JP2021110574A - Travel route setting device - Google Patents

Abstract

To improve the accuracy of prediction of the heat generation amount of a driving motor in an automated driving travel route candidate.SOLUTION: In an automated driving system, a travel route setting device 100 sets the automated driving travel route of a vehicle on the basis of the heat generation amount of a driving motor 41 provided in the vehicle. The travel route setting device comprises: a torque calculation unit 103 acquiring a target speed between each travel section in an automated driving travel route candidate and calculating, on the basis of the acceleration-deceleration target for materializing the target speed, the necessary amount of breaking-driving torque of the driving motor that is required for traveling the travel route candidate; and a heat generation amount prediction unit 104 predicting the heat generation amount of the driving motor on the basis of the necessary amount of braking-driving torque calculated by the torque calculation unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to a traveling route setting device.

Conventionally, for driving, for the purpose of suppressing a decrease in efficiency of a battery (hereinafter, referred to as "driving battery") for supplying electric power to a driving motor provided in an electric vehicle, or suppressing deterioration of the driving battery. A technique for suppressing the heat generation of the battery has been devised.

For example, in Patent Document 1 below, in a navigation device, when an electric vehicle is traveling on a guide path to a destination, the temperature change of the drive battery is predicted and before reaching the next node of the guide path. When the temperature of the drive battery is predicted to exceed the maximum temperature, a technique for changing the driving plan of the electric vehicle so that the temperature of the drive battery does not exceed the maximum temperature is disclosed.

JP-A-2010-243327

However, in reality, the temperature of the drive battery and the amount of heat generated by the drive motor change according to the acceleration / deceleration of the vehicle. Nevertheless, the technique of Patent Document 1 predicts the temperature of the drive battery without considering the acceleration / deceleration of the electric vehicle, so that the temperature of the drive battery cannot be predicted with high accuracy.

It is also possible to predict the amount of heat generated by the drive motor in the travel path candidate for automatic driving by applying the technique of Patent Document 1. However, also in this case, since the heat generation amount of the drive motor is predicted without considering the acceleration / deceleration of the vehicle, the accuracy of the heat generation amount prediction of the drive motor cannot be improved.

An object of the present invention is to improve the accuracy of predicting the amount of heat generated by a drive motor in a traveling route candidate for automatic driving in order to solve the above-mentioned problems of the prior art.

The travel route setting device of one aspect of the present disclosure is a travel route setting device that sets a travel route for automatic driving of a vehicle based on the amount of heat generated by a drive motor included in the vehicle, and is a travel route setting device for automatic driving. A torque calculation unit that acquires the target speed of the travel section and calculates the required amount of control drive torque of the drive motor required for traveling of the travel route candidate based on the acceleration / deceleration target for achieving the target speed. It is provided with a calorific value prediction unit that predicts the calorific value of the drive motor based on the required amount of control drive torque calculated by the torque calculation unit.

It is possible to improve the accuracy of predicting the calorific value of the drive motor in the travel route candidate for automatic driving.

The figure which shows the system configuration of the automatic operation system which concerns on embodiment A flowchart showing a processing procedure by the traveling route setting device according to the embodiment.

Hereinafter, the automatic driving system according to the embodiment of the present invention will be described with reference to the drawings.

(System configuration of automatic driving system 10)
FIG. 1 is a diagram showing a system configuration of the automatic driving system 10 according to the embodiment. The automatic driving system 10 shown in FIG. 1 is a system mounted on a vehicle (for example, an electric vehicle, a hybrid vehicle, etc.) capable of automatic driving and traveling by a driving torque generated by a drive motor. As shown in FIG. 1, the automatic driving system 10 includes a sensor group 20, an automatic driving controller 30, a drive motor 41, a drive battery 42, an electric power steering 43, a brake 44, and a travel route setting device 100.

The sensor group 20 is configured to include a plurality of sensors, and the plurality of sensors acquire vehicle information regarding the vehicle and vehicle peripheral information regarding the vehicle periphery. The vehicle information acquired by the sensor group 20 includes, for example, the vehicle speed, the rotation speed of the drive motor 41, the temperature of the drive motor 41, the voltage of the drive battery 42, the remaining power of the drive battery 42, and the drive battery 42. The temperature, the current position of the vehicle, etc. can be mentioned. Further, examples of vehicle peripheral information acquired by the sensor group 20 include outside air temperature, obstacle information, inter-vehicle distance, vehicle peripheral image, and the like.

The automatic driving controller 30 controls the automatic driving of the vehicle. The automatic driving controller 30 includes a traveling plan generation unit 31 and an automatic driving control unit 32.

The travel plan generation unit 31 searches for a travel route candidate to a destination arbitrarily set by the user by using a known route search method, and the travel route candidate and the target speed of each travel section in the travel route candidate. And a driving plan including an acceleration / deceleration target for achieving the target speed. At this time, the travel plan generation unit 31 generates a travel plan based on the gradient of each travel section in the travel route candidate, the remaining electric power of the drive battery 42 provided in the vehicle, and the like.

The automatic driving control unit 32 controls various actuators (drive motor 41, drive battery 42, electric power steering 43, brake 44, etc.) mounted on the vehicle according to the driving plan generated by the driving plan generation unit 31. By doing so, the vehicle is automatically driven to the destination.

For example, the automatic driving control unit 32 controls the drive motor 41 (specifically, an inverter that supplies AC power to the drive motor 41) during the automatic driving of the vehicle to control the drive torque and vehicle speed of the drive motor 41. Etc. are controlled. Further, for example, the automatic driving control unit 32 controls the right / left turn of the vehicle, the lane change, and the like by controlling the electric power steering 43 during the automatic driving of the vehicle. Further, for example, the automatic driving control unit 32 controls the deceleration and stopping of the vehicle by controlling the brake 44 during the automatic driving of the vehicle. Further, for example, the automatic driving control unit 32 controls the cooling of the driving battery 42 by the cooling fan by controlling the operation of the cooling fan included in the driving battery 42 during the automatic driving of the vehicle.

The automatic driving controller 30 monitors the state of the vehicle and the surroundings of the vehicle by acquiring various sensor information from the sensor group 20 during the automatic driving of the vehicle, and the state of the vehicle and the surroundings of the vehicle (for example, vehicle speed, running). The lane, inter-vehicle distance, obstacles, traffic lights, signs, etc.) are reflected in the automatic driving control of the vehicle in real time.

The travel route setting device 100 is a device for setting a travel route for automatic driving of a vehicle. As shown in FIG. 1, the travel route setting device 100 includes a travel plan acquisition unit 101, a temperature acquisition unit 102, a torque calculation unit 103, a calorific value prediction unit 104, an execution feasibility determination unit 105, and a replan request unit 106.

The travel plan acquisition unit 101 acquires the travel plan generated by the automatic driving controller 30 from the automatic driving controller 30. The travel plan acquired by the travel plan acquisition unit 101 includes a travel route candidate to the destination, a target speed of each travel section in the travel route candidate, and an acceleration / deceleration target for realizing the target speed.

The temperature acquisition unit 102 acquires temperature information representing the current temperature of the drive motor 41. For example, the temperature acquisition unit 102 acquires temperature information representing the current temperature of the drive motor 41 from a temperature sensor that detects the current temperature of the drive motor 41.

The torque calculation unit 103 determines the control torque of the drive motor 41 required for execution of the travel plan (that is, travel by automatic operation of the travel route candidate) based on the travel plan acquired by the travel plan acquisition unit 101. Calculate the required amount. For example, the torque calculation unit 103 calculates the control drive torque for each travel section based on the gradient and distance of each travel section in the travel route candidates included in the travel plan. Further, for example, the torque calculation unit 103 acquires the target speed of each traveling section included in the traveling plan, and based on the acceleration / deceleration target for realizing the target speed, controls the driving torque of each traveling section. calculate. Then, the torque calculation unit 103 uses the drive motor 41, which is necessary for executing the travel plan, based on the control drive torque based on the gradient and distance of each travel section and the control drive torque based on the acceleration / deceleration target of each travel section. Calculate the required amount of control drive torque.

The calorific value prediction unit 104 calculates the amount of current input / output to and from the drive motor 41 based on the required amount of the control drive torque of the drive motor 41 calculated by the torque calculation unit 103, and calculates the calorific value of the drive motor 41. Predict. Then, the calorific value prediction unit 104 travels acquired by the travel plan acquisition unit 101 based on the predicted calorific value of the drive motor 41 and the current temperature of the drive motor 41 acquired by the temperature acquisition unit 102. Predicts the temperature of the drive motor 41 during automatic driving of the vehicle when the plan is executed.

For example, the calorific value prediction unit 104 predicts the temperature of the drive motor 41 during automatic driving of the vehicle based on the following (1) to (3).

(1) Heat generation amount of the drive motor 41 based on the required amount of control drive torque calculated by the torque calculation unit 103 (2) Drive based on various conditions (cooling performance of the drive motor 41, outside air temperature, running wind, etc.) Heat dissipation of motor 41 (3) Current temperature of drive motor 41 acquired by temperature acquisition unit 102

Therefore, the temperature of the drive motor 41 predicted by the calorific value prediction unit 104 starts from the current temperature of the drive motor 41, and the temperature of the drive motor 41 rises in the traveling section where the calorific value exceeds the heat radiation amount. However, the temperature of the drive motor 41 drops in the traveling section where the heat generation amount is less than the heat dissipation amount.

The executionability determination unit 105 determines whether or not the travel plan acquired by the travel plan acquisition unit 101 can be executed based on the temperature of the drive motor 41 predicted by the calorific value prediction unit 104. For example, when the temperature of the drive motor 41 predicted by the calorific value prediction unit 104 is equal to or higher than a predetermined temperature threshold at which the protection control of the drive motor 41 is started, the executionability determination unit 105 is acquired by the travel plan acquisition unit 101. It is determined that the travel plan that has been made cannot be executed. On the contrary, when the temperature of the drive motor 41 predicted by the calorific value prediction unit 104 is less than the predetermined temperature threshold at which the protection control of the drive motor 41 is started, the executionability determination unit 105 is determined by the travel plan acquisition unit 101. It is judged that the acquired driving plan can be executed.

When the executionability determination unit 105 determines that the travel plan cannot be executed, the replan request unit 106 requests the automatic operation controller 30 to replan the travel plan.

The travel plan generation unit 31 of the automatic driving controller 30 regenerates the travel plan in response to a request from the replan request unit 106. At this time, the travel plan generation unit 31 regenerates the travel plan so that the predicted value of the calorific value of the drive motor 41 becomes low.

For example, the travel plan generation unit 31 determines the required amount of the control torque of the drive motor 41 by including a travel section having a small gradient in the travel route candidate and a travel section having a low target speed in the travel route candidate. By lowering the speed, the travel plan is regenerated so that the predicted value of the calorific value of the drive motor 41 becomes lower.

Further, for example, the traveling plan generation unit 31 increases the traveling wind hitting the drive motor 41 by including the traveling section having a high target speed in the traveling route candidate, and increases the heat dissipation amount of the drive motor 41, thereby increasing the heat dissipation amount of the drive motor 41. The driving plan is regenerated so that the predicted value of the calorific value is low.

The traveling route setting device 100 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. Each function of the traveling route setting device 100 described above is realized, for example, by the CPU executing the program stored in the ROM in the traveling route setting device 100.

Further, a part or all of the functions of the traveling route setting device 100 may be provided in the automatic driving controller 30, or may be provided in another device (for example, an ECU (Electronic Control Unit)) provided in the vehicle. ..

(Procedure of processing by the traveling route setting device 100)
FIG. 2 is a flowchart showing a processing procedure by the traveling route setting device 100 according to the embodiment. The process shown in FIG. 2 is executed by the travel route setting device 100, for example, at the timing when the travel plan is generated by the automatic driving controller 30.

First, the driving plan acquisition unit 101 acquires the driving plan generated by the automatic driving controller 30 from the automatic driving controller 30 (step S201).

Next, the temperature acquisition unit 102 acquires temperature information representing the current temperature of the drive motor 41 (step S202).

Next, the torque calculation unit 103 calculates the required amount of the control drive torque of the drive motor 41 required to execute the travel plan based on the travel plan acquired in step S201 (step S203).

Next, the heat generation amount prediction unit 104 predicts the heat generation amount of the drive motor 41 based on the required amount of the control drive torque of the drive motor 41 calculated in step S203 (step S204).

Next, the calorific value prediction unit 104 has a running plan acquired in step S201 based on the calorific value of the drive motor 41 predicted in step S204 and the current temperature of the drive motor 41 acquired in step S202. Is executed, the temperature of the drive motor 41 is predicted (step S205).

Next, the executionability determination unit 105 determines whether or not the travel plan acquired in step S201 can be executed based on the temperature of the drive motor 41 predicted in step S205 (step S206).

When it is determined in step S206 that the travel plan can be executed (step S206: Yes), the travel route setting device 100 causes the automatic operation controller 30 to continue the automatic operation control based on the travel plan acquired in step S201 (step S206: Yes). Step S208). Then, the traveling route setting device 100 ends a series of processes shown in FIG.

On the other hand, when it is determined in step S206 that the travel plan cannot be executed (step S206: No), the replan request unit 106 requests the automatic driving controller 30 to replan the travel plan (step S207). Then, the traveling route setting device 100 ends a series of processes shown in FIG.

However, when the traveling plan is regenerated by the automatic driving controller 30, the traveling route setting device 100 re-executes a series of processes shown in FIG. 2 in order to determine the suitability of the regenerated traveling plan.

Further, the traveling route setting device 100 repeatedly executes a series of processes shown in FIG. 2 so that changes in the state of the vehicle and the surroundings of the vehicle are reflected in the traveling plan even during the automatic driving of the vehicle.

As described above, the travel route setting device 100 according to the embodiment acquires the target speed of each travel section in the travel route candidate for automatic driving, and based on the acceleration / deceleration target for realizing the target speed, the above-mentioned Based on the torque calculation unit 103 that calculates the required amount of control drive torque of the drive motor 41 required for traveling of the travel route candidate, and the required amount of control drive torque calculated by the torque calculation unit 103, the drive motor 41 It is provided with a calorific value prediction unit 104 that predicts a calorific value. As a result, the travel route setting device 100 according to the embodiment can improve the accuracy of predicting the calorific value of the drive motor 41 in the travel route candidate for automatic driving.

Further, the traveling route setting device 100 according to the embodiment is an automatic operation controller when the temperature of the drive motor 41 predicted by the calorific value prediction unit 104 is equal to or higher than a predetermined temperature threshold at which the protection control of the drive motor 41 is started. A replanning requesting unit 106 for requesting a replanning of the traveling plan is further provided for 30. As a result, the traveling route setting device 100 according to the embodiment travels to the automatic driving controller 30 so that the protection control of the drive motor 41 is not activated and the automatic driving of the vehicle is not interrupted during the automatic driving of the vehicle. The plan can be regenerated.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to these embodiments, and various modifications or modifications are made within the scope of the gist of the present invention described in the claims. It can be changed.

For example, when the vehicle includes a plurality of drive motors 41, the travel path setting device 100 predicts the calorific value and temperature of each of the plurality of drive motors 41, and predicts the temperature of at least one of the drive motors 41. However, when the temperature exceeds a predetermined temperature threshold value, the automatic operation controller 30 may be requested to replan the traveling plan.

Further, for example, when the traveling route setting device 100 requests the automatic driving controller 30 to replan the traveling plan, the traveling route setting device 100 causes the automatic driving controller 30 to set a traveling section in which the temperature of the drive motor 41 is equal to or higher than a predetermined temperature threshold value. By notifying, the automatic driving controller 30 may be made to regenerate a traveling plan that avoids this traveling section.

10 Automatic driving system 20 Sensor group 30 Automatic driving controller 31 Driving plan generator 32 Automatic driving control unit 41 Drive motor 42 Drive battery 43 Electric power steering 44 Brake 100 Driving route setting device 101 Driving plan acquisition unit 102 Temperature acquisition unit 103 Torque Calculation unit 104 Calorific value prediction unit 105 Executability judgment unit 106 Replan request unit

Claims (1)

A travel route setting device that sets a travel route for automatic driving of the vehicle based on the amount of heat generated by the drive motor of the vehicle.
The control torque of the drive motor required for traveling of the travel route candidate based on the acceleration / deceleration target for acquiring the target speed of each travel section in the travel route candidate of the automatic driving and realizing the target speed. Torque calculation unit that calculates the required amount of
A traveling route setting device including a calorific value prediction unit that predicts a calorific value of the drive motor based on a required amount of the control drive torque calculated by the torque calculation unit.

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