JP2019161703A - Travel support device - Google Patents

Abstract

To provide a travel support device for an electric motor car which can select a suitable travel route according to a state of a storage battery.SOLUTION: A travel support device (20), which is applied for a vehicle traveling by a motor (12) driven by electric power supplied from a storage battery (11), comprises: a search part (21) which searches for a travel route according to a destination of the vehicle; a first calculation part (22) which selects at least any one of torque and power as a capacity value on the basis of travel environment information concerning the travel route, and calculates a necessary capacity required for travel of the vehicle on the travel route; a second calculation part (23) which selects at least any one torque and power as a capacity value on the basis of the capacity value selected by the first calculation part, and calculates a supply capacity which can be supplied from the storage battery; and a determination part (24) which determines a travel route, in which a necessary capacity becomes a supply capacity or less, as a travel possible route.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device that includes a motor that is driven by electric power supplied from a storage battery and that is applied to a vehicle that is driven by the motor.

  2. Description of the Related Art There are known electric vehicles that are driven by a motor driven by electric power, such as an electric vehicle (EV) and a hybrid vehicle (HEV). In an electric vehicle, a technique for extending a distance that can be traveled using electric power as a drive source is known. For example, in Patent Document 1, when the remaining capacity of a storage battery that supplies electric power to a motor decreases in order to extend the distance that can be traveled using electric power as a drive source, the speed and acceleration of the vehicle are limited by the driver's selection. The technology to do is described.

Japanese Patent No. 3131248

  When the remaining capacity of the storage battery is reduced as in Patent Document 1, if traveling is continued by reducing the speed or acceleration of the electric vehicle, safe traveling may not be possible depending on the traveling route. For example, when a traveling route includes an expressway or a junction, if the speed and acceleration of an electric vehicle are restricted, it is impossible to get on the traffic flow and it is difficult to travel safely.

  In view of the above, the present invention provides a travel support device for an electric vehicle that can select an appropriate travel route according to the state of a storage battery.

  The present invention provides a driving support device that includes a motor that is driven by electric power supplied from a storage battery and that is applied to a vehicle that is driven by the motor. The travel support device selects a travel unit according to a destination of the vehicle, and selects at least one of torque and power as a capability value based on travel environment information of the travel route, A first calculation unit that calculates a necessary capacity required for the vehicle to travel on the travel route, and at least one of torque and power is selected as a capability value according to the capability value selected by the first calculation unit. And the 2nd calculation part which calculates the supply capability which can be supplied from the storage battery, and the judgment part which judges the travel route where the required capacity becomes below the supply capability as a travel possible route.

  According to the present invention, at least a capability value (torque and power) selected based on the travel environment information of the travel route, the necessary capability for traveling on the searched travel route and the supply capability supplied from the storage battery. It is calculated in either one). For example, when torque is selected as the capability value, the required capability is calculated by torque, and the supply capability is also calculated by torque. Then, the travel route whose required capacity is equal to or less than the supply capacity is selected as the travelable route. For this reason, for example, when an uphill road that requires high torque is included in the travel route, the travel route can be selected based on the torque necessary for travel and the torque that can be supplied from the storage battery. it can. For example, when a highway or the like that requires high power is included in the travel route, the travel route can be selected based on the power necessary for travel and the power that can be supplied from the storage battery. . It is possible to select the travel route by comparing the required capability and the supply capability at the capability value appropriately selected according to the travel environment information of the travel route, and thus it is possible to travel safely on the selected travel route. .

Schematic of the drive system provided with the driving assistance device (ECU) which concerns on embodiment. Explanatory drawing of the required torque in an uphill road. The flowchart of the driving assistance control which concerns on embodiment. 6 is a flowchart for determining whether or not traveling is possible according to the embodiment. The flowchart of the driving | running | working availability determination which concerns on other embodiment. The figure which shows the relationship between the vehicle speed of EV car, torque, and power.

  As shown in FIG. 1, the drive system 1 includes a storage battery 11, a motor 12, an inverter 13, a display device 14, an input device 15, an ECU 20, and sensors 30. The drive system 1 is mounted on an EV vehicle, and can rotate the vehicle wheel by the rotation of the motor 12 to drive the vehicle.

  The storage battery 11 is a driving battery, and supplies power to the motor 12 via an inverter 13 connected between the storage battery 11 and the motor 12. The inverter 13 converts DC power supplied from the storage battery 11 into three-phase AC power, and supplies the converted three-phase AC power to the motor 12. The inverter 13 supplies a drive current to the motor 12 for driving according to the drive command sent from the ECU 20. As a result, the electric power supplied from the storage battery 11 to the motor 12 is controlled, the drive of the motor 12 is controlled, and vehicle travel control is performed. Note that power may be supplied from the storage battery 11 to auxiliary machines (not shown) driven by electric power. Alternatively, a sub battery may be installed separately from the storage battery 11 and power may be supplied from the sub battery to the auxiliary machines.

  The sensors 30 are a torque sensor 31 that detects the rotational torque of the motor 12, a voltage sensor 32 that detects the voltage of the storage battery 11, a current sensor 33 that detects the current of the storage battery 11, and a BT that detects the temperature (BT temperature) of the storage battery. A temperature sensor 34, an MT temperature sensor 35 that detects the temperature (MT temperature) of the motor 12, an INV temperature sensor 36 that detects the temperature (INV temperature) of the inverter 13, a cooling water temperature sensor 37 that detects the temperature of the cooling water, and a vehicle The vehicle speed sensor 38 for detecting the traveling speed of the vehicle and the GPS sensor 39 for detecting the position of the vehicle are included. The detection value of the sensors 30 is input to the ECU 20. The remaining capacity (SOC) of the storage battery can be calculated by, for example, integrating the charge / discharge current detected by the current sensor 33 with time.

  The display device 14 is composed of a liquid crystal display or the like, and displays a travel route and the like searched for by the ECU 20. The input device 15 is a device through which a driver inputs instructions for destination setting and various selections. When the destination setting is input, the destination information is provided to the ECU 20. The driver searches and sets the destination POI (Point Of Interest) based on the destination address, category, telephone number, and the like. The POI is information regarding points such as store information.

  The electric power supplied from the storage battery 11 to the motor 12 is controlled by the ECU 20, the drive of the motor 12 is controlled, and the vehicle travel control is performed. Moreover, ECU20 has a function as a driving assistance apparatus which performs driving assistance of a vehicle.

  The ECU 20 includes a search unit 21, a first calculation unit 22, a second calculation unit 23, a determination unit 24, and a travel control unit 25. The ECU 20 is mainly composed of a microcomputer including a CPU, ROM, RAM, backup RAM, I / O, etc. (all not shown), and executes the various control programs stored in the ROM, thereby Implement the functions of each part.

  The search unit 21 searches for a travel route according to the destination of the vehicle. For example, the destination is set by being input to the input device 15 by the driver. The ECU 20 stores road information, POI information, and the like as map information. Based on the destination information from the input device 110, the vehicle position information, the road information about the map area according to the destination, the map information such as the POI information, etc. Search for travel routes.

  When a destination is input, the search unit 21 determines a requested map area based on the destination information, reads out the corresponding map information, and searches for a travel route. Moreover, the search part 21 may be comprised so that the vehicle position of the own vehicle may be calculated from the information acquired from the GPS sensor 39. FIG. In this case, the search unit 21 may search for the travel route when the vehicle position of the host vehicle is a predetermined distance away from the travel route to the purpose stored in the ECU 20.

  Further, the search unit 21 acquires travel environment information on the travel route. The driving environment information is information that affects the driving control of the vehicle. Specifically, the geographical information such as the inclination angle, the width, the curve and the turning angle of the driving route, the road surface condition, and the sign speed information of the driving route. , Information on weather, congestion, etc. The travel environment information may be read from the map information stored in the ECU 20, or may be acquired by the sensors 30 or external communication means. The search unit 21 calculates or obtains time to reach the destination and power consumption for each travelable route, and selects the shortest route with the shortest arrival time and the minimum power route with the minimum power consumption. May be.

  The first calculation unit 22 selects one or both of torque and power as the capability value based on the travel environment information of the travel route. Then, the required ability is calculated for the selected ability value. Torque is a moment of force that rotates the wheel, and is used as an index of climbing performance and acceleration performance. The power is a work amount per unit time when the vehicle travels, and is sometimes referred to as output, power, driving force, or the like. Power is used as an index of high-speed running performance. The first calculation unit 22 selects torque as the capacity value when climbing performance or acceleration performance is required for traveling on the travel route. The first calculation unit 22 selects power as the capability value when high-speed traveling performance is required for traveling on the traveling route.

  The 1st calculation part 22 may calculate both the torque (required torque) required in order to drive through a driving | running route, and required power (required power), and may calculate only one. The calculation of the required torque in the first calculation unit 22 may be performed for the entire travel route to the destination searched by the search unit 21 or for each divided route obtained by subdividing the travel route to the destination. Also good. In the travel route or the divided route, the maximum torque required for travel may be calculated as the required torque, and similarly, the maximum power required for travel may be calculated as the required power.

  The first calculation unit 22 may calculate the necessary capacity in consideration of the power necessary for the vehicle to travel on the travel route at a predetermined speed. It is possible to travel safely by enabling traveling while maintaining a predetermined speed. Further, the first calculation unit 22 may calculate the necessary capacity in consideration of the torque required for the vehicle to accelerate at a predetermined acceleration along the travel route. It is possible to avoid danger by accelerating at a predetermined acceleration at an arbitrary timing.

  The first calculation unit 22 is configured to calculate a necessary capacity when the first calculation unit 22 determines that the travel route includes a high load element based on the travel environment information of the travel route. May be. The high load element includes a high torque element that requires high torque for traveling and a high power element that requires high power. There are also elements that are high torque elements and high power elements.

  Specifically, when it is determined that the travel route includes an element that requires high torque, the torque may be selected based on the capability value, and the necessary torque may be calculated. As an element requiring high torque, there is an uphill road.

A method of calculating the necessary torque T1 when traveling on the uphill road having the inclination angle θ shown in FIG. 2 will be described. The driving force Fe required to travel on the uphill road can be calculated from the gradient resistance Fg, the frictional resistance Ff, and the air resistance Fa by the following equation (1).
Fe = Fg + Ff + Fa (1)

Moreover, each resistance Fg, Ff, Fa can be calculated by the following formulas (2) to (4). M is the vehicle mass, g is the gravitational acceleration, μ is the dynamic friction coefficient, k is the air resistance coefficient, A is the front area of the vehicle, and S is the vehicle speed. , “S ^ 2” means the square of the vehicle speed S. The vehicle speed S is the speed of the vehicle when traveling on the travel route to be calculated, and safe travel is possible based on travel environment information (road information, travel speed information, congestion information, etc. on the travel route). It can be set to a predetermined speed.
Fg = M × g × sin θ (2)
Ff = μ × M × g × cos θ (3)
Fa = k × A × S ^ 2 (4)

Further, the torque T necessary to obtain the driving force F can be calculated based on the following formula (5). Here, η is power transmission efficiency, λ is a total reduction ratio, and r is a wheel radius.
Fe = T × η × λ / r (5)

The required torque T1 is calculated as a value larger than the torque T in the above equation (5) so that the vehicle can be accelerated at a predetermined acceleration C at an arbitrary timing while traveling on the travel route. Specifically, it can be calculated from the following equation (6) obtained by adding inertial resistance (M × C) to the above equation (5).
Fe + M × C = T1 × η × λ / r (6)

  By calculating the required torque T1 based on the above formulas (1) to (6), the required torque T1 when traveling on the uphill road can be obtained. In the above equations (2) and (3), if θ = 0, the gradient resistance becomes zero, and the necessary torque T1 for traveling on a flat road can be calculated.

  Moreover, the 1st calculation part 22 may be comprised so that power may be selected as a capability value and a required power may be calculated, when it is judged that the driving | running route contains the high power element. You may be comprised so that the required power required for driving | running | working may be calculated. Examples of elements that require high power include expressways and junctions.

The required power P1 is a work performed per unit time by the driving force Fe shown in the above formula (1), and can be calculated by the following formula (7). Note that n is the rotational speed of the motor 12, and the coefficient α can be expressed as α = 2π / 60 when the unit of the rotational speed n is rpm. Further, the rotational speed n can be obtained from the detection value of the torque sensor 31.
P1 = Fe × n × r × α = T1 × n × α (7)

  The second calculator 23 selects at least one of torque and power as the capability value according to the capability value selected by the first calculator 22. And the supply capability which can be supplied from the storage battery 11 is calculated. When the required capacity is calculated as the torque by the first calculation unit 22, the second calculation unit 23 calculates the supply capacity with the torque. That is, the torque that can be supplied from the storage battery 11 (supply torque) is calculated. When the required capacity is calculated as power by the first calculation unit 22, the second calculation unit 23 calculates the supply capacity by power. That is, the power (supply power) that can be supplied from the storage battery 11 is calculated. When the required capacity is calculated by both the torque and power by the first calculator 22, the second calculator 23 calculates both supply torque and supply power as the supply capacity. In addition, when electric power is supplied from the storage battery 11 to equipment (auxiliary machinery, etc.) other than the motor 12, the second calculation unit 23 calculates the supply capacity in consideration of the electric power supplied to the auxiliary machinery, etc. can do.

The supply torque T2 can be calculated by the following formula (8) based on the output current I of the storage battery 11. The value detected by the current sensor 33 can be used as the value of the output current I. Kt is a torque constant. As shown in the following formula (8), when the SOC of the storage battery 11 decreases and the output current I decreases, it becomes difficult for the storage battery 11 to meet a high torque demand.
T2 = Kt × I × λ (8)

The supplied power P2 can be calculated by the following formula (9) based on the output voltage V and the output current I of the storage battery 11. As shown in the following formula (9), when the SOC of the storage battery 11 decreases and the output voltage V and the output current I decrease, it becomes difficult for the storage battery 11 to meet high power requirements.
P2 = V × I (9)

  The second calculation unit 23 may calculate the distribution ratio between the supply torque and the supply power when the travel route includes an element that requires high power and high torque. A specific example of an element that requires high power and high torque is an uphill road (hereinafter referred to as a high speed uphill road) existing in an expressway. The distribution ratio can be determined from the vehicle speed assumed when traveling along the travel route based on a travel performance curve or the like. For example, the torque becomes maximum in the range where the speed of the vehicle is low to medium speed, and the power tends to become maximum in the range where the vehicle speed is high, the distribution ratio of the supply torque is increased as the speed is low, The distribution ratio of the supply power may be increased as the speed increases.

  Further, depending on the vehicle speed S on the travel route, it may be selected whether the first calculation unit 22 or the second calculation unit 23 calculates torque or power. For example, when the vehicle speed S is low, the required torque and supply torque may be calculated, and when the vehicle speed S is high, the required power and supply power may be calculated.

  In addition, when traveling on a high-speed uphill road, it is more important to secure the torque than to secure the travel speed. May be treated as a high torque element.

  In addition, the calculation of the required capacity and the supply capacity in the first calculation unit 22 and the second calculation unit 23 may be performed only when the capacity of the storage battery 11 is reduced. The capacity of the storage battery 11 can be evaluated based on the SOC of the storage battery 11, the temperature of the storage battery, the temperature of the motor 12, and the temperature of the inverter 13 that can be detected by the sensors 30. In evaluating the capacity of the storage battery 11, the output voltage V or output current I of the storage battery 11, the rotational torque of the motor 12, the coolant temperature for detecting the coolant temperature, and the like may be used together. It may be determined whether or not the capacity of the storage battery 11 has deteriorated by comparing the evaluation indexes listed above with thresholds set appropriately. For example, when the SOC of the storage battery 11 is less than or equal to a predetermined threshold, it is determined that the capacity of the storage battery 11 has decreased, and the required capacity and supply capacity of the first calculation unit 22 and the second calculation unit 23 are calculated. Also good.

  The determination unit 24 determines that a travel route whose required capacity is equal to or less than the supply capacity is a travelable route. When the necessary torque and the supply torque are calculated, a travel route in which the required torque is equal to or less than the supply torque is determined as a travelable route. Further, when the necessary power and the supplied power are calculated, the travel route in which the required power is equal to or less than the supplied power is determined as the travelable route. According to the determination part 24, a required capability and supply capability are appropriately compared according to the driving | running | working environment information of a driving | running route, and it can be determined whether a driving | running route is a driving possible route.

  In addition, when the required capacity | capacitance and supply capability in the 1st calculation part 22 and the 2nd calculation part 23 are not calculated because the capacity | capacitance of the storage battery 11 is high enough, the determination part 24 is the search part 21. All of the searched travel routes may be determined to be travelable routes.

  The determination unit 24 can display on the display device 14 whether or not the route is a travelable route for each travel route. The display device 14 is configured to display the arrival time and power consumption for each travelable route, information such as the shortest route or the minimum power route, as well as whether or not the travel route can be traveled. It may be. The driver can select a travel route from the input device 15 based on the information displayed on the display device 14. For example, the driver can select the shortest route, the minimum power route, and the like from the travel routes presented as the travelable routes and input the selected routes to the input device 15. Further, the determination unit 24 may be configured to warn the driver with an alarm or voice when it is determined that the traveling route is not a travelable route.

  The traveling control unit 25 controls the traveling of the vehicle by controlling the storage battery 11, the inverter 13, the auxiliary machinery, and the like according to a predetermined traveling route selected from the travelable routes. The travel control unit 25 may be configured to control the vehicle according to the travel route input from the input device 15 by the driver, or from the travel routes determined by the determination unit 24 as the travelable route, The vehicle may be configured to automatically select a travel route and control the vehicle. Furthermore, when there are a plurality of travelable routes, the travel control unit 25 determines the shortest of the travelable routes based on the time until reaching the destination calculated by the search unit 21 and the power consumption. The route and the minimum power route may be selected.

  FIG. 3 shows a flowchart of the driving support control by the ECU 20.

  In step S101, it is determined whether or not a destination input operation has been performed by the driver. If there is a destination input operation, the process proceeds to step S102.

  In step S102, a travel route to the input destination is searched. Note that a travel route is searched from travel routes in which a “travel impossible route” to be described later is not set. For example, the search for the travel route may be performed by selecting one or a plurality of travel routes with less time to reach the destination and less power consumption. Thereafter, the process proceeds to the travel feasibility determination process shown in step S103.

  FIG. 4 shows a flowchart for determining whether or not the vehicle can travel in step S103. In the travel propriety determination process, it is determined whether or not the EV vehicle can safely travel through the travel route searched in step S102.

  First, in step S201, the SOC, the output voltage V, and the output current I, which are the remaining capacity of the storage battery 11, are acquired. Specifically, the detection values of the voltage sensor 32 and the current sensor 33 are acquired, and the SOC is calculated based on the detection values. Thereafter, the process proceeds to step S202.

  In step S202, it is determined whether or not the SOC of the storage battery 11 is equal to or less than a predetermined threshold value X. If the SOC exceeds the threshold value X, the process proceeds to step S208, where the travel possibility determined for the travel route searched in step S102 is determined, the process shown in FIG. 4 is terminated, and the process returns to FIG.

  When the SOC is equal to or less than the threshold value X, the process proceeds to step S203, and travel environment information on the travel route is acquired. More specifically, geographical information such as the inclination angle, width, curve and turning angle of the travel route, road surface condition, etc., travel route sign speed information, congestion information, and the like are acquired as travel environment information. Thereafter, the process proceeds to step S204.

  In step S204, it is determined whether or not the vehicle speed S of the host vehicle when traveling on the travel route is equal to or less than a predetermined threshold Y. If vehicle speed S ≦ threshold Y, the process proceeds to step S205, and if vehicle speed S> threshold Y, the process proceeds to step S211.

  In step S205, it is determined whether or not a high torque element is included in the travel route. The high torque element is an element that is determined to require a high torque when traveling on an uphill road or the like. For example, if the travel environment information indicating that the travel route includes an uphill road is acquired in step S203, it is determined in step S205 that there is a high torque element.

  If it is determined in step S205 that there is no high torque element, the process proceeds to step S208, where it is determined whether or not the travel route can be traveled, the process shown in FIG. 4 is terminated, and the process returns to FIG. If it is determined in step S205 that there is a high torque element, the process proceeds to step S206, and after calculating the necessary torque and the supply torque, the process proceeds to step S207. The necessary torque and the supply torque can be calculated based on the above formulas (1) to (6) and (8).

  In step S207, it is determined whether the required torque is equal to or less than the supply torque. If the required torque is greater than the supply torque, the process proceeds to step S209, where it is determined that the travel route is not possible, the process shown in FIG. 4 is terminated, and the process returns to FIG. If it is determined in step S206 that required torque ≦ supplied torque, the process proceeds to step S207, where it is determined whether or not the travel route can be traveled, and the processing shown in FIG.

  In step S211, it is determined whether or not a high power element is included in the travel route. The high power element is an element that is determined to require high power when traveling on a highway or a junction. For example, when travel environment information indicating that a highway is included in the travel route is acquired in step S203, it is determined in step S211 that there is a high power element.

  If it is determined in step S211 that there is no high power element, the process proceeds to step S214, where it is determined whether or not the travel route can be traveled, the process shown in FIG. 4 is terminated, and the process returns to FIG. If it is determined in step S211 that there is a high power element, the process proceeds to step S212, the necessary power and the supply power are calculated, and then the process proceeds to step S213. The necessary power and the supplied power can be calculated based on the above formulas (1) to (7) and (9).

  In step S213, it is determined whether the required power is less than or equal to the supplied power. If the required power is greater than the supplied power, the process proceeds to step S215, where it is determined that travel is impossible for the travel route, the process shown in FIG. 4 is terminated, and the process returns to FIG. If it is determined in step S213 that the required power is equal to or less than the supplied power, the process proceeds to step S214, where it is determined whether or not the travel route can be traveled.

  In FIG. 3, by performing the travel propriety determination process shown in step S <b> 103, “traveling determination” or “traveling impossibility determination” is made for the travel route searched in step S <b> 102. After step S103, the process proceeds to step S104.

  In step S104, it is determined whether automatic operation is being performed. When the automatic operation is performed, the process proceeds to step S106. If automatic driving is not being carried out, the process proceeds to step S105, and the display device 14 or the like displays the determination result of whether or not the travel route is travelable. The driver can drive the vehicle by selecting a travel route that can be traveled safely according to the displayed travel propriety determination result. If it is determined that the traveling route being traveled is a “untravelable route”, the driver may be further warned by an alarm or voice.

  In step S106, it is determined whether or not “traveling determination” is made on the travel route. If it is determined that the travel route is “impossible to travel”, the process proceeds to step S108, the travel route is set to the “untravelable route”, and then the process returns to step S102. In step S102, a travel route different from the travel route for which the “untravelable route” is set in step S107 is searched. If it is determined that the travel route is “travelable”, the process proceeds to step S107, where it is determined that the travel route determined to be travelable is to be used for automatic driving, and the process ends. When it is determined that the travel route being traveled is the “untravelable route” and a “travelable route” is newly searched, in step S107, switching from the untravelable route to the travelable route is performed.

  In the above embodiment, the supply torque and the supply power that can be supplied by the storage battery 11 are calculated separately. However, as shown in FIG. 5, whether or not the travel route can be traveled in consideration of the distribution of the supply torque and the supply power. A determination may be made.

  FIG. 5 shows a flowchart for determining whether or not traveling is possible according to another embodiment. Note that the processing shown in steps S301 to S303 is the same as the processing shown in steps S201 to S203 in FIG. 4, and thus the description is omitted by replacing the reference numbers in the S200 series with the S300 series.

  In step S304, it is determined whether or not a high torque element is included in the travel route. If it is determined in step S304 that there is no high torque element, the process proceeds to step S313. If it is determined in step S304 that there is a high torque element, the process proceeds to step S305.

  In step S305, it is determined whether or not a high power element is included in the travel route. If it is determined that there is no high power element, the process proceeds to step S311. If it is determined in step S304 that there is a high power element, the process proceeds to step S306.

  In step S306, the required torque and the required power are calculated, and the process proceeds to step S307. In step S307, the vehicle speed S is acquired, and then in step S308, the distribution ratio between the supply torque and the supply power in the storage battery 11 is calculated. This distribution ratio can be set according to the vehicle speed S based on the running performance curve shown in FIG. As shown in FIG. 6, the EV vehicle can extract a high torque from the low speed range, and is superior to the gasoline vehicle in torque performance in the low speed range. For example, in the low speed range shown in FIG. 6, the distribution ratio of the supply torque may be 100%, the medium speed range may be 50%, and the high speed range may be 0%. When the distribution ratio is expressed as a percentage, the total value of the distribution ratio of the supply torque and the distribution ratio of the supply power is 100%. In step S309, supply torque and supply power are calculated based on the distribution ratio calculated in step S308.

  In step S320, it is determined whether the required torque is equal to or less than the supply torque. If the required torque is greater than the supply torque, the process proceeds to step S324, the travel impossibility determination is performed for the travel route, the process shown in FIG. 5 is terminated, and the process returns to FIG. If it is determined in step S320 that required torque ≦ supply torque, the process proceeds to step S321.

  In step S321, it is determined whether the required power is less than or equal to the supplied power. When it is necessary power> supply power, it progresses to step S324, a driving | running | working impossible determination is performed about a driving | running route, the process shown in FIG. 5 is complete | finished, and it returns to FIG. If it is determined in step S321 that the required power is less than or equal to the supplied power, the process proceeds to step S323, where the travel route is determined for the travel route, the process shown in FIG. 5 is terminated, and the process returns to FIG.

  On the other hand, when the process proceeds from step S304 to step S313, both the necessary torque and the supply torque are set to zero, and the process proceeds to step S314. In step S314, it is determined whether or not a high torque element is included in the travel route. If it is determined in step S314 that there is no high torque element, the process proceeds to step S316, the travel impossibility determination is performed for the travel route, the process shown in FIG. 5 is terminated, and the process returns to FIG. If it is determined in step S314 that there is a high torque element, the process proceeds to step S315. In step S315, necessary power and supply power are calculated, and the process proceeds to step S320 and subsequent steps.

  If the process proceeds from step S305 to step S311, both the required power and the supplied power are set to zero, and the process proceeds to step S312. In step S312, the required torque and supply torque are calculated, and the process proceeds to step S320 and subsequent steps.

  For example, when a vehicle travels on a high-speed uphill road, both high torque and high power are required. When the traveling route includes a high-speed uphill road, as shown in FIG. 5, it is possible to determine whether or not the vehicle can travel more appropriately by considering the distribution between the supply torque and the supply power.

According to said embodiment, the following effects can be acquired.
The ECU 20 searches for a travel route to the destination, selects at least one of torque and power as a capability value based on the travel environment information of the travel route, and a necessary capability for traveling on the travel route. The supply capacity supplied from the storage battery 11 is calculated. Then, the ECU 20 determines that the travel route whose required capacity is equal to or less than the supply capacity is the travelable route. Therefore, for example, when an uphill road that requires high torque is included in the travel route, it is determined whether or not the travel route can be traveled based on the torque necessary for travel and the torque that can be supplied from the storage battery. can do. In addition, when a highway or the like that requires high power is included in the travel route, it is possible to determine whether or not the travel route can be traveled based on the required power and the supplied power. According to the travel environment information of the travel route, it is possible to select the travel route by distinguishing the torque and the power and comparing the necessary capacity and the supply capacity, so that it is possible to travel safely on the selected travel route. .

  The first calculation unit 22 calculates the necessary power in consideration of the power necessary for the vehicle to travel on the travel route at a predetermined speed. The first calculation unit 22 calculates the necessary torque in consideration of the torque required for the vehicle to accelerate at a predetermined acceleration along the travel route. For this reason, it is possible to determine whether it is possible to travel through the travel route while maintaining a speed at which the vehicle can travel safely and being able to accelerate at an arbitrary timing in order to avoid danger.

  The 1st calculation part 22 may be comprised so that a required capability may be calculated on the condition that it was judged that the capability of the storage battery 11 fell. Further, the first calculation unit 22 may be configured to calculate a necessary capacity on condition that a high load element that requires power or torque of a predetermined value or more is included in the travel route. By providing these configurations, it is possible to execute a process for determining whether or not the vehicle can travel as necessary, thereby reducing the processing load.

  The second calculation unit 23 is configured to determine the distribution ratio between the supply torque and the supply power based on the vehicle speed S of the vehicle on the travel route when both the required torque and the required power are calculated. Also good. When elements that require both high torque and high power, such as high-speed climbing roads, are included in the travel route, it is possible to determine whether travel is more appropriate by considering the distribution of supply torque and supply power. Is possible.

  The determination unit 24 can display on the display device 14 whether or not the route is a travelable route for each travel route. Based on the information displayed on the display device 14, the driver can select a travel route from the travelable routes, and use the input device 15 to instruct the ECU 20 to select the travel route.

  When performing automatic driving, the travel control unit 25 can select an appropriate travel route from the travel routes determined by the determination unit 24 as a travelable route and switch the travel route. it can.

In addition, in embodiment, although the case where ECU20 was comprised with one control unit was illustrated and demonstrated, it is not limited to this. For example, the ECU 20 may be composed of a plurality of control units such as a vehicle control ECU that performs vehicle travel control and a travel plan creation ECU that creates a travel plan for the vehicle. In this case, control may be performed by transmitting and receiving control signals, data signals, and the like between the vehicle control ECU and the travel plan creation ECU.

In the embodiment, the EV vehicle has been described as an example. However, the present invention can also be applied to an electric vehicle having a drive source other than electric power such as a hybrid (HEV) vehicle.

DESCRIPTION OF SYMBOLS 11 ... Storage battery, 12 ... Motor, 20 ... Driving assistance device, 21 ... Search part, 22 ... 1st calculation part, 23 ... 2nd calculation part, 24 ... Determination part

Claims (9)

A travel support device (20) comprising a motor (12) driven by electric power supplied from a storage battery (11) and applied to a vehicle traveling by the motor,
A search unit (21) for searching for a travel route according to the destination of the vehicle;
A first calculation unit (22) that selects at least one of torque and power as a capability value based on the travel environment information of the travel route and calculates a necessary capability required for the vehicle to travel on the travel route. )When,
A second calculation unit (23) for calculating a supply capability that can be supplied from the storage battery by selecting at least one of torque and power as a capability value according to the capability value selected by the first calculation unit;
A travel support apparatus comprising: a determination unit (24) that determines a travel route in which the required capacity is equal to or less than the supply capacity as a travelable route.   2. The driving support device according to claim 1, wherein the first calculation unit calculates a torque required for the vehicle to accelerate at a predetermined acceleration along the driving route, and includes the required capacity.   The driving support device according to claim 1, wherein the first calculation unit calculates a power necessary for the vehicle to travel on the travel route at a predetermined speed, in the necessary capacity.   The driving support device according to any one of claims 1 to 3, wherein the first calculation unit calculates the necessary capacity on the condition that the capacity of the storage battery is determined to have decreased.   The first calculation unit is based on at least one of the remaining capacity of the storage battery, the temperature of the storage battery, the temperature of the motor, or the temperature of an inverter connected between the storage battery and the motor. The driving support device according to claim 4, wherein it is determined that the capacity of the storage battery has decreased.   The said 1st calculation part calculates the said required capability on condition that the high load element which requires the power or torque more than a predetermined value is contained in the said driving | running route. Driving support device.   The said 1st calculation part is a driving assistance device of Claim 6 which calculates the torque required for drive | working the said uphill road as a required capability, when the said high load element is an uphill road.   The said 1st calculation part calculates the power required in order to drive | work the said highway or the said junction as a required capability, when the said high load element is an expressway or a junction. The driving support apparatus according to the description.   The second calculating unit distributes the torque and power based on the traveling speed of the vehicle when traveling on the traveling route when the first calculating unit selects both torque and power as the capability values. The driving support device according to claim 1, wherein a ratio is determined and the supply capacity is calculated based on the distribution ratio.

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