフローチャートである。
【図１９】本発明の第２の実施の形態における管理幅可変設定処理のサブルーチンを示す第２のフローチャートである。
【図２０】本発明の第２の実施の形態における走行パターン変更後の余剰エネルギを代入する方法を示す図である。
【図２１】本発明の第２の実施の形態におけるＮ番目の小区間での容量調整処理のサブルーチンを示すフローチャートである。
【図２２】本発明の第２の実施の形態における容量調整処理を示す第１の図である。
【図２３】本発明の第２の実施の形態における容量調整処理を示す第２の図である。
【図２４】本発明の第２の実施の形態における容量調整処理を示す第３の図である。
【図２５】本発明の第３の実施の形態における管理幅可変設定処理のサブルーチンを示す第１のフローチャートである。
【図２６】本発明の第３の実施の形態における管理幅可変設定処理のサブルーチンを示す第２のフローチャートである。
【図２７】本発明の第３の実施の形態における１番目の小区間での容量調整処理のサブルーチンを示すフローチャート図である。
【図２８】本発明の第３の実施の形態における余剰エネルギの分配方法を示す図である。
【図２９】本発明の第３の実施の形態における余剰エネルギ分配処理のサブルーチンを示すフローチャートである。
【図３０】本発明の第３の実施の形態におけるＳＯＣと最終目標値との差を算出する方法を示す図である。
【図３１】本発明の第３の実施の形態における特定の小区間を設定する方法を示す第１の図である。
【図３２】本発明の第３の実施の形態における特定の小区間を設定する方法を示す第２の図である。
【図３３】本発明の第３の実施の形態におけるＥｒｅｍ分配処理のサブルーチンを示すフローチャートである。
【図３４】本発明の第３の実施の形態におけるＥｒｅｃを算出する方法を示す第１の図である。
【図３５】本発明の第３の実施の形態におけるＥｒｅｃを算出する方法を示す第２の図である。
【図３６】本発明の第３の実施の形態におけるＥｒｅｃ＿ｌｏｗｅｓｔを分配する方法を示す図である。
【図３７】本発明の第３の実施の形態におけるＥｒｅｍを更新する方法を示す図である。
【符号の説明】
１０　　ハイブリッド車両制御システム
１６　　バッテリ
３１　　区間分割処理部
３２　　区間消費エネルギ算出及び走行方法決定処理部
３３　　制御実行処理部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a hybrid vehicle control system.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been provided a hybrid vehicle that uses both an engine such as an internal combustion engine and a motor such as an AC motor that rotates by electric power supplied from a power storage means such as a battery (a storage battery or a secondary battery) as power sources of the vehicle. In the hybrid vehicle, the AC motor serving as the drive source functions as a generator during the deceleration operation of the vehicle. When a so-called regenerative current is generated, the regenerative current is supplied to the battery during the deceleration operation of the vehicle. And the battery is recharged. Therefore, when the battery is constantly charged and the output of the engine alone does not satisfy the required output, the current is automatically supplied to the motor from the battery via the inverter. The vehicle can run stably in various running modes. Further, the fuel consumed by the engine can be reduced.
[0003]
In order to minimize the fuel consumed by the engine, a technique has been proposed for setting the operation schedule of the engine and the motor such that the fuel consumption is minimized according to the road conditions of the route to the destination. (See Japanese Patent Application Laid-Open No. 2000-333305). In this case, the route to the destination is divided into a plurality of sections, the vehicle speed pattern for each section is estimated, and the fuel consumption to the destination is minimized based on the estimated vehicle speed pattern and the fuel consumption characteristics of the engine. The operation schedule of the engine and the motor is set so that
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional hybrid vehicle control system, a management width of a state of charge (SOC), which is a state of charge of a battery serving as a power storage unit, is preset in the vehicle, and the SOC is within the management range. Since the operation schedules of the engine and the motor are set so as to be within the range, the fuel consumption cannot be sufficiently reduced. In general, a battery has a voltage-current characteristic that varies depending on the SOC, and a battery life is shortened when the SOC is too large or too small. For example, if overcharged, the battery may be destroyed. Therefore, the control range preset in the vehicle is set, for example, so that the maximum value is about 60% and the minimum value is about 40% so that the SOC of the battery does not exceed the control range. Controlled.
[0005]
For this reason, since the management width is fixed, when there are many opportunities for the motor to generate a regenerative current, such as a long downhill, the regenerative current cannot be sufficiently collected by the battery and is wasted. Therefore, although there are many opportunities for the motor to generate a regenerative current, the fuel consumption cannot be sufficiently reduced.
[0006]
The present invention solves the problems of the conventional hybrid vehicle control system, and enables the SOC, which is the amount of charge of the battery, which is the power storage means, to appropriately adjust the management range, so that the SOC of the battery is set in advance. Provided is a hybrid vehicle control system capable of sufficiently recovering a regenerative current to a battery and sufficiently reducing fuel consumption while controlling so as not to exceed a management width set in a vehicle. With the goal.
[0007]
[Means for Solving the Problems]
For this purpose, in the hybrid vehicle control system of the present invention, a road information acquisition unit that acquires road information of a planned traveling route of a vehicle and an SOC that is an amount of stored power of a power storage unit in a predetermined section of the planned traveling route of the vehicle are calculated. A management width and traveling method determination processing unit that changes a management width of the SOC that is set in advance based on the calculated SOC and determines a traveling method so that the SOC at the end point of the predetermined section falls within the management width. And executing control for performing variable control of the management width determined by the management width and the traveling method determination processing unit, and executing vehicle travel control based on the traveling method determined by the management width and the traveling method determination processing unit. A processing unit.
[0008]
In another hybrid vehicle control system according to the present invention, the hybrid vehicle control system further includes a section division processing unit that divides the predetermined section into a plurality of small sections based on road attribute data, and the management width and traveling method determination processing unit includes: An SOC is calculated for each of the small sections based on the road information, and the management method is determined by changing the management width for each of the small sections based on the calculated SOC for each of the small sections. The variable control of the management width is executed for each of the small sections, and the traveling control is executed.
[0009]
In still another hybrid vehicle control system according to the present invention, the management width and the driving method determination processing unit further calculates an SOC at an end point of the predetermined section by adding a change amount of the SOC for each of the small sections, If the calculated SOC at the end point of the predetermined section does not fall within the management width, the management width is changed for each of the small sections so that the SOC at the end point of the predetermined section falls within the management width.
[0010]
In still another hybrid vehicle control system according to the present invention, the management width and the driving method determination processing unit may be set within the calculated SOC at the end point of the predetermined section and the management width set in advance. The difference between the SOC and the target value at the end point of the predetermined section is distributed to each of the small sections.
[0011]
In still another hybrid vehicle control system according to the present invention, the management width and the driving method determination processing unit may be set within the calculated SOC at the end point of the predetermined section and the management width set in advance. The difference between the SOC and the target value at the end point of the predetermined section is sequentially distributed from the first small section in the predetermined section.
[0012]
In still another hybrid vehicle control system according to the present invention, the management width and the driving method determination processing unit may be set within the calculated SOC at the end point of the predetermined section and the management width set in advance. The difference between the SOC and the target value of the SOC at the end point of the predetermined section is sequentially distributed from a small section near the end point in the predetermined section.
[0013]
In still another hybrid vehicle control system according to the present invention, the difference is equally divided by the number of the small sections and distributed to the small sections.
[0014]
In still another hybrid vehicle control system according to the present invention, the difference is unequally divided based on the SOC of each of the small sections and distributed to the small sections.
[0015]
In still another hybrid vehicle control system according to the present invention, the minimum value of the difference between the specific management width of the SOC and the change amount of the SOC in each small section is distributed to the small sections having the specific value of the SOC.
[0016]
In the hybrid vehicle control method of the present invention, the road information of the planned traveling route of the vehicle is obtained, the SOC that is the amount of power stored in the power storage means in a predetermined section of the planned traveling route of the vehicle is calculated, and the SOC is calculated based on the calculated SOC. The travel width is determined so that the SOC at the end point of the predetermined section falls within the supervisory width, the control width of the SOC is changed, the variable control of the supervisory width is performed, and the travel control of the vehicle is performed based on the travel method. Is performed.
[0017]
In the hybrid vehicle control program according to the present invention, the computer calculates a SOC, which is a storage amount of the power storage means in a predetermined section of the planned traveling route of the vehicle, a road information acquisition unit that acquires road information of the planned traveling route of the vehicle, A management width and a traveling method determination processing unit for changing a management width of the SOC based on the calculated SOC and determining a traveling method so that the SOC at the end point of the predetermined section falls within the management width; and the management width. And performing a variable control of the management width determined by the traveling method determination processing unit, and causing the vehicle to function as a control execution processing unit that performs travel control of the vehicle based on the traveling method determined by the management width and the traveling method determination processing unit. .
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0019]
FIG. 2 is a conceptual diagram illustrating a configuration of a hybrid vehicle control system according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a control table for a hybrid vehicle according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating functions of the hybrid vehicle control system according to the first embodiment of the present invention.
[0020]
In FIG. 2, reference numeral 10 denotes a hybrid vehicle control system according to the present embodiment. Here, reference numeral 11 denotes an engine such as an internal combustion engine driven by a fuel such as gasoline or light oil, which has a control mechanism 11a and is used as a power source for vehicles such as passenger cars, buses and trucks. The driving force of the engine 11 is transmitted to a driving wheel 13 of the vehicle via a driving shaft 12, and the driving wheel 13 rotates to drive the vehicle. A transmission may be provided on the drive shaft 12, and a braking device such as a drum brake or a disc brake may be provided on the drive shaft 12, the drive wheel 13, or a driven wheel (not shown). .
[0021]
Here, the vehicle is a hybrid vehicle, has a motor 14 such as an AC motor rotated by electric power, and uses the engine 11 and the motor 14 together as a power source for the vehicle. The motor 14 generates a driving force by the electric power supplied from the battery 16 of the power storage means, and the driving force is transmitted to the driving wheels 13 of the vehicle via the driving shaft 12. In addition, a generator 15 such as an AC generator is connected to the drive shaft 12 so as to generate a regenerative current during deceleration operation of the vehicle. Then, the regenerative current generated by the generator 15 is supplied to the battery 16, and the battery 16 is charged. Preferably, the motor 14 is an AC motor, in which case an inverter 14a is provided. Similarly, it is desirable that the generator 15 is also an AC generator, and in this case, is provided with an inverter 15a. Further, the battery 16 includes a capacity detection sensor 16a for detecting the SOC that is the charged amount.
[0022]
Note that the motor 14 may be configured integrally with the generator 15. In this case, the motor 14 generates a driving force when electric power is supplied from the battery 16 and functions as a power source. When the motor 14 is rotated by the driving shaft 12 such as during braking of a vehicle, the motor 14 generates a regenerative current. It functions as a generator 15 to be generated.
[0023]
The battery 16 is a secondary battery as a power storage means capable of repeating charge and discharge, and is generally a lead storage battery, a nickel cadmium battery, a nickel hydride battery, or the like. It may be a lead storage battery, a lithium ion battery, a sodium sulfur battery, or the like. The power storage means may not necessarily be the battery 16, and may store and discharge energy electrically, such as a capacitor (capacitor) such as an electric double layer capacitor, a flywheel, a superconducting coil, an accumulator, or the like. Any form may be used as long as it has the function of performing the above. Further, any of these may be used alone or a plurality of them may be used in combination. For example, a combination of the battery 16 and the electric double layer capacitor can be used as a storage device.
[0024]
Reference numeral 21 denotes a main control unit, which includes a not-shown CPU, an arithmetic unit such as an MPU, a storage unit such as a semiconductor memory and a magnetic disk, a communication interface, and the like, and includes a navigation processing unit 22, a capacity detection sensor 16a, and a sensor unit 23. , The operation of the engine 11, the control mechanism 11a, the motor 14, the inverter 14a, the generator 15, and the inverter 15a is controlled. Here, the sensor unit 23 includes an accelerator sensor 23a for detecting an accelerator opening, a brake sensor 23b for detecting a movement of a brake pedal, and the like. 21.
[0025]
The main control device 21 normally controls the usage ratio of the engine 11 and the motor 14 according to the running pattern of the vehicle, for example, as shown in FIG. In this case, the output during traveling of the vehicle is set to 100 [%], that is, the total output of both the engine 11 and the motor 14 is set to 100 [%]. For example, on an uphill road of +8 [%] or more, the engine uses 20 [%] of the full output while the engine uses 20 [%] of the full output of the vehicle. The motor may use 30% of the total output of the vehicle with respect to 70% of the usage. Also, the setting values are merely examples, and other values may be set. It should be noted that the usage ratio shown in FIG. 3 is merely an example, and the numerical values shown in the columns of vehicle speed, engine, and motor for an uphill road or a downhill road can be changed as appropriate. Further, the use ratio of the engine 11 and the motor 14 with respect to the total output during the running of the vehicle can be set using a table completely different from that shown in FIG.
[0026]
The navigation processing device 22 functions as the road information acquisition unit 30. The navigation processing device 22 includes a CPU, an arithmetic unit (not shown) such as an MPU, a storage unit such as a semiconductor memory and a magnetic disk, a communication interface, and the like. And performs a process such as a route search to the destination based on the signal from the main control unit and transmits a result of the process to the main control device 21. The navigation information unit 24 includes a map database 24a for storing map data, a GPS receiver 24b for receiving GPS information from a GPS (Global Positioning System) satellite, and a direction sensor 24c for detecting the direction in which the vehicle is facing. , A vehicle speed sensor 24d for detecting the vehicle speed of the vehicle, a VICS receiver 24e for receiving VICS information, and the like.
[0027]
The hybrid vehicle control system 10 includes display means (not shown) such as a CRT, a liquid crystal display, and an LED (Light Emitting Diode) display, and input means (not shown) such as a keyboard and a touch panel. It is desirable that the user can make various settings such as input of a destination and can grasp the operation status and the like of the hybrid vehicle control system 10.
[0028]
Here, as shown in FIG. 4, from the viewpoint of function, the hybrid vehicle control system 10 performs a section between the departure place and the destination of the vehicle, that is, road information for acquiring road information of a planned traveling route of the vehicle. An acquisition unit 30, a section division processing unit 31 that divides a predetermined section of a planned traveling route of a vehicle into a plurality of small sections based on road attribute data, and a navigation processing device 22 as the road information acquisition unit 30 in each small section. From the road information, for example, information on roads such as distinction between flat (tan) roads, downhill roads, uphill roads, and corner shapes, etc., to calculate the energy consumed and regenerated, and to manage the SOC in each small section. A section for calculating a width, a section for determining a traveling method in each subsection, and a section energy consumption and traveling method determination processing section 32 as a traveling method determination processing section, and a subsection. Performs variable control of the determined control width for each, having a control execution processing unit 33 which performs travel control on the basis of the determined travel method. Note that the SOC may be set in advance in the vehicle.
[0029]
Next, the operation of the hybrid vehicle control system having the above configuration will be described.
[0030]
FIG. 1 is a main flowchart showing the operation of the hybrid vehicle control system according to the first embodiment of the present invention.
[0031]
Here, the overall flow of the operation of the hybrid vehicle control system 10 will be described. First, the road information acquisition unit 30 acquires road information such as distinction between a flat road, a downhill road, an uphill road, and the like, and a corner shape, etc., for a planned traveling route of a vehicle. Subsequently, the section division processing unit 31 divides the section between the departure point as the starting point of the predetermined section of the planned traveling route and the destination as the end point of the predetermined section into a plurality of small sections based on the road attribute data. Is performed to perform the section division processing. In this case, the road attribute data includes, for example, national roads, prefectural roads, major local roads, general roads, administrative road attributes such as expressways, set traveling speeds and designed traveling speeds, paved roads, gravel roads, flat roads, downhill roads, It is data on the distinction of an uphill road and the like, the road altitude, the gradient of the road (angle) (angle, tangent, etc.), and the like.
[0032]
Next, the section energy consumption calculation and traveling method determination processing unit 32 calculates the energy consumed in each small section, sets the SOC management width in each small section, and sets the traveling method in each small section. Is performed to calculate the section energy consumption and determine the traveling method.
[0033]
Subsequently, when the control execution processing unit 33 performs variable control of the management width determined for each small section and executes control execution processing for performing travel control based on the determined travel method, the hybrid vehicle control system 10 ends the processing.
[0034]
Next, the flowchart will be described.
Step S0 A road information acquisition process is executed.
Step S1 The section dividing process is executed.
Step S2: Calculate the section energy consumption and determine the driving method.
Step S3: Execute the control execution process and end the process.
[0035]
Next, a detailed operation of the section dividing process will be described.
[0036]
FIG. 5 is a flowchart showing a subroutine of the section dividing process according to the first embodiment of the present invention, and FIG. 6 is a diagram showing an example of section dividing according to the first embodiment of the present invention.
[0037]
First, an operator such as a driver inputs and sets a destination in the hybrid vehicle control system 10. Then, the map data stored in the map database 24a is read, and a route from the starting point of the vehicle to a predetermined section, that is, the destination is searched. The operation of searching for the route is the same as that of a normal vehicle navigation device, and a description thereof will be omitted.
[0038]
Subsequently, the section division processing unit 31 divides the searched route into a plurality of small sections based on the road attribute data. In this case, the road attribute data includes, for example, administrative road attributes such as national roads and prefectural roads, set traveling speeds such as 60 [km / h] and 40 [km / h], road widths, road altitudes, road gradients, and the like. is there.
[0039]
Subsequently, as shown in FIG. 6, the section division processing unit 31 assigns a code such as road attribute data and a serial number to each divided small section. The example shown in FIG. 6 divides the route from the departure point of the vehicle to the destination into N small sections based on road attribute data such as national roads and prefectural roads and road widths. It was done.
[0040]
Next, the flowchart will be described.
Step S1-1: The operator inputs a destination.
Step S1-2: Search for a route.
Step S1-3: The route is divided into small sections.
Step S1-4: Assign the road attribute data and the serial number, and end the process.
[0041]
Next, detailed operations of the section energy consumption calculation and the traveling method determination processing will be described.
[0042]
FIG. 7 is a flowchart showing a subroutine of section energy consumption calculation and traveling method determination processing according to the first embodiment of the present invention. FIG. 8 is an example in which a small section is divided into minute sections according to the first embodiment of the present invention. FIG.
[0043]
First, the section energy consumption calculation and traveling method determination processing section 32 reads the road attribute data assigned to each of the small sections by the section division processing section 31. In this case, the road attribute data is read from small section numbers 1 to N.
[0044]
Here, for the i-th (i = 1 to N) small section, the section energy consumption calculation and travel method determination processing unit 32 includes road attribute data, a planned travel route, and road information on the planned travel route. For example, various data are read together with information on an uphill road, a downhill road, and corner shape. The data read into the section energy consumption calculation and traveling method determination processing unit 32 include, for example, the set limit vehicle speed V [km / h] (national road: 60 [km / h], prefectural road: 40 [km / h]), road The road gradient angle θ calculated from the altitude data (the gradient of the road surface with respect to the horizontal plane), the calculated rolling resistance coefficient μr (resistance determined according to the weight of the vehicle), and the total weight of the vehicle WE [kg] , The air resistance coefficient μa of the vehicle (determined according to the square of the vehicle speed and the vehicle speed), the frontal projected area of the vehicle A [m ² ] (The surface area that receives air resistance from the traveling direction of the vehicle) and the distance S [km] of the i-th small section.
[0045]
Subsequently, the section energy consumption calculation and traveling method determination processing section 32 calculates the energy of the battery 16 in the i-th subsection, that is, the variation Ei of the SOC that is the amount of charge of the battery 16 in the i-th subsection. I do. In this case, the section energy consumption calculation and traveling method determination processing unit 32 calculates the driving force F [kgf], the output W [kW], and the energy E [Wh] based on the data read for the i-th small section. Is calculated. That is, the necessary driving force F is calculated, and the ratio of using the motor 14 as a power source according to the distinction between the flat road, the downhill road, and the uphill road is integrated, so that each of the flat road, the downhill road, and the uphill road is used. The energy E of the battery 16 consumed or regenerated is calculated.
[0046]
The section energy consumption calculation and traveling method determination processing unit 32 further divides the i-th subsection into minute sections as shown in FIG. 8 according to the distinction between the flat road, the downhill road, and the uphill road. , Energy E is calculated for each of the minute sections. Then, the energy E of the battery 16 consumed or regenerated in each of the minute sections is added up in accordance with the distinction between the flat road, the downhill road and the uphill road, which is the road information from the road information acquisition means. The energy E of the battery 16 consumed or regenerated on the sloping road and the uphill road is added to calculate the SOC change Ei, which is the amount of charge of the i-th small section battery 16.
[0047]
In this case, the driving force F required for each minute section is represented by the following equation (1).
F = μr × WE + μa × A × V ² + WE × sin θ Expression (1)
The output W required for each minute section is represented by the following equation (2).
W = F × V × α (2)
Here, α is a unit conversion coefficient: 1/270.
[0048]
The time h required to travel in a minute section is represented by the following equation (3).
h = minute section S _s / V [h] ··· Equation (3)
And consumption or regenerative energy E of a minute section depending on the difference between a flat road, a downhill road and an uphill road. _{(A, d, f)} Is represented by the following equation (4).
E _{(A, d, f)} = W × h × β Equation (4)
The subscript _a Is uphill, subscript _d Is downhill and subscript _f Represents a flat road, respectively.
[0049]
Here, the coefficient β is a coefficient for setting the usage ratio of the motor 14 that changes according to the gradient, and may be changed according to the driving style of the driver. Further, the coefficient β is changed according to the distinction between the flat road, the downhill road, and the uphill road. However, other road attribute data, for example, the road shape (the distinction between the straight road and the curved road) and the road surface state ( The coefficient β may be changed in consideration of pavement roads and gravel roads).
[0050]
Then, the SOC change amount Ei of the battery 16 in the i-th small section is expressed by the following equation (5).
Ei = EΣ _a + EΣ _d + EΣ _f ... Equation (5)
Note that EΣ _a Is the total energy E of the battery 16 consumed or regenerated on the uphill road in the i-th subsection, EΣ _d Is the total energy E of the battery 16 consumed or regenerated on the downhill road in the i-th subsection, Q 、 _f Is the total energy E of the battery 16 consumed or regenerated on the flat road in the i-th subsection.
[0051]
In this way, the section energy consumption calculation and traveling method determination processing unit 32 calculates the SOC change amount Ei of the battery 16 in all the small sections from the small section numbers 1 to N.
[0052]
Next, the section energy consumption calculation and traveling method determination processing unit 32 reads the charge amount actually charged in the battery 16, that is, the SOC as an initial value E0 for calculating the energy consumption, and reads the initial value E0. And the SOC change amount Ei of the battery 16 in all the small sections. That is, ΣEi (i = 0 → N), which is the sum of the initial value E0 and the SOC change amount Ei of the battery 16 in all the small sections, is obtained. Here, the initial value E0 represents the SOC which is the charged amount of the battery 16 at the departure place, and the ΣEi is the end point of the Nth subsection which is the last subsection, that is, at the destination. This shows the SOC of the battery 16. In this way, Ei, which is the amount of change in SOC for each of the small sections, is calculated according to the distinction between the flat road, the downhill road, and the uphill road, which is the road information, and the SOC change Ei for each small section is added up. By setting ΣEi (i = 0 → N), the SOC at the end point of the predetermined section, that is, the end point which is the target point of the route is calculated.
[0053]
Therefore, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not the ΔEi is within a management width of the SOC of the battery 16 set in advance in the vehicle. Here, the management range of the SOC of the battery 16 is set in advance from the viewpoint of the performance and the life of the battery 16. In the present invention, it is set in the vehicle in advance, but any value may be used as long as a specific SOC management width is set. For example, with respect to the storage amount of 100% of the battery 16 as the storage means, the maximum value is 60% and the minimum value is approximately 40% as the upper limit of the management width and the lower limit of the management width. , Is set. Then, when determining that the ΔEi is not within the management range, the section energy consumption calculation and traveling method determination processing unit 32 calculates a difference between the ΔEi and the target value Ssta of the SOC within the management range. Subsequently, the difference is divided by the number of small sections from the first to the (N-1) th, that is, N-1, to obtain the value of Esta. Subsequently, the value Esta is added to the SOC change amount Ei of the battery 16 in the first to N-1th small sections, respectively, to obtain Eista. As a result, the difference between the ΔEi and the target value Ssta is evenly distributed to the first to N−1th small sections, that is, equally distributed. The values to be distributed may be unequally distributed according to the situation of each small section (for example, it is also possible to regenerate more energy in a section where much regenerative energy can be expected). it can.). In this case, the Eista is the SOC change amount in the i-th (i = 1 to N-1) small section after distributing the difference between ΣEi and the target value Ssta. The target value of the SOC in the Nth subsection is Ssta. Note that the value of Ssta is set within the management range of the SOC of the battery set in the vehicle in advance. That is, when the SOC at the end point which is the target point of the route which is the end point of the predetermined section does not fall within the management width set in advance in the vehicle, the difference between the SOC and the target value Ssta at the end point of the predetermined section is reduced. Divide equally by the number of sections and divide into small sections.
[0054]
Next, the section energy consumption calculation and traveling method determination processing section 32 changes the management width for each small section, and sets the driving method of the vehicle so that the vehicle can be controlled in accordance with the change. Execute the variable width setting process.
[0055]
Next, the section energy consumption calculation and traveling method determination processing section 32 executes a final SOC adjustment process in the Nth small section.
[0056]
Next, the flowchart will be described.
Step S2-1 The road attribute data of the small section is read.
Step S2-2: The SOC change amount Ei of each small section is calculated.
Step S2-3 The charge amount actually charged in the battery 16, that is, the SOC is read as the initial value E0 when calculating the consumed energy.
Step S2-4: ΔEi, which is the sum of the initial value E0 and the SOC change amount Ei of each small section, is obtained based on the flat road, uphill road, and downhill road information that is the road information from the road information acquisition means.
Step S2-5: It is determined whether or not the charged amount ΣEi in the N section is not within a predetermined management width of the vehicle. If it is not within the management range, the process proceeds to step S2-6, and if it is within the management range, the process proceeds to step S2-8.
Step S2-6: The difference between Ei and the target value Ssta of the SOC within the management range is calculated, and the difference is divided by the number of sections up to N-1 to obtain the value of Esta.
Step S2-7: The value Esta is distributed to the SOC change amount Ei of each small section of the (N-1) section.
Step S2-8: A variable management width setting process is executed.
Step S2-9: Perform the SOC adjustment process in the N-th section and end the process.
[0057]
Next, a detailed operation of the management width variable setting process will be described.
[0058]
FIG. 9 is a flowchart showing a subroutine of the variable management width setting process according to the first embodiment of the present invention, FIG. 10 is a table showing the meaning of flags in the first embodiment of the present invention, and FIG. FIG. 12 is a diagram illustrating a relationship between a management width and a flag according to the first embodiment, and FIG. 12 is a table illustrating meanings of symbols according to the first embodiment of the present invention.
[0059]
In this case, the section energy consumption calculation and traveling method determination processing unit 32 executes a management width variable setting process for the first to N-1st small sections.
[0060]
In the management width variable setting process, the section energy consumption calculation and traveling method determination processing unit 32 first reads Eista in the i-th (i = 1 to N-1) small section. Then, the value of the SOC of the battery 16 at the start point of the i-th subsection, that is, the sum of the SOC value of the battery 16 at the end point of the (i-1) th subsection and the Eista is obtained, and the i-th subsection is obtained. At the end point of the battery 16 is Echa (= Eiβ). In this case, the Eista is a sum of the initial value E0 and the SOC change amount Ei of the battery 16 in all the small sections up to the i-th section.
[0061]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines that the Echa is the maximum chargeable value SU of the battery 16 (the maximum value of the SOC that can be used without overcharging the battery 16; It is determined whether or not it is above. If Echa is larger than SU, it means that energy can be regenerated more than the SU. Therefore, the minimum management value SCtemp is changed so that the regenerated energy can be absorbed.
[0062]
Subsequently, when Echa is equal to or greater than SU, the section energy consumption calculation and traveling method determination processing unit 32 calculates the Echa from the normal minimum management value Smin of the battery 16 (the lower limit of the SOC management width preset in the vehicle). Is subtracted and SU is added to that value, that is, Smin-Echa + SU is the minimum chargeable value SC (the minimum value of the SOC that can be used without over-discharging the battery 16, and the discharge is performed up to this value. It is possible to determine if it is greater than. Here, when Smin−Echa + SU is larger than SC, it means that Echa exceeds SU, and a value obtained by subtracting Echa from SU and further subtracted from Smin is smaller than Smin.
[0063]
When Smin-Echa + SU is SC or less, it means that when energy is regenerated, regenerative energy that cannot be consumed is obtained. Therefore, the section energy consumption calculation and traveling method determination processing unit 32 sets the flag to 3 since the state is represented by the following equation (6).
Smin−Echa + SU ≦ SC Equation (6)
If the Smin-Echa + SU is larger than the SC, the section energy consumption calculation and traveling method determination processing unit 32 determines whether the Smin-Echa + SU is equal to or more than Smin. If the value of Smin-Echa + SU is equal to or larger than the normal minimum management value Smin, the state is represented by the following equation (7), so that the flag is set to 1.
Smin−Echa + SU ≧ Smin Equation (7)
The flag is used to set the minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Exext.
[0064]
Here, the minimum management value Sctemp is set to the lower limit value of the management width so that the SOC becomes smaller than the normal minimum management width Smin of the lower limit value of the management width when changing the lower limit value of the management width set in advance in the vehicle. Set. The maximum management value is set to a lower limit of the management width so that the SOC becomes larger than the normal maximum management width Smax of the upper limit of the management width when changing the upper limit of the management width set in advance in the vehicle. I do. The surplus energy Ext is energy that is not completely processed in a certain small section and is processed in another section.
[0065]
If Smin-Echa + SU is smaller than the normal minimum management value Smin, the state is represented by the following equation (8), so the flag is set to 2.
Smin−Echa + SU <Smin Equation (8)
If Echa is not equal to or greater than SU, the section energy consumption calculation and traveling method determination processing unit 32 determines whether Echa is greater than Smin. If it is larger, it is further determined whether or not Echa is equal to or larger than the normal maximum management value Smax. Here, the normal maximum management value Smax is an upper limit value of a preset SOC management width in the vehicle. If the value is equal to or greater than Smax, the state is represented by the following equation (9), so the flag is set to 4.
Smax ≦ Echa <SU Equation (9)
If Echa is not equal to or greater than Smax, the state is represented by the following equation (10), so the flag is set to 5.
Smin <Echa <Smax Equation (10)
Further, when Echa is equal to or smaller than Smin, it is determined whether or not Echa is equal to or larger than SC. If the value is equal to or more than the minimum chargeable value SC, the state is represented by the following equation (11), so the flag is set to 6.
SC ≦ Echa <Smin Equation (11)
If Echa is smaller than SC, the state is represented by the following equation (12), so the flag is set to 7.
0 [%] ≦ Echa <SC ... Equation (12)
Next, the section energy consumption calculation and traveling method determination processing unit 32 uses the set flags to set the minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Eext as shown in FIG.
[0066]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not Ext is not 0. When Exext is 0, surplus energy can be processed within the set management range of SCtemp and SUtemp. Therefore, the traveling pattern set as the normal traveling pattern is set as the traveling pattern.
[0067]
In addition, when “Ext” is not “0”, the section energy consumption calculation and traveling method determination processing unit 32 determines whether “Ext” is smaller than “0” in order to select a traveling pattern for processing “Ext”. When the value of Ext is smaller than 0, the regeneration can be performed to the SU or more of the management width that can be charged. Therefore, the section energy consumption calculation and traveling method determination processing unit 32 determines the traveling pattern that consumes the Ext. Set.
[0068]
Also, if Ext is 0 or more, since Ext becomes SC or less, overdischarge occurs. Therefore, the section energy consumption calculation and traveling method determination processing unit 32 changes to a traveling pattern that does not cause overdischarge, and sets a traveling pattern that does not consume Ext, that is, a traveling method.
[0069]
Note that, as shown in FIG. 11, the relationship between the management width and the traveling pattern setting flag is such that the flags 1 to 3 are obtained when Echa is above the value of SU, without discarding the regenerative energy above SU. In order to allow the battery 16 to be charged, the value of SCtemp is adjusted, that is, a process of increasing or decreasing is performed. Further, flags 4 to 7 correspond to the case where the SOC value Echa exists in the area shown in FIG.
[0070]
The meanings of the SU, SUtemp, Smax, Smin, SCtemp, SC, and Ssta are as shown in FIG.
[0071]
The following table shows an example in which the usage ratio of the engine 11 and the motor 14 as shown in FIG. 3 is changed from the normal running pattern as shown in FIG.
[0072]
[Table 1]

[0073]
Note that the numerical values shown in the table are merely examples, and can be changed as appropriate, and can be adjusted by changing the coefficient β in Expression (4). That is, the coefficient β is increased when the usage rate of the motor is increased, and is decreased when the usage rate of the motor is reduced.
[0074]
In this way, the SOC, which is the amount of power stored in the power storage means, is calculated in a predetermined section of the planned traveling route of the vehicle, and the SOC management width previously set in the vehicle is changed based on the calculated SOC, and The difference between the SOC at the end point of the predetermined section, which is the target value of the SOC at the end point of the predetermined section, and the SOC at the end point of the predetermined section, where the SOC at the end point of the section is set within the management width set in advance in the vehicle, is equally divided by the number of section sections. The variable control of the management width is executed for each small section, and the traveling pattern as the traveling method is determined.
[0075]
Next, the flowchart will be described.
Step S2-8-1 Eista is read.
Step S2-8-2: The sum of Echa (i-1) and Eista is obtained to calculate the SOC value Echa.
Step S2-8-3: It is determined whether or not the SOC value Echa is equal to or larger than the maximum chargeable value SU of the battery. If the SOC value Echa is equal to or larger than the maximum chargeable value SU of the battery, the process proceeds to step S2-8-4, and if the SOC value Echa is smaller than the maximum chargeable value SU of the battery, the process proceeds to step S2-8-9. .
Step S2-8-4: It is determined whether or not the value obtained by subtracting the SOC value Echa from the normal minimum management value Smin of the battery and adding the maximum chargeable value SU to the value is larger than the minimum chargeable value SC. When it is larger than the minimum chargeable value SC, the process proceeds to step S2-8-5, and when it is smaller than the minimum chargeable value SC, the process proceeds to step S2-8-8.
Step S2-8-5: It is determined whether or not a value obtained by subtracting the SOC value Echa from the normal minimum management value Smin and adding the maximum chargeable value SU to the value is equal to or larger than the normal minimum management value Smin. If it is equal to or greater than the management value Smin, the process proceeds to step S2-8-6, and if it is smaller than the normal minimum management value Smin, the process proceeds to step S2-8-7.
Step S2-8-6: Set the flag to 1.
Step S2-8-7: Set the flag to 2.
Step S2-8-8: Set the flag to 3.
Step S2-8-9: It is determined whether or not the value Echa of the SOC is larger than the normal minimum management value Smin. When the SOC value Echa is larger than the normal minimum management value Smin, the process proceeds to step S2-8-10, and when the SOC value Echa is equal to or smaller than the normal minimum management value Smin, the process proceeds to step S2-8-13.
Step S2-8-10: It is determined whether or not the SOC value Echa is equal to or larger than the normal maximum management value Smax. When the SOC value Echa is equal to or larger than the normal maximum management value Smax, the process proceeds to step S2-8-11, and when the SOC value Echa is smaller than the normal maximum management value Smax, the process proceeds to step S2-8-12.
Step S2-8-11: Set the flag to 4.
Step S2-8-12: Set the flag to 5.
Step S2-8-13: It is determined whether or not the value Echa of the SOC is equal to or more than the minimum chargeable value SC. If the SOC value Echa is equal to or greater than the minimum chargeable value SC, the process proceeds to step S2-8-14, and if the SOC value Echa is smaller than the minimum chargeable value SC, the process proceeds to step S2-8-15.
Step S2-8-14: Set the flag to 6.
Step S2-8-15: Set the flag to 7.
Step S2-8-16: The minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Ext are set.
Step S2-8-17: It is determined whether or not the surplus energy Ext is not 0. When the surplus energy Ext is not 0, the process proceeds to step S2-8-18, and when the surplus energy Ext is 0, the process proceeds to step S2-8-21.
Step S2-8-18: It is determined whether or not the surplus energy Ext is smaller than 0. When the surplus energy Ext is smaller than 0, the process proceeds to step S2-8-19, and when the surplus energy Ext is 0 or more, the process proceeds to step S2-8-20.
Step S2-8-19: Change to a running pattern that consumes the Ex, and end the process.
Step S2-8-20: Change to a running pattern that does not consume the Ex, and end the process.
Step S2-8-21: The vehicle travels with the traveling pattern set as the normal traveling pattern, and the process ends.
[0076]
Next, a detailed operation of the capacity adjustment processing in the Nth small section will be described.
[0077]
FIG. 13 is a flowchart showing a subroutine of the capacity adjustment process in the N-th small section according to the first embodiment of the present invention.
[0078]
In the operation of steps S2-5 to S2-7 shown in FIG. 7, the SOC of the battery 16 in the Nth subsection is set to be within the management range, but the first to N-1th subsections are set. Has been executed, the SOC value of the Nth subsection, which is the target value of the scheduled traveling route, may not be within the management width preset for the vehicle. Therefore, a process of correcting the traveling pattern in the Nth small section is performed.
[0079]
In this case, the section energy consumption calculation and traveling method determination processing unit 32 first calculates the SOC value Echa of the battery 16 at the end point of the Nth small section.
[0080]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not Echa in the Nth small section falls within the normal management width. If Echa is within the normal management range, the traveling pattern set as the normal traveling pattern is set as the traveling pattern.
[0081]
When Echa does not fall within the normal management width, the section energy consumption calculation and traveling method determination processing section 32 determines the difference between the specific value Ssta, which is the control target value in the N-th small section, and the value Echa of SOC. calculate. If the value obtained by subtracting Echa from Ssta is positive, it means that the energy of battery 16 is sufficient. Therefore, in order for Echa to be within the normal management range, it is necessary to consume the energy of battery 16. is there. If the value obtained by subtracting Echa from Ssta is negative (false), it means that the energy of the battery 16 is insufficient, so that energy must be regenerated in order to bring Echa within the normal management range. There is.
[0082]
Therefore, when the value obtained by subtracting Echa from Ssta is positive, that is, when Echa is greater than Smax, the section energy consumption calculation and traveling method determination processing unit 32 subtracts Smin from Echa from Eext (<0). ). If the value obtained by subtracting Echa from Ssta is negative, that is, if Echa is smaller than Smin, a value obtained by subtracting Smax from Echa (> 0) is assigned to Exext.
[0083]
Next, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not Ext is smaller than 0.
[0084]
Then, if the value of Ext is smaller than 0, that is, if the value obtained by subtracting Echa from Ssta is positive, the driving pattern is changed to a pattern that does not consume the Ext. Further, when the value of Ext is 0 or more, that is, when the value obtained by subtracting Echa from Ssta is negative, it is necessary to consume the energy. Therefore, the running pattern is changed to consume the Ext.
[0085]
Next, the flowchart will be described.
Step S2-9-1: The SOC value Echa in the N-th small section is calculated.
Step S2-9-2: It is determined whether or not the normal minimum management value Smin is larger than the SOC value Echa, or the SOC value Echa is larger than the normal maximum management value Smax. When the normal minimum management value Smin is larger than the SOC value Echa, or when the SOC value Echa is larger than the normal maximum management value Smax, the process proceeds to step S2-9-3, where the normal minimum management value Smin is equal to or smaller than the SOC value Echa. Alternatively, when the SOC value Echa is equal to or smaller than the normal maximum management value Smax, the process proceeds to step S2-9-9.
Step S2-9-3: It is determined whether or not a value obtained by subtracting the SOC value Echa from the specific value Ssta is larger than 0. If the value obtained by subtracting the SOC value Echa from the specific value Ssta is greater than 0, the process proceeds to step S2-9-4. If the value obtained by subtracting the SOC value Echa from the specific value Ssta is 0 or less, step S2-9. Go to -5.
Step S2-9-4: A value obtained by subtracting the normal minimum management value Smin (<0) from the SOC value Echa into the surplus energy Eext is substituted.
Step S2-9-5: A value obtained by subtracting the normal maximum management value Smax (> 0) from the SOC value Echa is substituted for the surplus energy Eext.
Step S2-9-6: It is determined whether or not the surplus energy Ext is smaller than 0. When the surplus energy Ext is smaller than 0, the process proceeds to step S2-9-7, and when the surplus energy Ext is 0 or more, the process proceeds to step S2-9-8.
In step S2-9-7, the driving pattern is changed to one that does not consume the Ex, and the process ends.
Step S2-9-8: Change to a running pattern for consuming the Ex, and end the process.
Step S2-9-9: The vehicle travels with the travel pattern set as the normal travel pattern, and the process ends.
[0086]
Next, a detailed operation of the control execution process will be described.
[0087]
FIG. 14 is a flowchart showing a subroutine of the control execution process according to the first embodiment of the present invention.
[0088]
First, the control execution processing unit 33 reads and sets the minimum management value SCtemp or the maximum management value SUtemp for each of the first to Nth small sections. The timing of setting SUtemp or SCtemp may be any time before the vehicle enters the corresponding small section.
[0089]
Subsequently, the control execution processing unit 33 reads the travel pattern set for each of the first to Nth small sections and sets the travel pattern. The timing for setting the traveling pattern may be any time before the vehicle enters the corresponding small section.
[0090]
Then, the control execution processing unit 33 checks the SOC of the battery 16 and transmits command values such as the rotation speed and the torque to the motor 14 and the control mechanism 11 a of the engine 11.
[0091]
Next, the flowchart will be described.
Step S3-1 The set minimum management value SCtemp or the maximum management value SUtemp is read and set.
Step S3-2: A running pattern is read and setting is performed.
Step S3-3: Check the SOC of the battery 16.
Step S3-4: Output a command value (rotation speed, torque) to the control mechanism 11a to the motor 14 and the engine 11, and end the process.
[0092]
As described above, in the present embodiment, the section division processing unit 31 divides the section between the departure point and the destination of the vehicle into a plurality of small sections based on the road attribute data, and calculates the section energy consumption and travel. The method determination processing unit 32 calculates the energy consumed in each small section, sets the SOC management width and the traveling method in each small section, and the control execution processing unit 33 controls the SOC management width and the traveling method in each small section. The travel control is performed on the basis of In this case, the difference between the SOC of the battery 16 at the end point of the predetermined section and Ssta as the target value is distributed to each of the small sections.
[0093]
Therefore, the SOC of the battery 16 does not exceed the management range, and the regenerative current as regenerated energy can be sufficiently collected in the battery 16, and the fuel consumption of the engine 11 can be sufficiently reduced. it can.
[0094]
Next, a second embodiment of the present invention will be described. It should be noted that the description of those having the same structure and the same operation as those of the first embodiment will be omitted.
[0095]
In this case, the section division processing performed by the section division processing unit 31 is the same as in the first embodiment, and a description thereof will be omitted. The control execution processing performed by the control execution processing unit 33 is the same as that in the first embodiment, and a description thereof will be omitted. The section energy consumption calculation and traveling method determination processing performed by the section energy consumption calculation and traveling method determination processing section 32 will be described.
[0096]
FIG. 15 is a flowchart showing a subroutine of a section energy consumption calculation and a traveling method determination process according to the second embodiment of the present invention, and FIG. 16 shows an example of an SOC in each small section according to the second embodiment of the present invention. FIG. 17 is a diagram showing a method for calculating the difference between the SOC and the final target value according to the second embodiment of the present invention.
[0097]
In the present embodiment, the section energy consumption calculation and traveling method determination processing unit 32 first reads the road attribute data given to each of the small sections of the traveling route, and as shown in FIG. The SOC change amount Ei (i = 1 to N) as the energy of the battery 16 in each case is calculated.
[0098]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 reads the charge amount actually charged in the battery 16, that is, the SOC as an initial value E0 for calculating the consumed energy, and reads the initial value E0. And the road information from the road information acquisition means, for example, the road information from the navigation device, that is, the SOC change amounts Ei of the battery 16 in all the small sections from the uphill road, the downhill road, and the flat road. That is, ΣEi (i = 0 → N), which is the sum of the initial value E0 and the SOC change amount Ei of the battery 16 in all the small sections, is obtained.
[0099]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines in advance that the SOC, which is the storage amount at the target value on the planned traveling route, for example, the SOC of the battery 16, It is determined whether or not the SOC of the battery 16 set in the step is within the management range. If not within the management range, as shown in FIG. 17, the difference Erem between the sum ΣEi and the target value Ssta of the SOC within the management range is calculated. Further, the difference Erem is stored in a processing buffer (not shown) for processing the surplus energy Eext.
[0100]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 executes a management width variable setting process, sets a maximum management value SUtemp or a minimum management value SCtemp for each small section, and performs processing in each small section. Is calculated and assigned to Ext. The energy assigned to the Ext is processed in the next small section.
[0101]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 executes a final SOC adjustment process in the Nth small section. Here, the SOC in the Nth subsection is processed in the first to N-1th subsections. However, since the traveling pattern is changed for each subsection, it is necessary to perform the adjustment again. , The SOC is finally adjusted.
[0102]
Next, the flowchart will be described.
Step S2-10 The road information from the road information acquisition unit 30 is read.
Step S2-11 The road attribute data of the small section is read.
Step S2-12: The SOC change amount Ei of each small section is calculated.
Step S2-13 The SOC initial value E0 is read as the initial value of the amount of charge charged in the battery 16.
Step S2-14: ΣEi, which is the sum of the initial value E0 and the SOC change amount Ei of each small section, is obtained.
Step S2-15: It is determined whether the sum ΣEi is not within the management range. If it is not within the management range, the process proceeds to step S2-16, and if it is within the management range, the process proceeds to step S2-18.
Step S2-16: The difference Erem between the sum ΣEi and the target value Ssta is calculated.
Step S2-17 The difference Erem is substituted for the surplus energy Eext.
Step S2-18: A variable management width setting process is executed.
Step S2-19: Perform the SOC adjustment processing in the N-th small section, and end the processing.
[0103]
Next, a detailed operation of the management width variable setting process will be described.
[0104]
FIG. 18 is a first flowchart showing a subroutine of variable management width setting processing according to the second embodiment of the present invention. FIG. 19 is a first flowchart showing a subroutine of variable management width setting processing according to the second embodiment of the present invention. Flowchart 2 and FIG. 20 are diagrams showing a method of substituting the surplus energy after the change of the running pattern according to the second embodiment of the present invention.
[0105]
First, the section energy consumption calculation and traveling method determination processing unit 32 sets 1 to a counter i and reads the surplus energy Ext. Note that the initial value is the N-th subsection, that is, the Ext in the SOC at the destination of the planned traveling route, and in the second and subsequent subsections, the Ext of the subsection is read.
[0106]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 substitutes the SOC and the sum of the energy from the first small section to the small section into the SOC value Echa.
[0107]
Next, in the same manner as in the first embodiment (see steps S2-8-3 to S2-8-16 in FIG. 9), the section energy consumption calculation and traveling method determination processing unit 32 performs Is calculated, and the calculated SUtemp, SCtemp, and Ext are set.
[0108]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not Ext is not 0. When Ext is 0, the running pattern set as the normal running pattern is set as the running pattern.
[0109]
In addition, when “Ext” is not 0, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not “Ext” is smaller than 0 in order to select a traveling pattern for processing the “Ext”. If the value of Ext is smaller than 0, it is possible to regenerate to the SC of the management width that can be charged or more. Therefore, the section energy consumption calculation and traveling method determination processing unit 32 sets change.
[0110]
Also, if Ext is 0 or more, since Ext becomes SC or less, overdischarge occurs. Therefore, the section energy consumption calculation and traveling method determination processing unit 32 changes to a traveling pattern that does not cause overdischarge, and changes to a traveling pattern that does not consume Ext.
[0111]
Next, the section energy consumption calculation and travel method determination processing unit 32 calculates the difference between the SOC before the travel pattern change and the SOC after the travel pattern change, and substitutes the difference into Erest. Erest is the remaining energy.
[0112]
Subsequently, as illustrated in FIG. 20, the section energy consumption calculation and traveling method determination processing unit 32 substitutes the difference between Ext and Erest after changing the traveling pattern into Ext, that is, Ext-Erest.
[0113]
Then, the section energy consumption calculation and traveling method determination processing unit 32 adds 1 to the counter i, and determines whether the counter i is larger than N. The reason why it is determined whether or not the counter i is larger than N is to continue the above-described processing from the first to the (N-1) th subsection. Incidentally, the processing need not be limited to the first to N-1st subsections, and may be performed from the L1st subsection to the L2th subsection (L1 ≠ 1, L2 ≠ N-1, N ).
[0114]
Next, the flowchart will be described.
Step S2-18-1: Set 1 to a counter i.
Step S2-18-2: Read the surplus energy Ext.
Step S2-18-3: The SOC value Echa is calculated by adding the initial value E0, the sum ΣEi, and the surplus energy Eext.
Step S2-18-4: It is determined whether or not the value Echa of the SOC is equal to or more than the maximum chargeable value SU of the battery 16. If the SOC value Echa is equal to or larger than the maximum chargeable value SU of the battery 16, the process proceeds to step S2-18-5. If the SOC value Echa is smaller than the maximum chargeable value SU of the battery 16, step S2-18-10. Proceed to.
Step S2-18-5: It is determined whether or not a value obtained by subtracting the SOC value Echa from the normal minimum management value Smin of the battery 16 and adding the maximum chargeable value SU to the value is larger than the minimum chargeable value SC. When it is larger than the minimum chargeable value SC, the process proceeds to step S2-18-6, and when it is smaller than the minimum chargeable value SC, the process proceeds to step S2-18-9.
Step S2-18-6: It is determined whether or not a value obtained by subtracting the SOC value Echa from the normal minimum management value Smin and adding the maximum chargeable value SU to the value is equal to or larger than the normal minimum management value Smin. If it is equal to or greater than the management value Smin, the process proceeds to step S2-18-7, and if it is smaller than the normal minimum management value Smin, the process proceeds to step S2-18-8.
Step S2-18-7: The flag is set to 1.
Step S2-18-8: Set the flag to 2.
Step S2-18-9: Set the flag to 3.
Step S2-18-10: It is determined whether or not the value Echa of the SOC is larger than the normal minimum management value Smin. When the SOC value Echa is larger than the normal minimum management value Smin, the process proceeds to step S2-18-11, and when the SOC value Echa is equal to or smaller than the normal minimum management value Smin, the process proceeds to step S2-18-14.
Step S2-18-11: It is determined whether or not the SOC value Echa is equal to or larger than the normal maximum management value Smax. When the SOC value Echa is equal to or larger than the normal maximum management value Smax, the process proceeds to step S2-18-12, and when the SOC value Echa is smaller than the normal maximum management value Smax, the process proceeds to step S2-18-13.
Step S2-18-12: Set the flag to 4.
Step S2-18-13: The flag is set to 5.
Step S2-18-14: It is determined whether or not the value Echa of the SOC is equal to or more than the minimum chargeable value SC. If the SOC value Echa is equal to or greater than the minimum chargeable value SC, the process proceeds to step S2-18-15, and if the SOC value Echa is smaller than the minimum chargeable value SC, the process proceeds to step S2-18-16.
Step S2-18-15: The flag is set to 6.
Step S2-18-16: The flag is set to 7.
Step S2-18-17: The minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Ext are set.
Step S2-18-18: It is determined whether or not the surplus energy Ext is not 0. If the surplus energy Ext is not 0, the process proceeds to step S2-18-19, and if the surplus energy Ext is 0, the process proceeds to step S2-18-22.
Step S2-18-19: It is determined whether or not the surplus energy Eext is smaller than 0. When the surplus energy Ext is smaller than 0, the process proceeds to step S2-18-20, and when the surplus energy Ext is 0 or more, the process proceeds to step S2-18-21.
Step S2-18-20: Change to a running pattern that consumes Ex.
Step S2-18-21: Change to a running pattern that does not consume the Ex.
Step S2-18-22 The traveling pattern set as the normal traveling pattern is set.
Step S2-18-23: The difference Erest between the SOC before the change of the running pattern and after the change of the running pattern is calculated.
Step S2-18-24: A value obtained by subtracting the difference Erest from the surplus energy Eext is substituted for the surplus energy Eext.
Step S2-18-25: One is added to the counter i.
Step S2-18-26: It is determined whether or not the counter i is larger than N. If the counter i is larger than N, the process returns to step S2-18-2, and if the counter i is smaller than N, the process ends.
[0115]
Next, a detailed operation of the capacity adjustment processing in the Nth small section will be described.
[0116]
FIG. 21 is a flowchart showing a subroutine of the capacity adjustment processing in the N-th small section according to the second embodiment of the present invention, and FIG. 22 is a first flowchart showing the capacity adjustment processing according to the second embodiment of the present invention. FIG. 23 is a second diagram illustrating the capacity adjustment process according to the second embodiment of the present invention, and FIG. 24 is a third diagram illustrating the capacity adjustment process according to the second embodiment of the present invention.
[0117]
Already, the SOC of the battery 16 has been set to be within the management width in the Nth subsection. However, since the management width variable setting process has been executed for the first to N−1th subsections, the target of the scheduled traveling route has been set. There is a possibility that the SOC value of the Nth subsection, which is the ground, does not fall within the management width preset in the vehicle. Therefore, a process of correcting the traveling pattern in the Nth small section is performed.
[0118]
In this case, the section energy consumption calculation and traveling method determination processing unit 32 first calculates the SOC value Echa of the battery 16 at the end point of the Nth small section.
[0119]
Subsequently, the section energy consumption calculation and traveling method determination processing section 32 determines whether or not Echa in the Nth small section falls within the normal management width. If Echa is within the normal management range, the traveling pattern set as the normal traveling pattern is set as the traveling pattern. Echa is expressed by the following equation (13).
Echa = ΣEi + Ext Equation (13)
When Echa does not fall within the normal management range, the section energy consumption calculation and traveling method determination processing section 32 determines the difference Erem between the specific value Ssta, which is the control target value in the Nth small section, and the SOC value Echa. Is calculated. If the value obtained by subtracting Echa from Ssta is positive, it means that the energy of battery 16 is sufficient. Therefore, in order for Echa to be within the normal management range, it is necessary to consume the energy of battery 16. is there. When the value obtained by subtracting Echa from Ssta is negative, the energy of the battery 16 is insufficient, so that it is necessary to regenerate the energy in order to bring Echa within the normal management range.
[0120]
Therefore, when the value obtained by subtracting Echa from Ssta is positive, that is, when Echa is greater than Smax, section energy consumption calculation and traveling method determination processing section 32 subtracts Smin from Echa from Erem (<0). ). If the value obtained by subtracting Echa from Ssta is negative, that is, if Echa is smaller than Smin, a value obtained by subtracting Smax from Echa (> 0) is assigned to Exext.
[0121]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 determines whether Erem is smaller than 0. If Erem is smaller than 0, that is, if the value obtained by subtracting Echa from Ssta is positive, the running pattern is changed so that Erem is not consumed. If Erem is equal to or greater than 0, that is, if the value obtained by subtracting Echa from Ssta is negative, it is necessary to consume energy, so the running pattern is changed to consume Erem.
[0122]
Next, the flowchart will be described.
Step S2-19-1: The SOC value Echa in the N-th small section is calculated.
Step S2-19-2: It is determined whether the normal minimum management value Smin is larger than the SOC value Echa or the SOC value Echa is larger than the normal maximum management value Smax. If the normal minimum management value Smin is larger than the SOC value Echa or the SOC value Echa is larger than the normal maximum management value Smax, the process proceeds to step S2-19-3, and the normal minimum management value Smin is equal to or smaller than the SOC value Echa. Alternatively, if the SOC value Echa is equal to or smaller than the normal maximum management value Smax, the process proceeds to step S2-19-9.
Step S2-19-3: It is determined whether or not a value obtained by subtracting the SOC value Echa from the specific value Ssta is larger than 0. If the value obtained by subtracting the SOC value Echa from the specific value Ssta is greater than 0, the process proceeds to step S2-19-4. If the value obtained by subtracting the SOC value Echa from the specific value Ssta is 0 or less, step S2-19. Go to -5.
Step S2-19-4: A value obtained by subtracting the normal minimum management value Smin (<0) from the SOC value Echa is substituted for the difference Erem.
Step S2-19-5: The value obtained by subtracting the normal maximum management value Smax (> 0) from the SOC value Echa is substituted for the difference Erem.
Step S2-19-6: It is determined whether or not the difference Erem is smaller than 0. When the difference Erem is smaller than 0, the process proceeds to step S2-19-7, and when the difference Erem is 0 or more, the process proceeds to step S2-19-8.
Step S2-19-7: Change to a running pattern that does not consume Erem, and end the processing.
Step S2-19-8: Change to a running pattern for consuming Erem, and end the processing.
Step S2-19-9: The vehicle travels with the travel pattern set as the normal travel pattern, and the process ends.
[0123]
As described above, in the present embodiment, the difference Erem between the specific value Ssta, which is the control target value, and the SOC value Echa in the Nth small section as shown in FIG. , E of the first subsection, which is the subsection immediately after the departure point ₁ To give to. By consuming or charging as much as possible in the first subsection, E ₁ + Erem, and as shown in FIG. 24, the surplus EExt is changed to the E of the next small section which is the second small section. ₂ To be deferred. That is, the difference between the SOC of the battery 16 at the destination as the end point of the predetermined section and the target value Ssta is sequentially distributed from the first small section in the predetermined section. Here, “distributing” means allocating the SOC in the small section calculated based on the road information acquisition means to another small section.
[0124]
Therefore, in the present embodiment, the surplus Ext is sequentially deferred to the next small section, so that the SOC at the destination approaches the final control value. Is distributed to each subsection, which is different from the first embodiment. Then, the SOC of the battery 16 does not exceed the management range, and the regenerative current as regenerated energy can be sufficiently collected in the battery 16, so that the fuel consumption of the engine 11 can be sufficiently reduced. it can.
[0125]
Note that the control execution processing performed by the control execution processing unit 33 in the present embodiment is the same as in the first embodiment, and a description thereof will be omitted.
[0126]
Next, a third embodiment of the present invention will be described. It should be noted that the description of those having the same structure and operation as those of the first and second embodiments will be omitted. In this case, the section division processing performed by the section division processing unit 31 is the same as in the first and second embodiments, and a description thereof will be omitted. The section energy consumption calculation and traveling method determination processing performed by the section energy consumption calculation and traveling method determination processing section 32 will be described.
[0127]
The section energy consumption calculation and traveling method determination processing in the present embodiment are different from the second embodiment only in the management width variable setting processing and the capacity adjustment processing. Therefore, the operations corresponding to steps S2-11 to S2-17 in FIG. 15 are the same as those in the second embodiment, and thus description thereof will be omitted.
[0128]
Next, a detailed operation of the management width variable setting process in the section energy consumption calculation and the traveling method determination process will be described.
[0129]
FIG. 25 is a first flowchart showing a subroutine of a variable management width setting process according to the third embodiment of the present invention. FIG. 26 is a first flowchart showing a subroutine of a variable management width setting process according to the third embodiment of the present invention. 2 is a flowchart of FIG.
[0130]
First, the section energy consumption calculation and traveling method determination processing unit 32 sets N-1 to a counter i. The counter i is a counter for repeating the operations of steps S2-18-32 to S2-18-56 described later from the (N-1) th subsection to the second subsection.
[0131]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 reads the surplus energy Ext. Note that the initial value is the surplus energy in the N-th small section, and during the N−2 to the second small section, the Ext of the corresponding small section is read.
[0132]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 calculates Echa. Here, the following equation (14) is substituted into Echa.
ΣEi + E0 + Ext Equation (14)
The subsequent operations, that is, the operations of steps S2-18-34 to S2-18-54 in the flowchart are the same as the operations of steps S2-18-4 to S2-18-24 in the second embodiment. Therefore, the description is omitted.
[0133]
Finally, the section energy consumption calculation and traveling method determination processing unit 32 subtracts 1 from the counter i, and determines whether or not the counter i is 1 or more. When the counter i is 1 or more, the above-described operation is repeated. When the counter i becomes smaller than 1, the variable management width setting process ends.
[0134]
Next, the flowchart will be described.
Step S2-18-31: Set N-1 to the counter i.
Step S2-18-32 The surplus energy Ext is read.
Step S2-18-33: The SOC Echa is calculated by adding the initial value E0, the sum ΣEi, and the surplus energy Eext.
Step S2-18-34: It is determined whether or not the value Echa of the SOC is equal to or more than the maximum chargeable value SU of the battery. If the SOC value Echa is equal to or greater than the maximum chargeable value SU of the battery, the process proceeds to step S2-18-35. If the SOC value Echa is smaller than the maximum chargeable value SU of the battery, the process proceeds to step S2-18-40. .
Step S2-18-35: It is determined whether or not the value obtained by subtracting the SOC value Echa from the normal minimum management value Smin of the battery and adding the maximum chargeable value SU to the value is larger than the minimum chargeable value SC. When it is larger than the minimum chargeable value SC, the process proceeds to step S2-18-36, and when it is smaller than the minimum chargeable value SC, the process proceeds to step S2-18-39.
Step S2-18-36: It is determined whether or not a value obtained by subtracting the SOC value Echa from the normal minimum management value Smin and adding the maximum chargeable value SU to the value is equal to or larger than the normal minimum management value Smin. If it is equal to or greater than the management value Smin, the process proceeds to step S2-18-37, and if it is smaller than the normal minimum management value Smin, the process proceeds to step S2-18-38.
Step S2-18-37: The flag is set to 1.
Step S2-18-38: The flag is set to 2.
Step S2-18-39: The flag is set to 3.
Step S2-18-40: It is determined whether or not the value Echa of the SOC is larger than the normal minimum management value Smin. If the SOC value Echa is larger than the normal minimum management value Smin, the process proceeds to step S2-18-41. If the SOC value Echa is equal to or smaller than the normal minimum management value Smin, the process proceeds to step S2-18-44.
Step S2-18-41: It is determined whether or not the SOC value Echa is equal to or larger than the normal maximum management value Smax. When the SOC value Echa is equal to or larger than the normal maximum management value Smax, the process proceeds to step S2-18-42, and when the SOC value Echa is smaller than the normal maximum management value Smax, the process proceeds to step S2-18-43.
Step S2-18-42: The flag is set to 4.
Step S2-18-43: The flag is set to 5.
Step S2-18-44: It is determined whether or not the value Echa of the SOC is equal to or more than the minimum chargeable value SC. If the SOC value Echa is equal to or larger than the minimum chargeable value SC, the process proceeds to step S2-18-45. If the SOC value Echa is smaller than the minimum chargeable value SC, the process proceeds to step S2-18-46.
Step S2-18-45: The flag is set to 6.
Step S2-18-46: The flag is set to 7.
Step S2-18-47: The minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Exext are set.
Step S2-18-48: It is determined whether or not the surplus energy Ext is not 0. When the surplus energy Ext is not 0, the process proceeds to step S2-18-49, and when the surplus energy Ext is 0, the process proceeds to step S2-18-52.
Step S2-18-49: It is determined whether or not the surplus energy Eext is smaller than 0. When the surplus energy Ext is smaller than 0, the process proceeds to step S2-18-50, and when the surplus energy Ext is 0 or more, the process proceeds to step S2-18-51.
Step S2-18-50: Change to a running pattern that consumes Ext.
Step S2-18-51: Change to a running pattern that does not consume the Ex.
Step S2-18-52 The running pattern set as the normal running pattern is set.
Step S2-18-53: The difference Erest of the SOC between before and after the change of the running pattern is calculated.
Step S2-18-54: A value obtained by subtracting the difference Erest from the surplus energy Eext is substituted for the surplus energy Eext.
Step S2-18-55: 1 is subtracted from the counter i.
Step S2-18-56: It is determined whether or not the value is equal to or larger than the counter i1. If the counter i is 1 or more, the process returns to step S2-18-32, and if the counter i is smaller than 1, the process ends.
[0135]
Next, a detailed operation of the capacity adjustment processing in the Nth small section will be described.
[0136]
FIG. 27 is a flowchart illustrating a subroutine of a capacity adjustment process in the first small section according to the third embodiment of the present invention, and FIG. 28 is a diagram illustrating a surplus energy distribution method according to the third embodiment of the present invention. It is.
[0137]
First, the section energy consumption calculation and traveling method determination processing unit 32 obtains a difference between the initial value E0 and the ext of the SOC of the battery 16 which is the departure point of the scheduled traveling route, substitutes the difference into Erem, and sets the absolute value | Erem | It is determined whether it is smaller than ε (a predetermined small value). Here, ε is a predetermined value for determining whether or not Erem is within a predetermined range, and may be any value.
[0138]
If the absolute value | Erem | is smaller than ε, the section energy consumption calculation and traveling method determination processing unit 32 terminates the process. If the absolute value | Erem | A surplus energy distribution process of deciding and distributing Ext is performed. Here, when the absolute value | Erem | is equal to or larger than ε, as shown in FIG. 28, a specific small section (from the K1st to the NK2th small section and the flag 4, 5 or the flag 1, Ext is unevenly distributed only to the small sections corresponding to 2, 4, and 5). For example, if the first to Nth subsections are set, the traveling pattern set so far will be further reset, so that distribution is performed only to specific subsections. Note that K1 and K2 are arbitrary numbers and are used to limit a small section.
[0139]
Next, the flowchart will be described.
Step S2-19-11: Excess energy Eext is subtracted from the initial value E0, and the result is substituted into Erem.
Step S2-19-12: It is determined whether or not the absolute value | Erem | is smaller than ε (a predetermined small value). If the absolute value | Erem | is smaller than ε (predetermined small value), the process ends. If the absolute value | Erem | is equal to or larger than ε (predetermined small value), the process proceeds to step S2-19-13.
Step S2-19-13 Performs the surplus energy distribution processing and ends the processing.
[0140]
Next, a detailed operation of the surplus energy distribution processing will be described.
[0141]
FIG. 29 is a flowchart showing a subroutine of surplus energy distribution processing in the third embodiment of the present invention, and FIG. 30 shows a method for calculating the difference between the SOC and the final target value in the third embodiment of the present invention. FIG. 31 is a first diagram showing a method for setting a specific small section in the third embodiment of the present invention. FIG. 32 is a diagram showing a method for setting a specific small section in the third embodiment of the present invention. It is a 2nd figure which shows a method.
[0142]
First, the section energy consumption calculation and traveling method determination processing unit 32 determines the magnitude relationship with respect to the initial value E0 based on the sign of Erem. The value of the difference Erem is expressed by the following equation (15), and the magnitude relation is as shown in FIG.
Erem = E0−Ext Equation (15)
Then, when Erem is smaller than 0, as shown in FIG. 31, small sections with flags of 4 and 5 are extracted from the K1st to NK2nd small sections. In this case, since energy must be consumed, the traveling pattern as the traveling method is changed, and a section for consuming energy is selected. For example, here, flags 4 and 5 are extracted.
[0143]
If Erem is equal to or greater than 0, as shown in FIG. 32, small sections with flags 1, 2, 4, and 5 are extracted from the K1-th small section to the NK2-th small section. In this case, the running pattern does not consume energy, so the running pattern is changed. Note that when the flag is 1 or 2, extraction is performed to store Erem, and when the flag is 4 or 5, extraction is performed to change to a running pattern that does not consume Erem.
[0144]
The subsequent operation is the same as the operation in steps S2-8-3 to S2-8-21 shown in FIG. 9 in the first embodiment, and a description thereof will be omitted.
[0145]
Next, the flowchart will be described.
Step S2-19-13-1: It is determined whether or not the difference Erem is smaller than 0. When the difference Erem is smaller than 0, the process proceeds to step S2-19-13-2, and when the difference Erem is 0 or more, the process proceeds to step S2-19-13-3.
Step S2-19-13-2: Detect all the sections with flags 4 and 5 in the K1 section to the K2 section.
Step S2-19-13-3: All sections with flags 1, 2, 4, and 5 are detected from the section K1 to the section NK2.
Step S2-19-13-4: Execute the Erem distribution process.
Step S2-19-13-5: It is determined whether or not the value Echa of the SOC is equal to or larger than the maximum chargeable value SU of the battery 16. If the SOC value Echa is equal to or greater than the maximum chargeable value SU of the battery 16, the process proceeds to step S2-19-13-6. If the SOC value Echa is smaller than the maximum chargeable value SU of the battery 16, step S2-19. Go to -13-11.
Step S2-19-13-6: It is determined whether the value obtained by subtracting the SOC value Echa from the normal minimum management value Smin of the battery 16 and adding the maximum chargeable value SU to the value is larger than the minimum chargeable value SC. I do. When it is larger than the minimum chargeable value SC, the process proceeds to step S2-19-13-7, and when it is smaller than the minimum chargeable value SC, the process proceeds to step S2-19-13-10.
Step S2-19-13-7: It is determined whether or not a value obtained by subtracting the SOC value Echa from the normal minimum management value Smin and adding the maximum chargeable value SU to the value is equal to or larger than the normal minimum management value Smin. If it is equal to or larger than the normal minimum management value Smin, the process proceeds to step S2-19-13-8, and if it is smaller than the normal minimum management value Smin, the process proceeds to step S2-19-13-9.
Step S2-19-13-8: The flag is set to 1.
Step S2-19-13-9: Set the flag to 2.
Step S2-19-13-10: Set the flag to 3.
Step S2-19-13-11: It is determined whether or not the value Echa of the SOC is larger than the normal minimum management value Smin. When the SOC value Echa is larger than the normal minimum management value Smin, the process proceeds to step S2-19-13-12, and when the SOC value Echa is equal to or smaller than the normal minimum management value Smin, the process proceeds to step S2-19-13-15. .
Step S2-19-13-12: It is determined whether or not the SOC value Echa is equal to or larger than the normal maximum management value Smax. If the SOC value Echa is equal to or larger than the normal maximum management value Smax, the process proceeds to step S2-19-13-13. If the SOC value Echa is smaller than the normal maximum management value Smax, the process proceeds to step S2-19-13-14. .
Step S2-19-13-13: The flag is set to 4.
Step S2-19-13-14: The flag is set to 5.
Step S2-19-13-15: It is determined whether or not the value Echa of the SOC is equal to or more than the minimum chargeable value SC. If the SOC value Echa is equal to or larger than the minimum chargeable value SC, the process proceeds to step S2-19-13-16. If the SOC value Echa is smaller than the minimum chargeable value SC, the process proceeds to step S2-19-13-17. .
Step S2-19-13-16: The flag is set to 6.
Step S2-19-13-17: The flag is set to 7.
Step S2-19-13-18: The minimum management value SCtemp, the maximum management value SUtemp, and the surplus energy Ext are set.
Step S2-19-13-19 It is determined whether or not the surplus energy Ext is not 0. When the surplus energy Ext is not 0, the process proceeds to step S2-19-13-20, and when the surplus energy Ext is 0, the process proceeds to step S2-19-13-23.
Step S2-19-13-20: It is determined whether or not the surplus energy Ext is smaller than 0. When the surplus energy Exext is smaller than 0, the process proceeds to step S2-19-13-21, and when the surplus energy Exext is 0 or more, the process proceeds to step S2-19-13-22.
Step S2-19-13-21: Change the pattern to a pattern that consumes Ex.
Step S2-19-13-22 is changed to a running pattern that does not consume the Ex.
Step S2-19-13-23 The running pattern set as the normal running pattern is set.
[0146]
Next, a detailed operation of the Erem distribution processing will be described.
[0147]
FIG. 33 is a flowchart illustrating a subroutine of Erem distribution processing according to the third embodiment of the present invention. FIG. 34 is a first diagram illustrating a method of calculating Erec according to the third embodiment of the present invention. FIG. 36 is a second diagram showing a method of calculating Erec in the third embodiment of the present invention, FIG. 36 is a diagram showing a method of distributing Erec_lowest in the third embodiment of the present invention, and FIG. It is a figure showing the method of updating Erem in a 3rd embodiment.
[0148]
First, the section energy consumption calculation and traveling method determination processing unit 32 sets an initial value K1 in a counter i, and calculates the SOC change amount Ei of the battery 16 in each of the small sections from the K1st to the NK2th small sections. .
[0149]
Subsequently, the section energy consumption calculation and traveling method determination processing unit 32 sets Edef (= default: a default value), that is, a specific management width. The upper limit and the lower limit of the Edef may be SUtemp and SCtemp, or may be set based on Ei of the small section storing the maximum energy among the K1th to NK2th small sections. That is, Edef only needs to be able to set Ei, which is a reference for calculating the energy to be distributed from the SOC change amount Ei for each section. Note that Erec (= reduction: subtraction) is Edef− | Ei |.
[0150]
Then, the section energy consumption calculation and traveling method determination processing unit 32 calculates Erec for each of the small sections detected by the flag as shown in FIG. 34, and, as shown in FIG. Select a small Erec_lowest ($ 0).
[0151]
Next, as illustrated in FIG. 36, the section energy consumption calculation and traveling method determination processing unit 32 distributes Erec_lowest to the small sections extracted in step S2-9-3-3. That is, Erec_lowest is subtracted from the change amount Ei of the section extracted in step S2-9-3-2, and distribution is performed by assigning each to the section extracted in step S2-9-3-3. However, if Erec_lowest cannot be included in the small section detected by the flag even when the operation of steps S2-19-13-4-2 to S2-19-13-4-8 shown in FIG. 33 is repeated a plurality of times, Erec_lowest is not distributed to the section, and the number of sections to which Erec_lowest is distributed is input to Num.
[0152]
Then, as shown in FIG. 37, the energy of the divided Erec_lowest is subtracted from Erem to calculate a reduced amount of Erem due to the distribution of Erec_lowest, and Erem is expressed by the following equation (16). Update the value of.
Erem ← Erem− | Erec_lowest | × Num Expression (16)
Then, the section energy consumption calculation and traveling method determination processing unit 32 determines whether or not the updated Erem value is greater than ε. If the updated Erem value is greater than the predetermined value ε, the counter i Add one. If the updated value of Erem is equal to or smaller than the predetermined value ε, the processing is terminated assuming that the value is within the predetermined allowable range. Here, ε is a predetermined small value.
[0153]
Subsequently, it is determined whether or not the counter i is equal to or smaller than NK2. If the counter i is equal to or smaller than NK2, the process is continued. If the counter i is larger than NK2, the process is terminated.
[0154]
Next, the flowchart will be described.
Step S2-19-13-4-1: K1 is set to the counter i.
Step S2-19-13-4-2: The SOC change amount Ei for each small section from the K1 section to the NK2 section is calculated.
Step S2-19-13-4-3: Erec ← (Edef− | Ei |) is calculated, and Erec_lowest which is the minimum among Erec is calculated.
Step S2-19-13-4-4: Erec_lowest is distributed to the small sections extracted by the flag, and the number of the distributed small sections is stored in Num.
Step S2-19-13-4-5 Update the value of Erem.
Step S2-19-13-4-6 It is determined whether or not the value of Erem is larger than a predetermined value ε. If the value of Erem is greater than the predetermined value ε, the process proceeds to step S2-19-13-4-7, and if the value of Erem is less than the predetermined value ε, the process ends.
Step S2-19-13-4-7: One is added to the counter i.
Step S2-19-13-4-8: It is determined whether or not the counter i is equal to or smaller than NK2. When the value of the counter i is equal to or smaller than NK2, the process returns to step S2-19-13-4-2, and when the value of the counter i is larger than NK2, the process ends.
[0155]
As described above, in the present embodiment, the difference between the surplus energy in the Nth subsection and the initial value of the SOC is distributed only to a specific subsection. That is, the difference between the SOC of the battery 16 at the destination as the end point of the predetermined section and the target value Ssta is distributed to small sections near the end point of the predetermined section.
[0156]
Therefore, this embodiment is different from the second embodiment in that surplus energy can be distributed to small sections close to the destination, in that the surplus energy can be distributed to small sections close to the departure point. Then, the SOC of the battery 16 does not exceed the management range, and the regenerative current as regenerated energy can be sufficiently collected in the battery 16, so that the fuel consumption of the engine 11 can be sufficiently reduced. it can.
[0157]
Note that the control execution processing performed by the control execution processing unit 33 in the present embodiment is the same as in the first and second embodiments, and a description thereof will be omitted.
[0158]
In addition, the present invention is not limited to the above-described embodiment, and can be variously modified based on the gist of the present invention, and they are not excluded from the scope of the present invention.
[0159]
【The invention's effect】
As described above in detail, according to the present invention, in the hybrid vehicle control system, the road information acquisition unit that acquires the road information of the planned traveling route of the vehicle, and the power storage unit in a predetermined section of the planned traveling route of the vehicle. The SOC that is the amount of stored power is calculated, and a predetermined SOC management width is changed based on the calculated SOC, and a traveling method is determined so that the SOC at the end point of the predetermined section falls within the management width. A management width and a traveling method determination processing unit, and a variable width control of the management width determined by the management width and the traveling method determination processing unit; and a vehicle based on the traveling method determined by the management width and the traveling method determination processing unit. And a control execution processing unit that executes the traveling control of the vehicle.
[0160]
In this case, at the target point on the scheduled traveling route, while controlling the SOC of the power storage means so as not to exceed the management width set in advance in the vehicle, the regenerative energy can be sufficiently recovered by the power storage means, and fuel consumption can be reduced. The amount can be sufficiently reduced.
[0161]
In another hybrid vehicle control system, the hybrid vehicle control system further includes a section division processing unit that divides the predetermined section into a plurality of small sections based on road attribute data, and the management width and traveling method determination processing unit includes the road information The SOC is calculated for each of the small sections based on the SOC, and the control method is determined by changing the management width for each of the small sections based on the calculated SOC for each of the small sections. The variable control of the management width is executed for each section, and the traveling control is executed.
[0162]
In this case, the management width preset in the vehicle can be appropriately changed according to the attribute of the road.
[0163]
In still another hybrid vehicle control system, the management width and the driving method determination processing unit may further calculate the SOC at the end point of the predetermined section by adding the change amounts of the SOC for each of the small sections. If the SOC at the end point of the predetermined section does not fall within the management width, the management width is changed for each of the small sections so that the SOC at the end point of the predetermined section falls within the management width.
[0164]
In this case, the regenerative energy can be efficiently collected in the power storage means.
[0165]
In still another hybrid vehicle control system, the difference is equally divided by the number of the small sections and distributed to the small sections.
[0166]
In this case, since the difference is equally distributed for each small section, the regenerative current for each small section can be sufficiently collected in the battery, so that the fuel consumption can be sufficiently reduced.
[0167]
In still another hybrid vehicle control system, the difference is unequally divided based on the SOC of each of the small sections and distributed to the small sections.
[0168]
In this case, since the difference is unequally distributed for each small section, the difference can be unequally distributed for each small section according to the SOC of each small section, so that the regenerative current can be sufficiently collected in the battery. Therefore, fuel consumption can be sufficiently reduced.
[0169]
In still another hybrid vehicle control system, the minimum value of the difference between the specific SOC management width and the amount of change in the SOC for each small section is distributed to the small sections having the specific SOC.
[0170]
In this case, the difference between the SOC at the end point of the predetermined section and the target value of the SOC at the end point of the predetermined section can be unequally distributed according to the SOC of each small section. The fuel can be collected in the battery, and the fuel consumption can be sufficiently reduced.
[Brief description of the drawings]
FIG. 1 is a main flowchart showing an operation of a hybrid vehicle control system according to a first embodiment of the present invention.
FIG. 2 is a conceptual diagram illustrating a configuration of a hybrid vehicle control system according to the first embodiment of the present invention.
FIG. 3 is a diagram illustrating an example of a control table for a hybrid vehicle according to the first embodiment of the present invention.
FIG. 4 is a diagram showing functions of the hybrid vehicle control system according to the first embodiment of the present invention.
FIG. 5 is a flowchart illustrating a subroutine of a section dividing process according to the first embodiment of the present invention.
FIG. 6 is a diagram illustrating an example of section division according to the first embodiment of the present invention.
FIG. 7 is a flowchart illustrating a subroutine of section energy consumption calculation and traveling method determination processing according to the first embodiment of the present invention.
FIG. 8 is a diagram showing an example in which a small section is divided into minute sections according to the first embodiment of the present invention.
FIG. 9 is a flowchart illustrating a subroutine of management width variable setting processing according to the first embodiment of the present invention.
FIG. 10 is a table showing meanings of flags according to the first embodiment of the present invention.
FIG. 11 is a diagram showing a relationship between a management width and a flag according to the first embodiment of the present invention.
FIG. 12 is a table showing meanings of symbols in the first embodiment of the present invention.
FIG. 13 is a flowchart illustrating a subroutine of a capacity adjustment process in an N-th small section according to the first embodiment of the present invention.
FIG. 14 is a flowchart illustrating a subroutine of a control execution process according to the first embodiment of the present invention.
FIG. 15 is a flowchart illustrating a subroutine of section energy consumption calculation and traveling method determination processing according to the second embodiment of the present invention.
FIG. 16 is a diagram illustrating an example of an SOC in each small section according to the second embodiment of the present invention.
FIG. 17 is a diagram illustrating a method of calculating a difference between an SOC and a final target value according to the second embodiment of the present invention.
FIG. 18 is a first flowchart illustrating a subroutine of a management width variable setting process according to the second embodiment of the present invention.
FIG. 19 is a second flowchart illustrating a subroutine of a management width variable setting process according to the second embodiment of the present invention.
FIG. 20 is a diagram illustrating a method of substituting surplus energy after a change in a traveling pattern according to the second embodiment of the present invention.
FIG. 21 is a flowchart illustrating a subroutine of a capacity adjustment process in an N-th small section according to the second embodiment of this invention.
FIG. 22 is a first diagram illustrating a capacity adjustment process according to the second embodiment of the present invention.
FIG. 23 is a second diagram illustrating the capacity adjustment processing according to the second embodiment of the present invention.
FIG. 24 is a third diagram illustrating the capacity adjustment processing according to the second embodiment of the present invention.
FIG. 25 is a first flowchart illustrating a subroutine of a management width variable setting process according to the third embodiment of the present invention.
FIG. 26 is a second flowchart illustrating a subroutine of variable management width setting processing according to the third embodiment of the present invention.
FIG. 27 is a flowchart illustrating a subroutine of a capacity adjustment process in a first small section according to the third embodiment of the present invention.
FIG. 28 is a diagram illustrating a method for distributing surplus energy according to the third embodiment of the present invention.
FIG. 29 is a flowchart illustrating a subroutine of surplus energy distribution processing according to the third embodiment of the present invention.
FIG. 30 is a diagram illustrating a method for calculating a difference between an SOC and a final target value according to the third embodiment of the present invention.
FIG. 31 is a first diagram illustrating a method of setting a specific small section according to the third embodiment of the present invention.
FIG. 32 is a second diagram illustrating a method of setting a specific small section according to the third embodiment of the present invention.
FIG. 33 is a flowchart illustrating a subroutine of Erem distribution processing according to the third embodiment of the present invention.
FIG. 34 is a first diagram illustrating a method of calculating Erec in the third embodiment of the present invention.
FIG. 35 is a second diagram illustrating a method of calculating Erec in the third embodiment of the present invention.
FIG. 36 is a diagram illustrating a method of distributing Erec_lowest in the third embodiment of the present invention.
FIG. 37 is a diagram illustrating a method of updating Erem according to the third embodiment of the present invention.
[Explanation of symbols]
10 Hybrid vehicle control system
16 Battery
31 Section division processing unit
32 Section energy consumption calculation and traveling method determination processing unit
33 control execution processing unit

Claims (11)

(A) a road information acquisition unit that acquires road information of a planned traveling route of a vehicle;
(B) In a predetermined section of the planned traveling route of the vehicle, the SOC that is the amount of power stored in the power storage means is calculated, and based on the calculated SOC, a preset management width of the SOC is changed. A management width and travel method determination processing unit that determines a travel method so that the SOC falls within the management width,
(C) control for performing variable control of the management width determined by the management width and the traveling method determination processing unit, and performing vehicle travel control based on the traveling method determined by the management width and the traveling method determination processing unit. A hybrid vehicle control system comprising an execution processing unit. (A) a section division processing unit that divides the predetermined section into a plurality of small sections based on road attribute data;
(B) The management width and traveling method determination processing unit calculates an SOC for each of the small sections based on the road information, and changes the management width for each of the small sections based on the calculated SOC for each of the small sections. Let me decide the driving method,
(C) The hybrid vehicle control system according to claim 1, wherein the control execution processing unit executes the variable control of the management width for each of the small sections to execute the traveling control. The management width and the traveling method determination processing unit calculate an SOC at an end point of the predetermined section by adding a change amount of the SOC for each small section, and calculate the SOC at an end point of the predetermined section within the management width. 3. The hybrid vehicle control system according to claim 2, wherein the control width is changed for each of the small sections so that the SOC at the end point of the predetermined section falls within the management width when the control section does not fall within the control range. The management width and traveling method determination processing unit calculates the difference between the calculated SOC at the end point of the predetermined section and the target value of the SOC at the end point of the predetermined section set within a predetermined management width. The hybrid vehicle control system according to claim 3, wherein the distribution is performed to each of the small sections. The management width and traveling method determination processing unit calculates the difference between the calculated SOC at the end point of the predetermined section and the target value of the SOC at the end point of the predetermined section set within a predetermined management width. The hybrid vehicle control system according to claim 3, wherein the distribution is performed sequentially from the first small section in the predetermined section. The management width and traveling method determination processing unit calculates the difference between the calculated SOC at the end point of the predetermined section and the target value of the SOC at the end point of the predetermined section set within a predetermined management width. The hybrid vehicle control system according to claim 3, wherein distribution is performed sequentially from a small section near the end point in a predetermined section. The hybrid vehicle control system according to claim 4, wherein the difference is equally divided by the number of the small sections and distributed to the small sections. The hybrid vehicle control system according to any one of claims 4 to 6, wherein the difference is unequally divided based on the SOC of each of the small sections and distributed to the small sections. 9. The hybrid vehicle control system according to claim 8, wherein the minimum value of the difference between the specific management width of the SOC and the amount of change in the SOC for each subsection is distributed to the subsections having the specific value of the SOC. (A) obtaining road information of a planned traveling route of a vehicle,
(B) calculating the SOC, which is the amount of power stored in the power storage means, in a predetermined section of the planned traveling route of the vehicle, changing the SOC management width based on the calculated SOC, and setting the SOC at the end point of the predetermined section to the management width. Decide the driving method to fit within,
(C) A hybrid vehicle control method, wherein the variable control of the management width is executed, and the traveling control of the vehicle is executed based on the traveling method. (A) computer
(B) a road information acquisition unit that acquires road information of a planned traveling route of the vehicle;
(C) calculating the SOC, which is the amount of power stored in the power storage means, in a predetermined section of the planned traveling route of the vehicle, changing the SOC management width based on the calculated SOC, and setting the SOC at the end point of the predetermined section to the management width. A management width and a driving method determination processing unit that determines the driving method so as to fit in the
(D) control for performing variable control of the management width determined by the management width and the traveling method determination processing unit, and executing vehicle travel control based on the traveling method determined by the management width and the traveling method determination processing unit. A hybrid vehicle control program that functions as an execution processing unit.

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