JP2018181475A - Automatic operation control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow for appropriate vehicle running even when a battery temperature detector does not function normally, in a vehicle controller limiting the function of automatic operation control according to the detection temperature of the battery temperature detector.SOLUTION: A control section 470 of an automatic operation ECU47 determines whether or not a battery temperature detector 471 is normal, and when the battery temperature detector 471 is not normal, executes one or both of following first limit control and second limit control. The first limit control is a control for limiting at least a part of the function of automatic operation control. The second limit control is a control of limiting the function not required for automatic operation control, out of the functions of a vehicle 10, in order to increase the power supplied from a battery 31 for automatic operation control.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an automatic driving control device that performs automatic driving control of a vehicle.

  BACKGROUND Conventionally, a battery is mounted on a vehicle, and various functions (for example, a cranking operation of an engine, etc.) are realized using the power of the battery.

  The output voltage of the battery changes according to the temperature of the battery. Specifically, when the temperature of the battery decreases, the output voltage of the battery decreases. For this reason, in this type of vehicle, it becomes a problem that the necessary power is not sufficiently supplied from the battery when the temperature of the battery becomes abnormally low. Similarly, if the temperature of the battery becomes abnormally high, the life of the battery may decrease, and in this case, the necessary power may not be sufficiently supplied from the battery.

  As a technique for coping with this problem, there is a vehicle control device described in Patent Document 1. The vehicle control device is a vehicle that travels using power supplied from a battery. The vehicle control device includes a battery temperature detection unit that detects the temperature of the battery, and when the detection temperature of the battery temperature detection unit is lower than the appropriate temperature, the battery temperature is increased by executing predetermined vehicle control. The vehicle can travel as in the case of the appropriate temperature.

JP, 2013-241068, A

  Conventionally, development of an autonomous driving vehicle is in progress. The autonomous driving vehicle is a vehicle capable of automatically performing part or all of the driving operation performed by the driver of the vehicle or assisting the driving operation performed by the driver.

  Also in an autonomous driving vehicle, the electric power of the battery is used for various functions as in a conventional vehicle such as the vehicle of Patent Document 1 (that is, a vehicle not performing automatic driving control). In an autonomous driving vehicle, battery power is usually used for autonomous driving control. In such an autonomous driving vehicle, when the temperature of the battery becomes abnormal and the output voltage of the battery decreases, sufficient electric power can not be supplied for the autonomous driving control, and appropriate autonomous driving control can be performed. There is a risk of disappearing. Since it is not in a state where the driver is performing all driving operations at the time of automatic driving, there is a particularly high possibility that appropriate vehicle driving can not be performed if appropriate automatic driving control can not be performed. . For this reason, in an autonomous driving vehicle, the temperature of the battery may become abnormal and the output voltage of the battery may decrease, so that appropriate automatic operation control may not be performed.

  Therefore, the inventor of the present application controls a vehicle control device that limits the function of the automatic driving control according to the temperature detected by the battery temperature detection unit that detects the temperature of the battery in order to cope with the above problems in the autonomous driving vehicle. We are considering the development of Specifically, the control device for a vehicle determines whether or not the temperature detected by the battery temperature detection unit is included in a predetermined proper range, and if the detected temperature is not included in the predetermined proper range, , Restrict at least a part of the functions of automatic operation control. According to this configuration, by restricting at least a part of the function of the automatic driving control, the driving operation corresponding to the restricted function is switched to the manual operation by the driver, and improper automatic driving is not performed. Proper vehicle travel is possible. Also, by limiting at least a part of the functions of the automatic operation control, the supply of battery power for the restricted functions is suppressed, whereby the automatic operation control for the functions other than the function is necessary. Power can be easily supplied. For this reason, according to this configuration, even when the temperature of the battery is not within the appropriate range, appropriate vehicle travel can be performed. In addition, about the invention of such a structure, the patent application (namely, Japanese Patent Application No. 2016-196295) by the present applicant is made.

  In addition, even if the battery temperature is not within the appropriate range, if the battery can supply sufficient power for automatic operation control from other means, the above problems can be addressed and appropriate vehicle travel is possible. Become. As such another means, it is possible to limit at least a part of a function (hereinafter referred to as a non-automatic operation function) which is not necessary for automatic operation control such as idling stop. For example, when the idling stop function is effective, since the engine is stopped, the operation of the generator that generates electric power based on the power transmitted from the engine is also stopped, and the battery is charged by the generator. Will stop. Therefore, by limiting at least a part of the idling stop function, it is possible to restore the charge to the battery and to increase the charge amount of the battery so that the power necessary for the automatic operation control is supplied. it can. Thus, it is also considered preferable to be configured such that the power necessary for automatic operation control is supplied by restricting at least a part of the non-automatic operation function. In addition, when the electric power of the battery is used to operate the ECU (that is, the Electronic Control Unit) that executes the above-mentioned idling stop control, the battery electric power is used to exhibit the non-automatic operation function itself. Even in the case where there is a problem, the power supplied from the battery can be suppressed by limiting the non-automatic operation function, and the power necessary for the automatic operation control can be supplied.

  Based on the above, the inventor of the present application further developed and focused on the case where the battery temperature detection unit fails to function properly due to a failure or the like. In this case, even if the battery temperature is not actually included in the appropriate range, it is not determined that the temperature is not included in the appropriate range, and the function of the automatic operation control is not limited. For this reason, even if the temperature of the battery becomes abnormal and the power consumption increases, there may occur a case where the automatic operation is continued in the same vehicle operation mode as when the temperature of the battery is appropriate. In this case as well, the power necessary for automatic operation control may not be sufficiently supplied, and appropriate vehicle travel may not be possible. Therefore, in consideration of the above, the inventor of the present application has conceived of the present disclosure that enables appropriate vehicle travel even when the battery temperature detection unit does not function properly.

  The present disclosure provides a vehicle control device including a battery temperature detection unit that detects the temperature of a battery, which enables appropriate vehicle travel even when the battery temperature detection unit does not function properly. To aim.

  The present disclosure is directed to an automatic control that includes a control unit (470) that performs automatic driving control of a vehicle, and a battery temperature detection unit (471) that detects the temperature of a battery (31) that supplies power used to drive the vehicle. It is an operation control device. The control unit determines whether the battery temperature detection unit is normal or not, and restricts at least a part of the function of the automatic operation control under the first situation in which the battery temperature detection unit is determined not to be normal. One of a first limit control and a second limit control that limits at least a portion of non-automatic operation functions not required for automatic operation control to increase power supplied from the battery for automatic operation control. Or both.

  According to the present disclosure, even when the battery temperature detection unit does not function properly, appropriate vehicle travel can be performed by executing the first and second limit controls. Specifically, at least a part of the function of the automatic driving control is limited by the first limit control, so that the driving operation corresponding to the limited function is switched to the manual operation by the driver, which is inappropriate. It is possible to perform appropriate vehicle travel without automatic driving. Alternatively, the second limit control limits at least a part of the non-automatic driving function (for example, the idling stop function), which facilitates sufficient supply of the power necessary for the automatic driving control, and appropriate vehicle driving. Is possible.

FIG. 1 is a block diagram showing a schematic configuration of a vehicle equipped with the autonomous driving ECU of the first embodiment. FIG. 2 is a flowchart showing a procedure of processing executed by the autonomous driving ECU of the first embodiment. FIG. 3 is a block diagram showing a schematic configuration of a vehicle equipped with the autonomous driving ECU of the second embodiment. FIG. 4 is a flowchart showing the procedure of processing executed by the autonomous driving ECU of the second embodiment. FIG. 5 is a flowchart showing the procedure of specific processing for part of the processing shown in FIG. FIG. 6 is a flowchart showing the procedure of processing executed by the autonomous driving ECU of the third embodiment.

  Hereinafter, the present embodiment will be described with reference to the attached drawings. In order to facilitate understanding of the description, the same constituent elements in the drawings are denoted by the same reference numerals as much as possible, and redundant description will be omitted.

  First Embodiment

  An automatic driving control apparatus according to a first embodiment of the present disclosure will be described with reference to FIGS. 1 and 2. First, a schematic configuration of a vehicle 10 equipped with the automatic driving control device of the first embodiment will be described.

  The vehicle 10 is an autonomous driving vehicle. The vehicle 10 is switched to a plurality of vehicle operation modes including a mode in which all the power (i.e., driving power), braking, and steering operations are automatically performed and a mode in which only a part of the operations is automatically performed. Is configured. As shown in FIG. 1, a power system 20, a power supply system 30, and an automatic driving system 40 are mounted on a vehicle 10.

  The power system 20 is a part that comprehensively manages the power of the vehicle 10. As shown in FIG. 1, the power system 20 includes an engine 21, a starter motor 22, and an alternator 23.

  The engine 21 is an internal combustion engine for generating motive power for traveling the vehicle 10. Cooling water circulates in the engine 21 through a cooling water passage (not shown), and the cooling water cools each part of the engine 21. Further, engine oil circulates in the engine 21 through an oil passage (not shown), and the engine oil lubricates each part of the engine 21.

  The starter motor 22 starts the engine 21 by performing the cranking operation of the engine 21 based on the supply of the power from the battery 31 of the power supply system 30.

  The alternator 23 generates electric power based on the power transmitted from the engine 21. The power generated by the alternator 23 is charged to the battery 31.

  The power system 20 further includes a water temperature sensor 24a, an engine oil temperature sensor 24b, a transmission oil temperature sensor 24c, an outside air temperature sensor 24d, a vehicle temperature sensor 24e, and a solar radiation sensor 24f. Further, the power system 20 further includes an engine ECU (that is, an electronic control unit) 27 and a transmission ECU (that is, an electronic control unit) 28.

  The water temperature sensor 24a detects the temperature T1 of the cooling water circulating through the engine 21 and outputs a signal corresponding to the detected temperature T1 of the cooling water.

  The engine oil temperature sensor 24b detects a temperature T2 of engine oil circulating in the engine 21 and outputs a signal corresponding to the detected temperature T2 of the engine oil.

  The transmission oil temperature sensor 24c detects a temperature T3 of the transmission oil that lubricates each part of the transmission of the vehicle 10, and outputs a signal according to the detected temperature T3 of the transmission oil.

  The outside air temperature sensor 24d detects an outside air temperature T4 which is the temperature outside the vehicle 10, and outputs a signal corresponding to the detected outside air temperature T4.

  The vehicle temperature sensor 24e detects a vehicle temperature T5 which is a temperature of a vehicle interior of the vehicle 10, and outputs a signal according to the detected vehicle temperature T5.

  The solar radiation sensor 24f detects the solar radiation amount E1 and outputs a signal corresponding to the detected solar radiation amount E1. Output signals of these sensors 24 a to 24 f are taken into the engine ECU 27.

  The engine ECU 27 is a part that performs control of the engine 21 in an integrated manner. The engine ECU 27 is mainly configured of a microcomputer having a CPU, a ROM, a RAM, and the like. The CPU executes arithmetic processing related to control of the engine 21. The ROM stores various programs, data, and the like related to control of the engine 21. The calculation result of the CPU is temporarily stored in the RAM.

  Specifically, the engine ECU 27 executes so-called engine start control for starting the engine 21 when detecting an engine start operation by the driver. Further, the engine ECU 27 detects the temperature T1 of the cooling water, the temperature T2 of the engine oil, the temperature T3 of the transmission oil, the outside temperature T4, the vehicle temperature T5, and the solar radiation amount E1 based on the output signals of the respective sensors 24a-24f. Do. The engine ECU 27 controls the drive of the engine 21 based on the depression amount of the accelerator pedal, the intake air amount, and the like in addition to the detected values.

  Furthermore, the engine ECU 28 also performs idling stop control and the like. The idling stop control is control for automatically stopping the engine 21 when the vehicle 10 is temporarily stopped. When the idling stop control is executed, since the engine 21 is stopped, the operation of the alternator 23 that generates electric power based on the power transmitted from the engine 21 is also stopped, and the charging of the battery 31 by the alternator 23 is stopped. Do.

  The transmission ECU 28 is a part that performs control of the transmission of the vehicle 10 in an integrated manner. The transmission ECU 28 is mainly configured of a microcomputer having a CPU, a ROM, a RAM, and the like. The CPU executes arithmetic processing related to control of the transmission. The ROM stores various programs, data, etc. related to control of the transmission. The calculation result of the CPU is temporarily stored in the RAM.

  The power supply system 30 includes a battery 31, a battery temperature sensor 33, a current sensor 34, a voltage sensor 35, and a power supply ECU (i.e., an electronic control unit) 36.

  The battery 31 charges the power generated by the alternator 23. The battery 31 supplies the power to various electronic devices mounted on the vehicle 10 in addition to the starter motor 22. For example, the battery 31 supplies power used for vehicle operation control including automatic operation control. The battery 31 is a power system (that is, a drive system) of the vehicle 10 including the engine 21 and the like, a braking system of the vehicle 10 including the electronically controlled brake system 46 and the like, or a steering system of the vehicle 10 including the electric power steering device 45 and the like. Power for control is supplied to the corresponding electronic devices. In addition, the battery 31 supplies the power to various electronic devices used for idling stop control and the like.

  The battery temperature sensor 33 detects the temperature Tb of the battery 31 and outputs a signal corresponding to the detected temperature Tb of the battery 31. The current sensor 34 detects an output current Ib of the battery 31 and outputs a signal corresponding to the detected output current Ib of the battery 31. The voltage sensor 35 detects an output voltage Vb of the battery 31 and outputs a signal corresponding to the detected output voltage Vb of the battery 31.

  The power supply ECU 36 is a part that centrally controls charging and discharging of the battery 31. The power supply ECU 36 is mainly configured of a microcomputer having a CPU, a ROM, a RAM, and the like. The CPU executes arithmetic processing related to charge and discharge control of the battery 31. The ROM stores various programs, data, and the like related to charge and discharge control of the battery 31. The calculation result of the CPU is temporarily stored in the RAM.

  Specifically, the power supply ECU 36 detects the temperature Tb of the battery 31, the output current Ib, and the output voltage Vb based on the output signals of the sensors 33 to 35. The power supply ECU 36 controls charging and discharging of the battery 31 based on the detected values and the like.

  The autonomous driving system 40 is a part that comprehensively executes autonomous driving control of the vehicle 10. The automatic driving system 40 includes a camera 41, a laser device 42, a radar device 43, an operating device 44, an electric power steering device 45, an electronic control brake system 46, and an automatic driving ECU (ie, Electronic Control Unit) 47. And have.

  The camera 41 captures a predetermined range set around the vehicle 10, such as a predetermined range in front of the vehicle 10 or a predetermined range behind the vehicle 10, and outputs the captured image data. The laser device 42 is, for example, a laser radar device. The radar device 43 is, for example, a millimeter wave radar device. The laser device 42 and the radar device 43 detect an object present in a search range set around the vehicle, and output a signal according to the position of the detected object. The operating device 44 is a portion operated by the driver of the vehicle 10. The operating device 44 includes an operating switch or the like that is operated when starting or stopping the automatic operation.

  The electric power steering device 45 executes assist control or the like for assisting the driver's steering by applying an assist torque corresponding to the steering torque applied to the steering wheel of the vehicle 10 to the steering wheel. In addition, the electric power steering device 45 executes automatic steering control in response to a request from the automatic driving ECU 47. The automatic steering control is control for automatically changing the steering angle of the vehicle 10 without applying the steering of the steering wheel by the driver by applying torque to the steering wheel.

  The electronically controlled brake system 46 optimally distributes the braking force applied to each wheel according to the rotational speed and turning state of the front and rear wheels of the vehicle 10 when the driver depresses the brake pedal, so-called antilock Execute brake control etc. In addition, the electronically controlled brake system 46 executes automatic brake control in response to a request from the automatic driving ECU 47. Automatic brake control is control for automatically applying a braking force to each wheel of the vehicle 10 regardless of the driver's depression operation of the brake pedal.

  The autonomous driving ECU 47 is a part that comprehensively controls the autonomous driving of the vehicle 10. In the present embodiment, the automatic driving ECU 47 corresponds to an automatic driving control device. The autonomous driving ECU 47 is mainly configured of a microcomputer having a CPU, a ROM, a RAM, and the like. The CPU executes arithmetic processing related to automatic operation control. The ROM stores various programs and data related to automatic operation control. The calculation result of the CPU is temporarily stored in the RAM.

  Specifically, the automatic driving ECU 47 includes a control unit 470 that executes automatic driving control. When control unit 470 detects that the driver has performed an operation to start automatic driving based on an output signal from operation device 44, control unit 470 starts automatic driving control. Control unit 470 includes a power system (that is, a drive system) of vehicle 10 including engine 21 and a transmission, a braking system of vehicle 10 including electronic control brake system 46 and a brake device, an electric power steering device 45 and the like. The steering system of the vehicle 10 is controlled automatically.

  For example, based on the image data of the camera 41, the control unit 470 detects a lane boundary in front of the vehicle 10, a preceding vehicle, an obstacle that hinders the traveling of the vehicle 10, and the like. Further, the control unit 470 detects a forward vehicle, an obstacle, and the like based on output signals of the laser device 42 and the radar device 43. The control unit 470 sets a target travel line of the vehicle 10 based on the detected information such as the lane boundary ahead of the vehicle 10, the front vehicle, the obstacle, etc., and the target steering angle according to the target travel line. Calculate The control unit 470 causes the electric power steering device 45 to execute automatic steering control based on the target steering angle by outputting the calculated target steering angle to the electric power steering device 45. As a result, the steering angle of the vehicle 10 changes in accordance with the target operating angle, so the vehicle 10 travels automatically along the target travel line.

  Further, the control unit 470 determines whether or not the vehicle 10 may collide with the forward vehicle or obstacle based on the position of the forward vehicle or obstacle, and if there is a possibility of collision, The electronically controlled brake system 46 performs automatic brake control. Thereby, it is possible to prevent the collision of the vehicle 10 in advance even during the automatic driving control.

  Furthermore, the engine ECU 27, the transmission ECU 28, the power supply ECU 36, and the automatic driving ECU 47 are communicably connected via the on-vehicle network 50. Therefore, the engine ECU 27, the transmission ECU 28, the power supply ECU 36, and the automatic driving ECU 47 can mutually exchange information and can instruct an operation.

  For example, the control unit 470 can detect various state quantities of the engine 21 and various state quantities of the battery 31 by communicating with the engine ECU 27 and the power supply ECU 36. Further, in automatic operation control, control unit 470 automatically controls the rotational speed of engine 21 and the like by instructing engine ECU 27 to operate engine 21. Further, in automatic operation control, control unit 470 automatically controls the shift speed of the transmission by instructing transmission ECU 28 to operate the transmission.

  By the way, when automatic driving control is being executed, it is necessary to simultaneously drive a plurality of electronic devices such as the electric power steering device 45 and the electronic control brake system 46 depending on the traveling state of the vehicle 10. Power consumption may increase. Thus, even if the power consumption of the entire vehicle 10 increases, if the engine 21 is in operation, the power consumption of the entire vehicle 10 is compensated based on the generated power of the alternator 23 and the discharged power of the battery 31. Can.

  However, when the output voltage of the battery 31 decreases with the decrease of the temperature Tb of the battery 31, it is necessary to compensate the power corresponding to the shortage with the generated power of the alternator 23. In addition, the battery 31 may cause a significant decrease in the life and the like due to the increase of the temperature. Therefore, when the temperature Tb of the battery 31 rises, the possibility that sufficient electric power can not be supplied is increased, and it is necessary to compensate the electric power for the shortage with the electric power generated by the alternator 23. Thus, in response to the temperature change of the battery 31, the power required of the alternator 23 increases. If this required power exceeds the upper limit value of the power generated by the alternator 23, there is a possibility that various electronic devices used for automatic operation control can not be driven, which may cause problems in automatic operation.

  Therefore, the autonomous driving ECU 47 of the present embodiment includes a battery temperature detection unit 471 that detects the temperature Tb of the battery 31. The battery temperature detection unit 471 detects the temperature Tb of the battery 31 based on the communication with the power supply ECU 36. Although details will be described later, the autonomous driving ECU 47 determines whether the temperature Tb detected by the battery temperature detection unit 471 is included in a predetermined appropriate range (hereinafter referred to as a first appropriate range), and the temperature Tb is If it is not included in the first appropriate range, the function and the like of automatic operation control is limited. As a result, power sufficient for automatic operation control can be easily supplied from the battery 31, and appropriate automatic operation can be performed.

  However, when the battery temperature detection unit 471 does not function properly due to a failure or the like, even if the temperature Tb of the battery 31 is not actually included in the above first appropriate range, this is indicated. Judgment is not made, and the function of automatic operation control is not limited. Therefore, even if temperature Tb of battery 31 becomes abnormal and power consumption increases, automatic operation is continued in the same vehicle operation mode as in the case where temperature Tb of battery 31 is included in the above first appropriate range. Can happen. In this case, the output voltage Vb of the battery 31 may be reduced, and the power necessary for the automatic operation control may not be sufficiently supplied, and the appropriate automatic operation may not be possible.

  Thus, the control unit 470 of the present embodiment determines whether the battery temperature detection unit 471 is normal. For example, control unit 470 detects the presence or absence of a short circuit or disconnection from the transition of temperature Tb of battery 31 detected by battery temperature detection unit 471, and if the short circuit or disconnection occurs, the battery temperature detection unit 471 is not normal. judge. Further, control unit 470 may determine whether battery temperature detection unit 471 is normal or not by a method as described in JP-A-2016-206040.

  When the battery temperature detection unit 471 is not normal, the control unit 470 according to the present embodiment executes one or both of the following first limit control and second limit control. The first limit control is control that limits at least a part of the function of the automatic driving control. The second limit control limits functions of the vehicle 10 which are not necessary for automatic driving control (hereinafter referred to as non-automatic driving functions) in order to increase power supplied from the battery 31 for automatic driving control. It is control. An example of the non-automatic operation function is an idling stop function. That is, as the second limit control, for example, when the engine 21 is in the idling stop state, there is one that stops part or all of the control related to the idling stop. The idling stop state indicates a state in which the engine 21 is temporarily stopped due to the execution of the idling stop control, the execution of the coasting control, the operation of the traveling motor, the shortage of fuel, and the like.

  For this reason, according to the present embodiment, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed by executing the first and second restriction controls. Specifically, at least a part of the function of the automatic driving control is limited by the first limit control, so that the driving operation corresponding to the limited function is switched to the manual operation by the driver, which is inappropriate. It is possible to perform appropriate vehicle travel without automatic driving. Also, the supply of battery power for the limited function is suppressed, which makes it easy to supply sufficient power for automatic operation control for functions other than the function, enabling appropriate vehicle travel. It becomes. Therefore, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed. Alternatively, the second limit control limits at least a part of non-automatic operation functions such as the idling stop function, which facilitates sufficient supply of electric power necessary for automatic operation control, enabling appropriate vehicle travel. It becomes. For example, by limiting at least a part of the idling stop function, the charging of the battery 31 is restored, and the charging amount of the battery 31 increases, so that the power necessary for the automatic operation control is easily supplied. In addition, the supply of the power (for example, the power required to operate the engine ECU 28) used to exhibit the idling stop function itself is suppressed, which facilitates the sufficient supply of the power necessary for automatic operation control. Proper vehicle travel is possible. Therefore, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed by executing the first and second limit controls.

  When battery temperature detection unit 471 is normal, control unit 470 determines whether or not temperature Tb of battery 31 detected by battery temperature detection unit 471 is included in the above first appropriate range. When the temperature Tb of the battery 31 is not included in the first appropriate range, one or both of the first limit control and the second limit control described above are performed. In this case, instead of the first limit control, control unit 470 may execute control to limit at least a part of the function of automatic operation control with a limit degree higher than the limit degree of first limit control. good. That is, for example, instead of the first limit control, the control unit 470 limits the first limit control among the four items other than the power function of the vehicle 10, the braking function, the steering function, and the vehicle travel. The control which restricts the same item strictly as the first restriction control may be executed. Alternatively, instead of the first limit control, the control unit 470 may execute control to limit items other than the items limited by the first limit control. Similarly, instead of the second limit control, the control unit 470 may execute control to limit at least a part of the non-automatic operation function with a limit degree higher than the limit degree of the second limit control. That is, instead of the second limit control, control unit 470 may execute control for limiting most of the non-automatic operation functions as compared to the second limit control.

  Control executed by the control unit 470 of the present embodiment will be described with reference to FIG. A series of processes shown in FIG. 2 are repeatedly executed each time a predetermined control cycle elapses.

  As the process of the first step S10, control unit 470 determines whether or not the driver has performed an operation to start automatic driving based on the output signal of operation device 44. If the determination in step S10 is negative, that is, if the driver has not performed an operation to start automatic driving, control unit 470 temporarily ends the series of processes.

  When the control unit 470 makes an affirmative determination in the process of step S10, that is, when the driver performs an operation to start automatic driving, the battery temperature detection unit 471 is normal as the process of step S11. It is determined whether or not. Data set in advance by experiment or the like is stored in the ROM of the automatic operation ECU 47 so that it can be determined whether the battery temperature detection unit 471 is normal or not, and the control unit 470 detects the battery temperature based on the data It is determined whether the unit 471 is normal. Control unit 470 may be configured to determine whether battery temperature detection unit 471 is normal or not by another method.

  When the control unit 470 makes an affirmative determination in the process of step S11, that is, when the battery temperature detection unit 471 is normal, the temperature of the battery 31 detected by the battery temperature detection unit 471 as the process of step S12. It is determined whether Tb is included in the first appropriate range described above. The lower limit value and the upper limit value of the first appropriate range set in advance by experiment etc. are stored in the ROM of the automatic operation ECU 47 so that it can be determined whether or not the appropriate temperature does not cause any problem in the execution of the automatic operation control. The control unit 470 determines whether the temperature Tb of the battery 31 is included in the first appropriate range based on the lower limit value and the upper limit value.

  If the control unit 470 makes an affirmative determination in the process of step S12, that is, if the temperature Tb of the battery 31 is included in the first appropriate range described above, there is a possibility that the execution of the automatic operation control will be interrupted. It is determined to determine that there is no In this case, the control unit 470 starts automatic operation control as the process of step S12 and temporarily terminates a series of processes.

  If the determination in step S11 is negative, that is, if the battery temperature detection unit 471 is not normal, the control unit 470 determines that there is a high possibility that trouble will occur in the execution of the automatic operation control. In this case, the control unit 470 executes one or both of the first limit control and the second limit control described above as the process of step S14. As described above, the first limit control is control that limits at least a part of the function of the automatic driving control. The second limit control is control for limiting at least a part of the non-automatic operation function to increase the power supplied from the battery 31 for the automatic operation control.

  Specifically, the control unit 470 of the present embodiment limits at least one of the power function, the braking function, and the steering function in the automatic driving control in the first limit control. The power function indicates a function related to the power system of the vehicle 10 such as the engine 21 and the transmission. The braking function indicates a function related to the braking system of the vehicle 10, such as a braking device and the electronically controlled braking system 46. The steering function indicates a function related to the steering system of the vehicle 10 such as the electric power steering device 45 or the like.

  For example, in the first limit control, control unit 470 sets a limit on a part of automatic control of any one of the power function, the braking function, and the steering function in automatic driving control, or any of the functions. Prohibit automatic control, ie switch to the driver's manual operation. As an example, automatic control of the engine 21 and transmission can be performed after setting the upper limit speed to the traveling speed of the vehicle 10. Alternatively, automatic control of the engine 21 and the transmission can be prohibited, that is, switched to manual operation by the driver. In addition, all functions of the automatic driving control may be limited by restricting all of the power function, the braking function, and the steering function in the automatic driving control. For example, the power function may be restricted while prohibiting the braking function and the steering function in automatic driving control. As one example, the braking function and the steering function are switched to the manual operation of the driver, and the upper speed is provided to the traveling speed of the vehicle 10, and then the engine 21 and the transmission are automatically controlled.

  Further, in the second limit control, the control unit 470 of the present embodiment controls the automatic operation control among the functions of the vehicle 10 in order to increase the power supplied from the battery 31 for the automatic operation control. Limit at least some of the non-automated driving functions that are functions that are not required. After executing the process of step S14, control unit 470 temporarily ends the series of processes.

  For this reason, according to the present embodiment, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed by executing the first and second restriction controls. Specifically, at least a part of the function of the automatic driving control is limited by the first limit control, so that the driving operation corresponding to the limited function is switched to the manual operation by the driver, which is inappropriate. It is possible to perform appropriate vehicle travel without automatic driving. In addition, the supply of battery power for the limited function is suppressed, which facilitates sufficient supply of power necessary for automatic operation control for functions other than the function. Therefore, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed. Alternatively, the second limit control limits at least a part of non-automatic operation functions such as the idling stop function, which facilitates sufficient supply of electric power necessary for automatic operation control, enabling appropriate vehicle travel. It becomes. For example, by limiting at least a part of the idling stop function, the charging of the battery 31 is restored, and the charging amount of the battery 31 increases, so that the power necessary for the automatic operation control is easily supplied. In addition, the supply of power used for exerting the idling stop function itself (for example, power required for operating the engine ECU 28, power required for starting the engine 21) is suppressed, whereby power required for automatic operation control is obtained. Is easily supplied enough to enable appropriate vehicle travel. Therefore, even when the battery temperature detection unit 471 does not function properly, appropriate vehicle travel can be performed by executing the first and second limit controls.

  When negative determination is made in the process of step S12, that is, when temperature Tb of battery 31 is not included in the above first appropriate range, control unit 470 causes a problem in execution of automatic operation control. It is determined that the possibility is high. In this case, control unit 470 executes one or both of the first limit control and the second limit control described above as the process of step S15. After executing the process of step S15, control unit 470 temporarily ends the series of processes.

  As described above, even when the temperature Tb of the battery 31 is not included in the first appropriate range, the first and second limit controls are executed, and for the same reason as in the above reason, automatic operation control can be performed Power necessary for power supply is easily supplied, and appropriate automatic operation is possible.

  Second Embodiment

  An automatic driving control apparatus according to a second embodiment of the present disclosure will be described with reference to FIGS. 3 to 5. In the present embodiment, the heating device 37, the cooling device 38, and the battery temperature estimation unit 472 are added to the first embodiment, and the control processing by the automatic operation ECU 47 or the like is changed. The other parts are basically the same as in the first embodiment, so only the parts different from the first embodiment will be described. Also in the present embodiment, the automatic driving ECU 47 corresponds to an automatic driving control device.

  As shown in FIG. 3, the power supply system 30 of the present embodiment includes a heating device 37 for heating the battery 31 and a cooling device 38 for cooling the battery 31. As the heating device 37, a heater device, a charge / discharge control device for forcibly performing charge / discharge on the battery 31, a device using the method described in Japanese Patent No. 05626294, or the like can be used. As the cooling device 38, a blower for blowing air to the battery 31, a device for circulating cooling water to the battery 31, or the like can be used. Each of the heating device 37 and the cooling device 38 corresponds to a temperature control unit that adjusts the temperature of the battery 31.

  The power supply ECU 36 of the present embodiment executes heating control to heat the battery 31 by the heating device 37 and cooling control to cool the battery 31 by the cooling device 38. For example, when the power supply ECU 36 receives the heating request signal transmitted from the automatic driving ECU 47, the power supply ECU 36 heats the battery 31 by the heating device 37. Further, when the power supply ECU 36 receives the cooling request signal transmitted from the automatic operation ECU 47, the power supply ECU 36 cools the battery 31 by the cooling device 38. That is, the heating device 37 and the cooling device 38 are controlled by the automatic operation ECU 47 (that is, the control unit 470) via the power supply ECU 36.

  As shown in FIG. 3, the autonomous driving ECU 47 of the present embodiment further includes a temperature estimation unit 472 that estimates the temperature Tb of the battery 31. The temperature Tb of the battery 31 is estimated separately from the battery temperature detection unit 472. Specifically, the temperature estimation unit 472 estimates the temperature Tb of the battery 31 by performing battery temperature estimation control as shown in FIG. 5, for example.

  Hereinafter, the battery temperature estimation control shown in FIG. 5 will be described. First, as the process of the first step S160, the temperature estimation unit 472 determines whether or not the battery temperature detection unit 471 is not normal for the first time.

  When the battery temperature detection unit 471 is not normal for the first time, the temperature estimation unit 472 sets the temperature Tb of the battery 31 as the initial value of the battery estimated temperature To as the processing of step S161. Remember to When the initial value of the temperature Tb of the battery 31 is not set, the temperature T1 of the cooling water detected by the water temperature sensor 24a, the outside temperature T4 detected by the outside temperature sensor 24d, and the vehicle temperature sensor 24e The vehicle room temperature T5 or the like may be used as the initial value. The case where the initial value of the temperature Tb of the battery 31 is not set is, for example, the case where the battery temperature detection unit 471 is not normal when the ignition switch of the vehicle 10 is off.

After the process of step S161 or when it is not the first time that the battery temperature detection unit 471 is not normal, the temperature estimation unit 472 calculates the temperature change amount ΔTi of the battery 31 as the process of step S162. Specifically, the temperature estimation unit 472 calculates the output current Ib of the battery 31 detected by the current sensor 34, the internal resistance value rb of the battery 31 which is grasped in advance, the specific heat Cb, and the mass Mb From the above, the temperature change amount ΔTi is calculated.

  After the process of step S162, the temperature estimation unit 472 calculates, as the process of step S163, the heat exchange coefficient K experimentally grasped according to the operating states of the heating device 37 and the cooling device 38.

After the process of step S163, the temperature estimation unit 472 calculates a temperature change amount ΔTc due to heat exchange with the outside as the process of step S164. Specifically, the temperature estimation unit 472 calculates the temperature change amount ΔTc as the following formula. The outside air temperature T4 detected by the outside air temperature sensor 24d is used as the outside temperature of the battery 31. Instead of the outside air temperature T4, the vehicle room temperature T5 detected by the vehicle room temperature sensor 24e may be used as the outside temperature of the battery 31.

After the process of step S164, the temperature estimation unit 472 estimates the temperature Tb of the battery 31 as the process of step S165. Specifically, the temperature estimation unit 472 calculates the current estimated temperature T of the battery 31 as the following formula.

  After the process of step S165, the temperature estimation unit 472 stores the value of T as the initial value To of the estimated temperature T of the battery 31 as the process of step S166.

  The description returns to the control unit 470. In the control unit 470 of this embodiment, the battery temperature detection unit 471 is not normal, and the temperature Tb of the battery 31 estimated by the temperature estimation unit 472 is not included in a predetermined range (hereinafter referred to as a second appropriate range). In the case, the first limit control and the second limit control described in the first embodiment are executed. The first limit control is control that limits at least a part of the function of the automatic driving control. The second limit control is a function of the vehicle 10 that is not necessary for the automatic driving control, and is a function that operates using the power supplied from the battery 31. The supply of power used for the non-automatic driving function This control is at least partially limited.

  For this reason, according to the present embodiment, even when the battery temperature detection unit 471 does not function properly, the first and second limit controls are executed, which is suitable for the same reason as the above. Automatic operation is possible.

  In the case where the battery temperature detection unit 471 is not normal and the temperature Tb of the battery 31 estimated by the battery temperature estimation unit 472 is included in the above second appropriate range, the control unit 470 of the present embodiment is , One or both of the following third limit control and fourth limit control. The third limit control is control that limits at least a part of the function of the automatic driving control with a limit degree lower than the limit degree in the first limit control. That is, in the third limit control, among the four items of the power function of the vehicle 10, the braking function, the steering function, and the function other than the vehicle travel, the same items as the items to be limited by the first limit control are Also, control may be performed so as to loosely limit or limit only some of the same items. The fourth limit control is control that limits at least a part of the non-automatic operation function with a limit degree lower than the limit degree in the second limit control. That is, the fourth limit control is control for limiting the non-automatic operation function so as to stop a smaller part of the non-automatic operation functions than in the case of the second limit control.

  Therefore, according to the present embodiment, even when the battery temperature detection unit 471 does not function properly, the temperature estimation unit 472 estimates that the temperature Tb of the battery 31 is highly likely to be in the second appropriate range. If confirmed, third and fourth limit controls having a degree of limit lower than that of the first and second limit controls are executed. Therefore, it is possible to prevent the first limit control having a high degree of limitation from being unnecessarily performed and the function of the automatic driving control being limited, and to appropriately continue the traveling of the vehicle by the automatic driving having a relatively high degree of dependence on the automatic driving. Can. Alternatively, the second limit control with a high degree of limitation can be prevented from being unnecessarily performed to excessively limit the power supply of the battery 31, and the like, and the non-automatic operation function can be used.

  The temperature Tb of the battery 31 may be estimated by a calculation method other than the calculation method shown in FIG. For example, the temperature Tb of the battery 31 is estimated by the method disclosed in Japanese Patent No. 05928385, the method disclosed in Japanese Patent Laid-Open No. 2006-278045, or the method disclosed in Japanese Patent Laid-Open No. 2006-142899, etc. You may. Further, internal resistance Rb of battery 31 is calculated from release voltage OCV grasped in advance, output current Ib detected by current sensor 34 and output voltage Vb detected by voltage sensor 35, and internal resistance Rb is calculated. The temperature Tb of the battery 31 may be estimated based on the above. For example, the temperature Tb of the battery 31 when the internal resistance Rb is a predetermined value is set as the lower limit temperature of the appropriate range (that is, the second appropriate range) of the temperature Tb of the battery 31. It may be estimated that the temperature Tb of the battery 31 is equal to or lower than the lower limit temperature. In this case, the temperature Tb of the battery 31 can be estimated with the voltage sensor 35 without using the sensors such as the water temperature sensor 24a and the outside air temperature sensor 24d, so the entire configuration can be simplified. In this case, the temperature Tb of the battery 31 may be estimated using information detected by other sensors (for example, the outside temperature T4 detected by the outside temperature sensor 24d). Further, the temperature Tb of the battery 31 may be estimated by a method as described in JP-A-2016-114584.

  Control executed by the control unit 470 of the present embodiment will be described with reference to FIG. A series of processes shown in FIG. 4 are repeatedly executed each time a predetermined control cycle elapses.

  Control unit 470 determines whether or not battery temperature detection unit 471 is normal as the process of the first step S11. The control unit 470 performs the process in the same manner as S11 in the first embodiment.

  If the determination in step S11 is negative, that is, if the battery temperature detection unit 471 is not normal, the control unit 470 estimates the temperature Tb of the battery 31 as described above as the process in step S16. Execute battery temperature estimation control.

  After negative determination is made in the process of step S11 and the process of step S16 is performed, control unit 470 performs the process of step S10, based on the output signal of operating device 44, the driver starts the automatic driving start line It is determined whether or not it has been received. Further, even when the determination in step S11 is affirmed, that is, even when the battery temperature detection unit 471 is normal, the driver performs automatic driving based on the output signal of the operating device 44 as the process of step S10. It is determined whether the start operation has been performed.

  When the control unit 470 makes an affirmative determination in the process of step S10, that is, when the driver performs an operation to start automatic driving, the battery temperature detection unit 471 is normal as the process of step S11. It is determined whether or not. The control unit 470 performs the process in the same manner as S11 in the first embodiment. If the determination in step S10 is negative, that is, if the driver has not performed an operation to start automatic driving, control unit 470 temporarily ends the series of processes.

  When control unit 470 makes an affirmative determination in the process of step S11, that is, when battery temperature detection unit 471 is normal, temperature Tb of battery 31 is in a predetermined range (hereinafter referred to as the first range) as the process of step S12. It is determined whether it is included in the appropriate range). The control unit 470 performs the process in the same manner as S12 in the first embodiment.

  If a positive determination is made in the process of step S12, that is, if temperature Tb of battery 31 is included in the first appropriate range, control unit 470 has no possibility that trouble will occur in execution of the automatic operation control. It is determined that In this case, the control unit 470 starts the automatic operation control as the process of step S13 and temporarily ends the series of processes.

  When control unit 470 makes a negative determination in the process of step S11, that is, when battery temperature detection unit 471 is not normal, temperature Tb of battery 31 is in a predetermined range (ie, the above-described first range) as the process of step S17. 2) Estimate whether it is included in the appropriate range. The lower limit value and the upper limit value of the second appropriate range, which are set in advance by experiment etc., are stored in the ROM of the automatic operation ECU 47 so that it can be estimated whether or not the appropriate temperature does not cause any trouble in the execution of the automatic operation control. Based on the lower limit value and the upper limit value, control unit 470 estimates whether temperature Tb of battery 31 is included in the second appropriate range.

  When the control unit 470 positively estimates in the process of step S17, that is, when the temperature Tb of the battery 31 is included in the second appropriate range, the control unit 470 performs the third restriction control described above as the process of step S18. Execute one or both of the fourth limit control. As described above, the third limit control is control that limits at least a part of the function of the automatic driving control with a limit degree lower than the limit degree in the first limit control. The fourth limit control is control that limits at least a part of the non-automatic operation function with a limit degree lower than the limit degree in the second limit control.

  Therefore, according to the present embodiment, even when the battery temperature detection unit 471 does not function properly, it is confirmed by the estimation of the temperature estimation unit 472 that the probability that the temperature of the battery 31 is in the second appropriate range is high. In this case, third and fourth limit controls having a degree of limit lower than that of the first and second limit controls are executed. Therefore, by executing the third and fourth restriction controls, the same effect as that of the first embodiment can be obtained.

  The lower limit value of the second proper range is a value higher than the lower limit value of the first proper range, and the upper limit value of the second proper range is a value lower than the upper limit value of the first proper range. Therefore, the second appropriate range is narrower than the first appropriate range. The lower limit value or the upper limit value of the second appropriate range is not necessarily limited to such a value. However, the battery temperature estimation unit 472 according to the present embodiment may detect the temperature Tb of the battery 31, such as the temperature T1 of the cooling water detected by the water temperature sensor 24a and the outside temperature T4 detected by the outside temperature sensor 24d. The temperature Tb of the battery 31 is calculated using information detected by sensors that are not the main purpose. Therefore, in the battery temperature estimation unit 472, it is difficult to estimate the temperature Tb of the battery 31 with high accuracy (for example, accuracy equivalent to that of the battery temperature detection unit 471). However, in the present embodiment, since the second appropriate range is set to a range narrower than the first appropriate range as described above, even if the accuracy of the estimated temperature Tb of the battery 31 is low, it is surely appropriate. Vehicle travel is possible.

  When the control unit 470 negatively estimates in the process of step S17, that is, when the temperature Tb of the battery 31 is not included in the second appropriate range, the control unit 470 performs the first restriction control described above as the process of step S14. Execute one or both of second limit control. The control unit 470 performs the process in the same manner as S14 in the first embodiment.

  Therefore, also in the present embodiment, when the battery temperature detection unit 471 does not function properly, the same effects as those of the first embodiment can be obtained by executing the first and second restriction controls. Be

  After performing one or both of the first limit control and the second limit control as the process of step S14, control unit 470 heats or cools battery 31 as the process of step S19. Specifically, when temperature Tb of battery 31 is less than the battery temperature lower limit value, control unit 470 transmits a heating request signal to power supply ECU 36. Thus, the battery 31 is heated because the power supply ECU 36 executes the heating control. Further, when temperature Tb of battery 31 exceeds the battery temperature upper limit value, control unit 470 transmits a cooling request signal to power supply ECU 36. Thus, the battery 31 is cooled because the power supply ECU 36 executes the cooling control. Thus, in the present embodiment, when it is confirmed by the estimation of the battery temperature estimation unit 472 that the probability that the temperature Tb of the battery 31 is not within the second appropriate range is high, the temperature control by the heating device 37 or the cooling device 38 is performed. Thus, the temperature Tb of the battery 31 can be brought close to the second appropriate range. As a result, a drop in the output voltage Vb of the battery 31 due to the abnormality in the temperature Tb of the battery 31 can be suppressed, and a situation in which sufficient power for automatic operation control is not supplied from the battery 31 is less likely to occur. For this reason, according to the present embodiment, even when the temperature Tb of the battery 31 has a high probability that it is not within the second appropriate range, appropriate vehicle travel can be performed.

  Third Embodiment

  An automatic driving control apparatus according to a third embodiment of the present disclosure will be described with reference to FIG. The present embodiment is a modification of the second embodiment in which the control processing by the control unit 470 is changed. The other parts are basically the same as those of the second embodiment, and therefore, only the parts different from the second embodiment will be described. Also in the present embodiment, the automatic driving ECU 47 corresponds to an automatic driving control device.

  In the control unit 470 of this embodiment, the battery temperature detection unit 471 is not normal, and the temperature Tb of the battery 31 estimated by the temperature estimation unit 472 is included in the predetermined range (that is, the second appropriate range described above). If not, it is determined whether the estimated temperature Tb of the battery 31 is included in a predetermined range (hereinafter, referred to as a third appropriate range) other than the appropriate range. The third proper range is set such that the lower limit temperature is higher than the lower limit temperature of the second proper range, and the upper limit temperature is lower than the upper limit temperature of the second proper range. The lower limit temperature in the third appropriate range corresponds to a lower limit threshold that is higher than the lower limit temperature in the second appropriate range. The upper limit temperature in the third appropriate range corresponds to an upper limit threshold that is lower than the upper limit temperature in the second appropriate range.

  If battery temperature detection unit 471 is not normal and control unit 470 determines that estimated temperature Tb of battery 31 is included in the third appropriate range, control unit 470 performs the first limit control and the second limit control described above. Perform one or both. As described above, the first limit control is control that limits at least a part of the function of the automatic driving control. The second limit control is control that limits at least a part of the non-automatic operation function.

  When battery temperature detection unit 471 is not normal, and estimated temperature Tb of battery 31 is not included in the third appropriate range, control unit 470 performs the following fifth restriction control and sixth restriction control. Run one or both of them. The fifth limit control is control that limits at least a part of the functions of the automatic driving control with a limit degree higher than the limit degree in the first limit control. That is, for example, in the fifth limit control, the same items as the items to be limited by the first limit control among the four items other than the power function, the braking function, the steering function, and the vehicle travel of the vehicle 10 are first limited. It is control that restricts more strictly than control. Alternatively, the fifth limit control is control that also limits items other than the items limited by the first limit control. The sixth limit control is control that limits at least a part of the non-automatic operation function with a limit degree higher than the limit degree in the second limit control. That is, the sixth limit control is a control that limits most of the non-automatic driving function than the second limit control.

  Therefore, according to the present embodiment, when it is confirmed that the temperature Tb of the battery 31 is not included in the third appropriate range by the estimation of the temperature estimation unit 472, that is, the temperature Tb of the battery 31 Is highly likely to be abnormal, the fifth and sixth limit control with a high degree of limitation is executed. As a result, even when the temperature Tb of the battery 31 is particularly abnormal and the output voltage Vb of the battery 31 is particularly reduced, appropriate vehicle travel can be reliably performed.

  Control unit 470 changes the control content (for example, the degree of restriction, etc.) and executes the fifth restriction control or the sixth restriction control when temperature Tb of battery 31 is higher or lower than the third appropriate range. You may.

  Control executed by the control unit 470 of the present embodiment will be described with reference to FIG. A series of processes shown in FIG. 6 are repeatedly executed each time a predetermined control cycle elapses.

  Control unit 470 determines whether or not battery temperature detection unit 471 is normal as the process of the first step S11. The control unit 470 performs the process in the same manner as S11 in the first embodiment.

  If the determination in step S11 is negative, that is, if the battery temperature detection unit 471 is not normal, the control unit 470 executes the battery temperature estimation control described in the second embodiment as the process in step S16. .

  When negative determination is made in the process of step S11 and the process of step 16 is executed, control unit 470 performs an operation to start automatic driving by the driver based on the output signal of operation device 44 as the process of step S10. It is determined whether or not Further, even when the determination in step S11 is affirmative, that is, when the battery temperature detection unit 471 is not normal, the process of step S10 is performed.

  When the control unit 470 makes an affirmative determination in the process of step S10, that is, when the driver performs an operation to start automatic driving, the battery temperature detection unit 471 is normal as the process of step S11. It is determined whether or not. The control unit 470 performs the process in the same manner as S11 in the first embodiment. If the determination in step S10 is negative, that is, if the driver has not performed an operation to start automatic driving, control unit 470 temporarily ends the series of processes.

  When control unit 470 makes an affirmative determination in the process of step S11, that is, when battery temperature detection unit 471 is normal, temperature Tb of battery 31 falls within a predetermined range (ie, the above-described range) as the process of step S12. It is determined whether or not it is included in the first appropriate range). The control unit 470 performs the process in the same manner as S12 in the first embodiment.

  If the control unit 470 makes an affirmative determination in the process of step S12, that is, if the temperature Tb of the battery 31 is included in the first appropriate range described above, there is a possibility that the execution of the automatic operation control will be interrupted. It is determined that there is no In this case, the control unit 470 starts the automatic operation control as the process of step S13 and temporarily ends the series of processes.

  When control unit 470 makes a negative determination in the process of step S11, that is, when battery temperature detection unit 471 is not normal, temperature Tb of battery 31 is in a predetermined range (hereinafter referred to as the second appropriateness) as the process of step S17. It is estimated whether it is included in the range). The control unit 470 performs the process in the same manner as S17 in the second embodiment.

  If the control unit 470 positively estimates in the process of step S17, that is, if the temperature Tb of the battery 31 is included in the second appropriate range, the control unit 470 described in the second embodiment as the process of step S18. One or both of the third limit control and the fourth limit control are executed. The control unit 470 performs the process in the same manner as S17 in the second embodiment.

  For this reason, also in the present embodiment, when the battery temperature detection unit 471 does not function properly, the third and fourth restriction controls are executed, thereby obtaining the same effect as the case of the second embodiment. Be

  When the control unit 470 negatively estimates in the process of step S17, that is, when the temperature Tb of the battery 31 is not included in the second appropriate range, the temperature of the battery 31 estimated as the process of step S20. It is determined whether Tb is included in a predetermined range (that is, the third appropriate range described above). As described above, the third appropriate range is set such that the lower limit temperature is higher than the lower limit temperature of the second appropriate range, and the upper limit temperature is lower than the upper limit temperature of the second appropriate range.

  If the control unit 470 positively estimates in the process of step S20, that is, if the temperature Tb of the battery 31 is included in the third appropriate range, then the control unit 470 performs the first restriction control described above as the process of step S14. Execute one or both of second limit control. The control unit 470 performs the process in the same manner as S14 in the first embodiment.

  Therefore, also in the present embodiment, when the battery temperature detection unit 471 does not function properly, the same effects as those of the first embodiment can be obtained by executing the first and second restriction controls. Be

  After performing one or both of the first limit control and the second limit control as the process of step S14, control unit 470 heats or cools battery 31 as the process of step S19. The control unit 470 performs the process in the same manner as S19 in the second embodiment.

  Therefore, also in the present embodiment, when it is confirmed that the probability that the temperature Tb of the battery 31 is not in the second appropriate range is high by the estimation of the battery temperature estimation unit 472, the temperature by the heating device 37 or the cooling device 38 The same effect as in the second embodiment can be obtained by adjusting the tone.

  When the control unit 470 negatively estimates in the process of step S20, that is, when the temperature Tb of the battery 31 is not included in the third appropriate range, the control unit 470 performs the fifth restriction control described above as the process of step S21. Execute one or both of the sixth limit controls. As described above, the fifth limit control is control that limits at least a part of the functions of the automatic driving control with a limit degree higher than the limit degree in the first limit control. The sixth limit control is control that limits at least a part of the non-automatic operation function with a limit degree higher than the limit degree in the second limit control.

  Therefore, according to the present embodiment, when it is confirmed by the estimation of the temperature estimation unit 472 that the probability that the temperature of the battery 31 is not included in the third appropriate range is high, that is, the temperature Tb of the battery 31 is In particular, in the case where the probability of being abnormal is high, the fifth and sixth limit controls described above, which have a high degree of limit, are executed. As a result, even when the temperature Tb of the battery 31 is particularly abnormal and the output voltage Vb of the battery 31 is particularly reduced, appropriate vehicle travel can be reliably performed.

  When the temperature Tb of the battery 31 is not included in the third appropriate range, the output voltage Vb of the battery 31 particularly decreases, so the probability that the automatic operation can be continued is particularly low. For this reason, in such a case, limit automatic operation control to a particularly high restriction level (for example, prohibit all functions) and prevent temperature control of the battery 31 by the heating device 37 or the cooling device 38 as well. Is preferred.

  Other Embodiments

  The present embodiment has been described above with reference to the specific example. However, the present disclosure is not limited to these specific examples. Those appropriately modified in design by those skilled in the art are also included in the scope of the present disclosure as long as the features of the present disclosure are included. The elements included in the above-described specific examples, and the arrangement, conditions, and shapes thereof are not limited to those illustrated, but can be appropriately modified. The elements included in the above-described specific examples can be appropriately changed in combination as long as no technical contradiction arises.

  For example, the automatic driving ECU 47 according to the first embodiment may execute the processing after step S11 in the processing shown in FIG. 2 after the start of the automatic driving control. Similarly, with regard to the autonomous driving ECU 47 of the second and third embodiments, among the processing shown in FIG. 4 and FIG. 6, the processing after step S11 may be executed after the start of the autonomous driving control. Thereby, after start of automatic operation control, the same operation and effect as each embodiment can be acquired.

  In addition, the automatic driving ECU 47 may automatically control at least one of the power system, the braking system, and the steering system of the vehicle 10 as the automatic driving control. Further, the automatic driving ECU 47 is at least one of three items of a power function related to the power system of the vehicle 10, a braking function related to the braking system, and a steering function related to the steering system as a restriction of the function of the automatic driving control. It is sufficient to limit the function or to limit part of one of the three items.

  Also, the means and / or functions provided by the autonomous driving ECU 47 can be provided by software stored in a substantial storage device and a computer that executes the software, only software, only hardware, or a combination thereof. For example, when the autonomous driving ECU 47 is provided by an electronic circuit that is hardware, it can be provided by a digital circuit or an analog circuit including a number of logic circuits.

31 Battery 34 Current sensor 35 Voltage sensor 37 Heating device 38 Cooling device 47 Automatic operation ECU (automatic operation control device)
470 control unit 471 battery temperature detection unit 472 temperature estimation unit

Claims (7)

A control unit (470) that executes automatic driving control of the vehicle; and a battery temperature detection unit (471) that detects the temperature of a battery (31) that supplies power used to drive the vehicle.
The control unit
Determining whether the battery temperature detection unit is normal;
Under the first situation where it is determined that the battery temperature detection unit is not normal, the first limit control for limiting at least a part of the function of the automatic operation control, and the supply from the battery for the automatic operation control Execute one or both of second limitation control that limits at least a part of non-automatic driving functions that are functions not necessary for the automatic driving control among the functions of the vehicle in order to increase power consumption , Automatic operation control device. It further comprises a temperature estimation unit (472) for estimating the temperature of the battery separately from the battery temperature detection unit,
The control unit
Estimating whether the estimated temperature which is the temperature estimated by the temperature estimation unit is included in a predetermined appropriate range;
Under the second situation in which the estimated temperature is estimated to be included in the appropriate range under the first situation, the first limitation control and the second limitation control are not performed.
One or both of the first limit control and the second limit control are executed under a third situation in which the estimated temperature is estimated not to be included in the appropriate range under the first situation. The automatic operation control device according to claim 1. The control unit
Third limit control for limiting at least a part of the function of the automatic driving control with a limit degree lower than the limit degree in the first limit control under the second situation, and a limit degree in the second limit control The automatic driving control device according to claim 2, wherein one or both of fourth limiting control for limiting at least a part of the non-automatic driving function with a lower degree of restriction is performed. The control unit
It is determined whether the estimated temperature is lower than a lower limit threshold which is a temperature higher than the lower limit temperature of the appropriate range.
When it is determined that the estimated temperature is lower than the lower limit threshold value in the third situation, the automatic operation control function has a restriction degree higher than the restriction degree in the first restriction control. One of the fifth limit control for limiting at least a part of the above and the sixth limit control for limiting at least a part of the non-automatic driving function with a limit degree higher than the limit degree in the second limit control The automatic driving control device according to claim 2 or 3, which performs both. The control unit
It is determined whether the estimated temperature is higher than an upper limit threshold which is a temperature lower than the upper limit temperature of the appropriate range.
When it is determined that the estimated temperature is higher than the upper limit threshold value in the third situation, the automatic driving control function is performed with a restriction degree higher than the restriction degree in the first restriction control. One of the fifth limit control for limiting at least a part of the above and the sixth limit control for limiting at least a part of the non-automatic driving function with a limit degree higher than the limit degree in the second limit control The automatic driving control device according to any one of claims 2 to 4, which performs both.   The temperature estimation unit is based on the output current detected by a current sensor (34) detecting an output current of the battery, and the output voltage detected by a voltage sensor (35) detecting an output voltage of the battery The automatic operation control device according to any one of claims 2 to 5, wherein the internal resistance of the battery is calculated, and the temperature of the battery is estimated based on the internal resistance. The control unit
The temperature control unit (37, 38) for controlling the temperature of the battery is configured to be controllable,
When the first limit control or the second limit control is performed, control is further performed to change the operating state of the temperature control unit so that the temperature adjustment is performed to bring the temperature of the battery closer to the appropriate range. The automatic driving control device according to any one of claims 2 to 6.

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