JP2024014340A - Control device and control method - Google Patents

Abstract

An object of the present invention is to provide a control device and a control method that can safely stop a vehicle without bothering a driver when an abnormality occurs. A control device according to an embodiment includes a controller. The controller is installed in a self-driving vehicle, and if it detects an abnormality in the vehicle during automatic driving, it will perform evacuation driving, and if it detects that the vehicle has switched to manual driving during evacuation, it will be able to drive based on the state of charge of the power source. Notify the vehicle driver of distance information. [Selection diagram] Figure 1

Description

The disclosed embodiments relate to a control device and a control method.

BACKGROUND ART There is a control device that is mounted on a vehicle and performs evacuation driving control when an abnormality occurs in the running vehicle (see, for example, Patent Document 1). When moving to evacuation driving, the control device calculates the travelable distance based on the SOC (State of Charge) of the battery, etc., and notifies the driver of the vehicle. Thereby, the control device can safely stop the vehicle.

In addition, self-driving vehicles are equipped with a main battery system and a backup battery system, and if a failure occurs in one battery system during automatic driving, the evacuation drive is controlled using the other battery system. and stop the vehicle.

Japanese Patent Application Publication No. 2013-169099

However, when the above-mentioned control device is applied to an automated driving vehicle, there is no point in notifying the driver of the drivable distance when evacuation control is performed by automated driving, and it is only a nuisance for the driver. be.

One aspect of the embodiment has been made in view of the above, and it is an object of the present invention to provide a control device and a control method that can safely stop a vehicle without bothering the driver when an abnormality occurs. purpose.

A control device according to one aspect of the embodiment includes a controller. The controller is installed in an automated driving vehicle, and when it detects an abnormality in the vehicle during automated driving, it causes the vehicle to perform evacuation driving, and when it detects that the vehicle has switched to manual operation during the evacuation driving, it starts driving based on the state of charge of the power source. Notifying the driver of the vehicle of possible distance information.

The control device and the control method according to one aspect of the embodiment have the effect that when an abnormality occurs, the vehicle can be stopped safely without causing any trouble to the driver.

FIG. 1 is an explanatory diagram showing a configuration example of a control system according to the first embodiment. FIG. 2 is a flowchart illustrating an example of processing executed by the controller of the power supply control device according to the first embodiment. FIG. 3 is a flowchart illustrating an example of a process executed by the controller of the automatic driving control device according to the first embodiment. FIG. 4 is an explanatory diagram showing a configuration example of a control system according to the second embodiment. FIG. 5 is a flowchart illustrating an example of a process executed by the controller of the power supply control device according to the second embodiment. FIG. 6 is a flowchart illustrating an example of a process executed by the controller of the automatic driving control device according to the second embodiment.

Hereinafter, embodiments of a control device and a control method will be described in detail with reference to the accompanying drawings. The control device according to the embodiment is included in an automatic driving control device or a power supply control device installed in a vehicle having an automatic driving function.

[1. First embodiment]
The control device according to the first embodiment is included in an automatic driving control device. Here, a case where the automatic operation control device is the control device according to the first embodiment will be described.

[1-1. Configuration of control system according to first embodiment]
FIG. 1 is an explanatory diagram showing a configuration example of a control system 100 according to the first embodiment. As shown in FIG. 1, the control system 100 includes a power supply control device 1 mounted on a vehicle, a main power supply 10, an automatic driving control device 6, and a notification device 7.

The power supply control device 1 is connected to a main power supply 10 , a first load 101 , a second load 102 , an automatic operation control device 6 , and a notification device 7 . The power supply control device 1 includes a first system 110 that supplies power from a main power source 10 to a first load 101, and a second system 120 that supplies power from a backup power source 20 (described later) to a second load 102.

The first load 101 is a load for automatic driving, and includes, for example, a steering motor, an electric brake device, various sensors, a vehicle-mounted camera, etc. that operate during automatic driving. The second load 102 includes, for example, a steering motor that operates during automatic driving, an electric brake device, various sensors, a radar, a vehicle-mounted camera, and the like.

Note that the first system 110 and the second load 102 are also connected to a general load (not shown). General loads include, for example, displays, air conditioners, audio, video, and various lights. The first load 101, the second load 102, and the general load are operated by power supplied from the power supply control device 1.

The first load 101 and the second load 102 have equivalent functions, but may have partially different functions. For example, the first load 101 may be configured to include a sensor but not a radar, and the second load may include a radar but not a sensor.

The automatic driving control device 6 includes a controller 61 that controls the entire vehicle, and causes the vehicle to run automatically by operating at least one of the first load and the second load 102.

The notification device 7 is a device that notifies the driver of the vehicle of various information such as abnormalities in the vehicle. Notification device 7 includes a display device 71 and a speaker 72. The display device 71 notifies the driver of various information using images. Note that the display device 71 may be a DIAG lamp that displays various information. The speaker 72 notifies the driver of various information by voice.

Main power supply 10 includes a lead battery (hereinafter referred to as "PbB11") and a generator 12. Note that the battery of the main power source 10 may be any secondary battery other than PbB11.

The generator 12 is connected to a high-voltage battery whose voltage is higher than that of the PbB 11, and includes a DC/DC converter that steps down the voltage of the high-voltage battery and outputs it to the first system 110. The generator 12 also includes, for example, an alternator that converts the kinetic energy of a running vehicle into electricity to generate electricity.

A high-voltage battery is, for example, a battery for driving a vehicle installed in an electric vehicle or a hybrid vehicle. The generator 12 charges the PbB 11, supplies power to the first load 101 and the second load 102, and charges a backup power source 20, which will be described later.

The power supply control device 1 includes a backup power supply 20 , an intersystem connection section 41 , a battery switch 42 , a controller 3 , a first voltage sensor 51 , and a second voltage sensor 52 . Hereinafter, bringing the inter-system connection portion 41 and the battery switch 42 into a conductive state may be referred to as "on," and bringing the inter-system connection portion 41 and battery switch 42 into a conductive state may be referred to as "off."

The backup power supply 20 is a backup power supply when the main power supply 10 is no longer able to supply power. The backup power source 20 includes a lithium ion battery (hereinafter referred to as "LiB21").

The inter-system connection unit 41 is a switch that is provided on the inter-system line 130 that connects the first system 110 and the second system 120, and can connect and disconnect the first system 110 and the second system 120. The inter-system connection unit 41 is a DC/DC converter that connects the first system 110 and the second system 120 by starting up and disconnects the first system 110 and the second system 120 by stopping the operation. It's okay. The battery switch 42 is a switch that connects the backup power source 20 to the second system 120.

The first voltage sensor 51 is provided in the first system 110, detects the voltage of the first system 110, and outputs the detection result to the controller 3. The second voltage sensor 52 is provided in the second system 120, detects the voltage of the second system 120, and outputs the detection result to the controller 3.

The controller 3 includes a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and various other circuits. Note that part or all of the functions of the controller 3 may be configured by hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

The controller 3 controls the operation of the power supply control device 1 by causing the CPU to execute a program stored in the ROM using the RAM as a work area. When activated, the controller 3 turns on the intersystem connection section 41, turns off the battery switch 42, and supplies power from the main power source 10 to the first load 101 and the second load 102.

When the controller 3 detects a failure in one of the main power supply 10 and the backup power supply 20, the controller 3 supplies power to the load of the system from the other power supply and performs an evacuation run (hereinafter referred to as FOP (fail operation) run). (in some cases). For example, the controller 3 detects a ground fault in the first system 110 or the second system 120 based on the detection results input from the first voltage sensor 51 and the second voltage sensor 52.

Specifically, in the power supply control device 1, when a ground fault occurs in the first system 110 or the second system 120, an overcurrent flows toward the ground fault point, so the first voltage sensor 51 and the second voltage sensor The voltage detected by 52 becomes below the ground fault threshold.

Therefore, the controller 3 determines that a ground fault has occurred in the first system 110 or the second system 120 when the voltage detected by the first voltage sensor 51 or the second voltage sensor 52 becomes below the ground fault threshold. Tentatively judge.

When the controller 3 tentatively determines that a ground fault has occurred, the controller 3 turns off the inter-grid connection section 41 and turns on the battery switch 42. As a result, the connection between the first system 110 and the second system 120 is cut off, power is supplied from the main power supply 10 to the first system 110, and power is supplied from the backup power supply 20 to the second system 120.

Thereafter, the controller 3 determines that the voltage detected by the first voltage sensor 51 remains below the ground fault threshold for a predetermined period of time or more, and that the voltage detected by the second voltage sensor 52 recovers to exceed the ground fault threshold within a predetermined period of time. If so, it is determined that a ground fault has occurred in the first system 110. In this case, as shown in FIG. 1, the controller 3 continues to turn off the inter-system connection unit 41 to cut off the first system 110, which is the abnormal system, and continues to turn on the battery switch 42 to maintain normal power supply. Power is supplied from the backup power supply 20 to the second load 102 using the second system, which is the normal system.

In addition, after the controller 3 tentatively determines that a ground fault has occurred in the first system 110 or the second system 120, the voltage detected by the second voltage sensor 52 remains below the ground fault threshold even after a predetermined period of time has elapsed. If the voltage detected by the first voltage sensor 51 recovers to exceed the ground fault threshold within a predetermined time, it is determined that a ground fault has occurred in the second system 120.

In this case, when the controller 3 determines that there is a ground fault in the second system 120, the controller 3 continues to turn off the intersystem connection 41 to cut off the second system 120, which is the abnormal system, and turns off the battery switch 42. Power is supplied from the main power supply 10, which is a normal power supply, using the first load 101, which is a normal system.

Further, after the controller 3 tentatively determines that a ground fault has occurred in the first system 110 or the second system 120, the voltages detected by the first voltage sensor 51 and the second voltage sensor 52 are both grounded within a predetermined time. If the voltage recovers to a point where it exceeds the fault threshold, it is determined that the voltage has temporarily dropped due to an overload, etc., and a final determination is made that a ground fault has not occurred. In this case, the controller 3 turns on the intersystem connection section 41 and turns off the battery switch 42 to return to the normal state before the tentative determination.

When the controller 3 determines that a ground fault has occurred in the first system 110 or the second system 120, it notifies the automatic operation control device 6 that a ground fault has occurred and information indicating the ground fault system. When the automatic driving control device 6 receives a notification of the occurrence of a ground fault, the automatic driving control device 6 uses the notification device 7 to notify the driver of switching to manual driving.

For example, the automatic driving control device 6 causes the notification device 7 to output a display and voice saying, "There is an abnormality in the power supply. Please switch to manual operation and stop the vehicle in a safe place." If the manual evacuation drive is not started within a predetermined time after the notification, the automatic driving control device 6 causes the evacuation drive to be performed automatically.

Further, when the controller 3 determines that a ground fault has occurred, it calculates the SOC of the power supply connected to the normal system in which no ground fault has occurred. For example, when the first system 110 has a ground fault, the controller 3 acquires information indicating the state of the LiB 21 from the LiB 21 via the battery monitoring line 82, and calculates the SOC (State of Charge) of the LiB 21 based on the acquired information. do.

Further, for example, when the second system 120 has a ground fault, the controller 3 acquires information indicating the state of the PbB 11 from the PbB 11 through the battery monitoring line 81, and calculates the SOC of the PbB 11 based on the acquired information.

The controller 3 periodically detects and overwrites the SOC of LiB21 and the SOC of PbB11 at fixed time intervals, and when it makes a final determination of a ground fault, it updates the stored power supply of the latest normal system. You may also obtain the SOC.

Moreover, after the controller 3 has determined that a ground fault has occurred, the controller 3 periodically calculates the SOC of the power supply in the normal system. Each time the controller 3 calculates the SOC of the normal power source, the controller 3 calculates the possible travel distance and possible travel time of the vehicle based on the calculated SOC of the normal power source, and calculates the SOC of the normal power source, the possible travel distance of the vehicle, and The distance information including the travelable time is transmitted to the automatic driving control device 6. The controller 61 of the automatic driving control device 6 outputs distance information including the latest normal power supply SOC, the vehicle's drivable distance, and the drivable time to the notification device 7 when evacuation driving by manual driving is started. to notify the driver. Note that the controller 3 may transmit the SOC of the normal power source to the controller 61 of the automatic driving control device 6, and the controller 61 may calculate distance information including the vehicle's travelable distance and travelable time. Further, the controller 3 may transmit the travelable distance and travelable time based on the SOC of the normal power source to the controller 61.

In this way, the controller 61 of the automatic driving control device 6 causes the vehicle to perform evacuation driving when an abnormality is detected in the vehicle during automatic driving, and when it detects that the vehicle has switched to manual operation during the evacuation driving, the controller 61 of the automatic driving control device 6 causes the power supply control device 1 The charging status of the normal power source is obtained from the vehicle, and information on the possible travel distance is notified to the driver of the vehicle.

As a result, the automatic driving control device 6 does not notify the driver of distance information that is meaningless for the driver during evacuation driving by automatic driving, and only during evacuation driving by manual driving. It is possible to notify the driver of useful distance information. Therefore, according to the automatic driving control device 6, when an abnormality occurs, the vehicle can be stopped safely without causing the driver to feel troubled.

Further, when the controller 61 of the automatic driving control device 6 detects that the vehicle has stopped due to evacuation driving, it notifies the driver of the vehicle of information on the distance that can be traveled based on the state of charge of the normal power source. As a result, if the vehicle is still in a drivable state at the time of stopping due to evacuation driving, the driver can drive the vehicle to a dealer or a repair shop and request repair of the vehicle, for example.

[1-2. Processes executed by the power supply control device and automatic operation control device according to the first embodiment]
Next, an example of a process executed by the controller 3 of the power supply control device 1 and a process executed by the controller 61 of the automatic operation control device 6 according to the first embodiment will be described with reference to FIGS. 2 and 3. . FIG. 2 is a flowchart illustrating an example of a process executed by the controller 3 of the power supply control device 1 according to the first embodiment. FIG. 3 is a flowchart showing an example of a process executed by the controller 61 of the automatic driving control device 6 according to the first embodiment.

When the automatic driving control device 6 notifies distance information, the controller 3 of the power supply control device 1 executes the process shown in FIG. 2 during automatic driving. Specifically, when automatic operation is started, the controller 3 first determines a power failure situation (step S101).

Then, the controller 3 determines whether a power failure has occurred (step S102). Note that the judgment here refers to the main judgment. When the controller 3 determines that a power failure has not occurred (step S102, No), the process moves to step S101.

Further, when the controller 3 determines that a power supply failure has occurred (Step S102, Yes), the controller 3 shuts off the abnormal system and supplies power to the load using the power supply of the normal system (Step S103). Subsequently, the controller 3 transmits information indicating that a ground fault has occurred and the ground fault system to the automatic operation control device 6 (step S104).

Thereafter, the controller 3 calculates the SOC of the normal power source (step S105), and calculates the travelable distance and travelable time based on the calculated SOC (step S106). Then, the controller 3 transmits the calculated SOC, possible travel distance, and possible travel time to the automatic driving control device 6 (step S107).

Thereafter, the controller 3 determines whether the vehicle has stopped, in other words, whether FOP driving has been completed (step S108). When the controller 3 determines that the vehicle is not stopped, in other words, when determining that FOP travel has not been completed (step S108, No), the controller 3 moves the process to step S105.

Thereby, the controller 3 transmits the latest SOC, the travelable distance, and the travelable time to the automatic driving control device 6 until the vehicle stops, that is, until the FOP is completed. This distance information is information on the distance that can be traveled until the FOP is completed.

Further, when it is determined that the controller 3 has stopped, in other words, when it has determined that FOP driving has been completed (step S108, Yes), the controller 3 calculates the SOC of the normal power source (step S109), and based on the calculated SOC. , calculate the possible travel distance and the possible travel time (step S110). The information calculated in steps S109 and S110 is information on the distance that the vehicle can travel with surplus power after it stops, that is, after FOP is completed. Then, the controller 3 transmits the calculated SOC, possible travel distance, and possible travel time to the automatic driving control device 6 (step S111), and ends the process.

On the other hand, when the automatic driving control device 6 notifies distance information, the controller 61 of the automatic driving control device 6 executes the process shown in FIG. 3 during automatic driving. Specifically, when an automatic operation switch (not shown) is turned on to start automatic operation, the controller 61 first determines a power failure situation (step S201). In step S104 shown in FIG. 2, the controller 61 determines the power failure situation based on the information transmitted from the power supply control device 1.

Then, the controller 61 determines whether a power failure has occurred (step S202). When the controller 61 determines that a power failure has not occurred (step S202, No), the controller 61 moves the process to step S201.

Further, when the controller 61 determines that a power failure has occurred (step S202, Yes), the controller 61 notifies the switch to manual operation using the notification device 7 (step S203). Thereafter, the controller 61 determines whether manual evacuation travel is being performed (step S204).

The controller 61 can determine that manual evacuation driving is being performed when the actuators for automatic driving such as steering and brakes move in a manner different from the operation performed by the controller 61. Further, the controller 61 can determine that manual evacuation travel is being performed when an automatic operation switch (not shown) is turned off by the driver.

If the controller 61 determines that the manual evacuation drive is being performed (step S204, Yes), the controller 61 notifies the possible travel distance and the possible travel time transmitted from the power supply control device 1 in step S107 shown in FIG. Displayed by the device 7 (step S205). The controller 61 then moves the process to step S207.

Further, when the controller 61 determines that the evacuation drive by manual operation is not performed (step S204, No), the controller 61 performs FOP driving to make the vehicle retreat by automatic operation (step S206), and moves the process to step S207. .

In step S207, the controller 61 determines whether the vehicle has stopped, in other words, whether FOP driving has been completed. When the controller 61 determines that the vehicle is not stopped, in other words, when determining that FOP travel is not completed (step S207, No), the controller 61 moves the process to step S204.

As a result, when FOP driving is performed manually, the latest travelable distance and time are notified in step S205 until FOP driving is completed. Based on the notification, the driver of the vehicle can determine how far the vehicle can travel and use it as a reference when deciding where to stop. On the other hand, when FOP driving is performed automatically, the process of step S205 is passed and distance information is not notified, so that the driver of the vehicle does not feel bothered.

Further, when it is determined that the controller 61 has stopped, in other words, when it has determined that the FOP traveling has been completed (step S207, Yes), the controller 61 transmits the FOP completion transmitted from the power supply control device 1 in step S111 shown in FIG. The notification device 7 displays the travelable distance and travelable time using the remaining electric power (step S208), and the process ends.

The driver of the vehicle can know the distance information that can be traveled from the current location where the FOP driving has been completed through the distance information notification in step S208. Therefore, the driver of the vehicle can determine whether the vehicle can travel to a safer evacuation location or repair shop, and can take more appropriate measures.

Note that in FIG. 2, the controller 3 transmits the calculated SOC, drivable distance, and drivable time to the automatic driving control device 6 only once after the vehicle stops (step S111), but until the next vehicle stop, Alternatively, the processes of steps S109 to S111 may be repeated until the calculated SOC reaches the lower limit value (for example, 0), and the latest information may be periodically transmitted to the automatic operation control device 6. In that case, in FIG. 3, the controller 61 periodically repeats the process of step S208 even after the vehicle has stopped (step S207, Yes). That is, the controller 61 causes the notification device 7 to repeatedly display the latest travelable distance and travelable time based on the information received from the controller 3 .

[2. Second embodiment]
The control device according to the second embodiment is included in the power supply control device 1. Here, a case will be described in which the power supply control device 1 is a control device according to the second embodiment.

[2-1. Configuration of control system according to second embodiment]
FIG. 4 is an explanatory diagram showing a configuration example of a control system 100A according to the second embodiment. In the first embodiment, the automatic driving control device 6 notifies the driver of the drivable distance information, but in the second embodiment, the power supply control device 1 notifies the driver of the drivable distance information. Therefore, as shown in FIG. 4, in the control system 100A, the controller 3 of the power supply control device 1 and the notification device 7 are connected by a control signal line.

The controller 3 of the power supply control device 1 according to the second embodiment obtains information from the automatic driving control device 6 that the mode has been switched to manual operation during evacuation driving, detects the state of charge of the normal power source, and is able to drive. Notify the driver of distance information.

As a result, the power supply control device 1 does not notify the driver of distance information that is meaningless for the driver during evacuation driving by automatic driving, and only informs the driver during evacuation driving by manual driving. It is possible to notify the driver of useful distance information. Therefore, according to the power supply control device 1, when an abnormality occurs, the vehicle can be stopped safely without causing any trouble to the driver.

In addition, the controller 3 of the power supply control device 1 obtains from the automatic driving control device 6 that the vehicle has stopped due to evacuation, detects the state of charge of the normal power source, and provides the driver with information on the possible travel distance. to notify. As a result, if the vehicle is in a state in which the vehicle is still drivable at the time of stopping due to evacuation driving, the driver can, for example, drive the vehicle to a dealer or a repair shop and request repair of the vehicle. Note that the controller 3 may be configured to obtain information that the vehicle has stopped from any in-vehicle device capable of detecting a vehicle stop, other than the automatic driving control device.

[2-2. Processes executed by the power supply control device and automatic operation control device according to the second embodiment]
Next, an example of a process executed by the controller 3 of the power supply control device 1 and a process executed by the controller 61 of the automatic operation control device 6 according to the second embodiment will be described with reference to FIGS. 5 and 6. . FIG. 5 is a flowchart illustrating an example of a process executed by the controller 3 of the power supply control device 1 according to the second embodiment. FIG. 6 is a flowchart showing an example of a process executed by the controller 61 of the automatic driving control device 6 according to the second embodiment.

When the power supply control device 1 notifies distance information, the controller 3 of the power supply control device 1 executes the process shown in FIG. 5 during automatic driving. Specifically, when automatic operation is started, the controller 3 first determines a power failure situation (step S301).

Then, the controller 3 determines whether a power failure has occurred (step S302). When the controller 3 determines that a power failure has not occurred (step S302, No), the process moves to step S301.

Further, when the controller 3 determines that a power supply failure has occurred (step S302, Yes), the controller 3 shuts off the abnormal system and supplies power to the load using the power supply of the normal system (step S303). Subsequently, the controller 3 transmits information indicating that a ground fault has occurred and the ground fault system to the automatic operation control device 6 (step S304).

Thereafter, the controller 3 calculates the SOC of the normal power source (step S305), and calculates the travelable distance and travelable time based on the calculated SOC (step S306). Subsequently, the controller 3 confirms the driving mode indicating whether the vehicle is being operated manually or automatically (step S307). The controller 3 checks the driving mode based on the driving mode transmitted from the automatic driving control device 6 in step S404 shown in FIG. 6, which will be described later.

Thereafter, the controller 3 determines whether manual evacuation travel is being performed (step S308). If the controller 3 determines that the manual evacuation drive is not being performed (step S308, No), the controller 3 moves the process to step S310.

Further, when the controller 3 determines that the evacuation drive by manual operation is being performed (step S308, Yes), the controller 3 causes the notification device 7 to display the possible travel distance and the possible travel time calculated in step S306 (step S309). .

Subsequently, the controller 3 determines whether the vehicle has stopped, in other words, whether FOP driving has been completed (step S310). When the controller 3 determines that the vehicle has not stopped, in other words, when it has determined that FOP travel has not been completed (step S310, No), the controller 3 moves the process to step S305, and continues from step S305 until the vehicle stops. The process of step S309 is repeated.

As a result, when FOP driving is performed manually, the latest travelable distance and time are notified in step S309 until FOP driving is completed. Based on the notification, the driver of the vehicle can determine how far the vehicle can travel and use it as a reference when deciding where to stop. On the other hand, when FOP driving is performed automatically, the process of step S309 is passed and distance information is not notified, so the driver of the vehicle does not feel bothered.

Further, when it is determined that the controller 3 has stopped, in other words, when it is determined that FOP driving has been completed (step S310, Yes), the controller 3 calculates the SOC of the normal power source (step S311), and based on the calculated SOC. Then, the possible travel distance and possible travel time are calculated using the remaining electric power after the FOP is completed (step S312).

Then, the controller 3 causes the notification device 7 to display the calculated travelable distance and travelable time (step S313), and ends the process. Note that, similarly to the first embodiment, the controller 3 may repeat the processing of steps S311 to S313 after the vehicle has stopped (step S310, Yes).

On the other hand, when the power supply control device 1 notifies distance information, the controller 61 of the automatic driving control device 6 executes the process shown in FIG. 6 during automatic driving. Specifically, upon starting automatic operation, the controller 61 first determines a power failure situation (step S401). In step S304 shown in FIG. 5, the controller 61 determines the power failure situation based on the information transmitted from the power supply control device 1.

Then, the controller 61 determines whether a power failure has occurred (step S402). When the controller 61 determines that a power failure has not occurred (step S402, No), the controller 61 moves the process to step S401.

Further, when the controller 61 determines that a power failure has occurred (step S402, Yes), the controller 61 notifies the switch to manual operation using the notification device 7 (step S403). After that, the controller 61 transmits the operation mode to the power supply control device 1 (step S404).

Then, the controller 61 determines whether manual evacuation travel is being performed (step S405). When the controller 61 determines that manual evacuation travel is being performed (step S405, Yes), the controller 61 moves the process to step S407.

Further, when the controller 61 determines that the evacuation drive by manual operation is not performed (step S405, No), the controller 61 performs FOP driving to make the vehicle retreat by automatic operation (step S406), and moves the process to step S407. .

In step S407, the controller 61 determines whether the vehicle has stopped, in other words, whether FOP driving has been completed. When the controller 61 determines that the vehicle is not stopped, in other words, when determining that FOP travel has not been completed (step S407, No), the controller 61 moves the process to step S404. Further, when the controller 61 determines that the vehicle has stopped, in other words, when determining that FOP driving has been completed (step S407, Yes), the controller 61 ends the process.

In the above-described embodiment, the controller 61 of the automatic driving control device 6 or the controller 3 of the power supply control device 1 provides the driver with drivable distance information during evacuation driving by manual driving and while stopping after evacuation driving by manual driving. However, this is just one example.

The controller 61 of the automatic driving control device 6 or the controller 3 of the power supply control device 1 is configured to notify the driver of the distance information that can be traveled during the evacuation drive by the automatic driving and while the vehicle is stopped after the evacuation drive by the automatic driving. may be done.

In this case, the controllers 3 and 61 reduce the amount of information to be notified when the evacuation drive is performed automatically, compared to when it is performed manually. Thereby, the controllers 3 and 61 can reduce the annoyance felt by the driver by reducing the amount of distance information provided to the driver during the automatic driving retreat.

Further, the controllers 3 and 61 notify the distance information by at least one of audio and display when the evacuation driving is performed in manual driving, and notify the distance information when the evacuation driving is performed in automatic driving. It may be configured such that there is no such thing.

As a result, the controllers 3 and 61 notify distance information by voice and display during evacuation driving by manual driving and while stopped after evacuation driving by manual driving, when evacuation driving is performed by automatic driving. The amount of distance information to be notified can be reduced. Therefore, according to the controllers 3 and 61, it is possible to further reduce the annoyance that the driver feels about notification of distance information.

Further, the controllers 3 and 61 notify the distance information by at least one of audio and display when the evacuation drive is performed in manual operation, and notify the distance information by display when the evacuation drive is performed in automatic operation. It may be configured as follows.

As a result, the controllers 3 and 61 can recognize how much longer the vehicle can travel even during the evacuation drive due to automatic driving, so that the driver can feel at ease during the evacuation drive due to automatic driving. . Furthermore, when the evacuation drive is performed automatically, the driver does not hear the distance information, which eliminates the driver's annoyance.

[3. Additional notes]
As an additional note, the features of the present invention are shown below.
(1)
Installed in an automated driving vehicle, if an abnormality is detected in the vehicle during automated driving, it will perform evacuation driving, and if it detects that the vehicle has switched to manual operation during evacuation driving, it will detect the distance that can be traveled based on the state of charge of the power source. A control device comprising a controller that notifies a driver of the vehicle of information.
(2)
The controller includes:
Included in automatic driving control equipment that controls automatic driving,
When the above-mentioned abnormality is detected, a switch to manual operation is requested or an evacuation drive is performed by continuing automatic operation,
(1) When detecting that the vehicle has switched to manual driving during the evacuation drive, the driver is notified of the drivable distance information based on the state of charge of the power source obtained from a power source control device that controls the power source. The control device described in .
(3)
The controller includes:
Included in a power supply control device having a first system that supplies power from a main power source to a first load for automatic operation and a second system that supplies power from a backup power source to a second load for automatic operation,
When a failure of one of the main power source and the backup power source is detected, power is supplied from the other power source to the load of the system to perform the evacuation run,
Obtaining from an automatic driving control device that performs automatic driving control that the mode has been switched to manual driving during the evacuation driving, and notifying the driver of the drivable distance information based on the state of charge of the other power source. 1) The control device according to item 1).
(4)
It is installed in an automated driving vehicle, and when it detects an abnormality in the vehicle during automated driving, it performs evacuation driving, and when it detects that the vehicle has stopped due to the evacuation driving, it provides information on the distance that can be traveled based on the state of charge of the power source. A control device comprising a controller that notifies a driver of the vehicle.
(5)
The controller includes:
It is included in an automatic driving control device that performs automatic driving control, and when the abnormality is detected, it requests a switch to manual operation or continues automatic driving to perform evacuation driving, and the evacuation driving causes the vehicle to stop. The control device according to (4) above, when detecting that the distance information is based on the state of charge of the power source acquired from a power source control device that controls the power source, notifies the driver of the distance information.
(6)
The controller includes:
Included in a power supply control device having a first system that supplies power from a main power source to a first load for automatic operation and a second system that supplies power from a backup power source to a second load for automatic operation,
When a failure of one of the main power source and the backup power source is detected, power is supplied from the other power source to the load of the system to perform the evacuation run,
The control device according to (4), wherein when the vehicle stops due to the evacuation drive, the driver is notified of the drivable distance information based on the charging state of the other power source.
(7)
The controller includes:
The control device according to any one of (1) to (6), wherein when the evacuation drive is performed automatically, the amount of information to be notified is reduced compared to when the evacuation drive is performed manually.
(8)
The controller includes:
When the evacuation drive is performed by manual driving, the distance information is notified by at least one of audio and display, and when the evacuation driving is performed by automatic driving, the distance information is not notified. 7) The control device according to any one of 7).
(9)
The controller includes:
When the evacuation drive is performed by manual driving, the distance information is notified by at least one of audio and display, and when it is performed by automatic driving, the distance information is notified by display. The control device according to any one of 6).
(10)
A control method executed by a controller of a control device installed in an automated driving vehicle and causing evacuation driving when an abnormality of the vehicle is detected during automated driving, the method comprising:
When detecting that the vehicle has switched to manual operation during the evacuation drive, the control method notifies the driver of the vehicle of information on the distance that can be traveled based on the state of charge of the power source.
(11)
A control method executed by a controller of a control device installed in an automated driving vehicle and causing evacuation driving when an abnormality of the vehicle is detected during automated driving, the method comprising:
When detecting that the vehicle has stopped due to the evacuation drive, the control method notifies the driver of the vehicle of information on the distance that can be traveled based on the state of charge of the power source.

Further advantages and modifications can be easily deduced by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various changes may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1 Power supply control device 10 Main power supply 11 PbB
12 Generator 20 Backup power supply 21 LiB
3, 61 controller 41 intersystem connection section 42 battery switch 51 first voltage sensor 52 second voltage sensor 6 automatic operation control device 7 notification device 71 display device 72 speaker 101 first load 102 second load 110 first system 120 2 systems 130 lines between systems

Claims (11)

Installed in an automated driving vehicle, if an abnormality is detected in the vehicle during automated driving, it will perform evacuation driving, and if it detects that the vehicle has switched to manual operation during evacuation driving, it will detect the distance that can be traveled based on the state of charge of the power source. A control device comprising a controller that notifies a driver of the vehicle of information. The controller includes:
Included in automatic driving control equipment that controls automatic driving,
When the above-mentioned abnormality is detected, a switch to manual operation is requested or an evacuation drive is performed by continuing automatic operation,
When detecting that the vehicle has switched to manual driving during the evacuation drive, the driver is notified of the drivable distance information based on the state of charge of the power source acquired from a power source control device that controls the power source. Control device as described. The controller includes:
Included in a power supply control device having a first system that supplies power from a main power source to a first load for automatic operation and a second system that supplies power from a backup power source to a second load for automatic operation,
When a failure of one of the main power source and the backup power source is detected, power is supplied from the other power source to the load of the system to perform the evacuation run,
The information that the driving has been switched to manual driving during the evacuation driving is obtained from an automatic driving control device that performs automatic driving control, and the information on the possible travel distance is notified to the driver based on the state of charge of the other power source. 1. The control device according to 1. It is installed in an automated driving vehicle, and when it detects an abnormality in the vehicle during automated driving, it performs evacuation driving, and when it detects that the vehicle has stopped due to the evacuation driving, it provides information on the distance that can be traveled based on the state of charge of the power source. A control device comprising a controller that notifies a driver of the vehicle. The controller includes:
It is included in an automatic driving control device that performs automatic driving control, and when the abnormality is detected, it requests a switch to manual operation or continues automatic driving to perform evacuation driving, and the evacuation driving causes the vehicle to stop. The control device according to claim 4, wherein when detecting that the vehicle has stopped, the control device notifies the driver of the drivable distance information based on the state of charge of the power source acquired from a power source control device that controls the power source. The controller includes:
Included in a power supply control device having a first system that supplies power from a main power source to a first load for automatic operation and a second system that supplies power from a backup power source to a second load for automatic operation,
When a failure of one of the main power source and the backup power source is detected, power is supplied from the other power source to the load of the system to perform the evacuation run,
The control device according to claim 4, wherein when the vehicle stops due to the evacuation drive, the driver is notified of the drivable distance information based on the charging state of the other power source. The controller includes:
The control device according to claim 1, wherein when the evacuation drive is performed automatically, the amount of information to be notified is reduced compared to when the evacuation drive is performed manually. The controller includes:
When the evacuation drive is performed by manual driving, the distance information is notified by at least one of audio and display, and when the evacuation driving is performed by automatic driving, the distance information is not notified. Control device. The controller includes:
When the evacuation drive is performed by manual driving, the distance information is notified by at least one of audio and display, and when the evacuation driving is performed by automatic driving, the distance information is notified by display. Control device. A control method executed by a controller of a control device installed in an automated driving vehicle and causing evacuation driving when an abnormality of the vehicle is detected during automated driving, the method comprising:
When detecting that the vehicle has switched to manual operation during the evacuation drive, the control method notifies the driver of the vehicle of information on the distance that can be traveled based on the state of charge of the power source. A control method executed by a controller of a control device installed in an automated driving vehicle and causing evacuation driving when an abnormality of the vehicle is detected during automated driving, the method comprising:
When detecting that the vehicle has stopped due to the evacuation drive, the control method notifies the driver of the vehicle of information on the distance that can be traveled based on the state of charge of the power source.

Images