JP4640240B2 - Vehicle and control method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle which can further precisely predict arrival time to a destination compared with a vehicle which does not take into account an integrated temperature tmadd, and its control method. <P>SOLUTION: When the destination is set and a traveling rout (route 1) to the destination from a present position of the vehicle is searched (S200), the integrated temperature tmadd is calculated by integrating an rising temperature &Delta;tm based on a road gradient &theta; at each traveling zone and vehicle weight M about the searched traveling route (S250, S260), a zone duration &Delta;time is calculated by using the relationship of magnitudes of the calculated integrated temperature tmadd and a prescribed temperature tmref (S310), an integrated duration time is calculated by integrating the zone duration &Delta;time (S320), and when the calculation of the integrated temperature tmadd and the integrated duration time to the destination is ended, arrival prediction time timear1 is set by using the integrated duration time and the present time timepr (S340). <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a vehicle and a control method thereof, and more particularly, to a vehicle including a power source capable of outputting driving power and a control method thereof.

Conventionally, as this type of vehicle, a vehicle that travels using power from an engine or power from a driving motor and includes a navigation system has been proposed (see, for example, Patent Document 1). In this vehicle, when the destination is set, the route from the current position to the destination is set, and the heat generation amount of the engine and the drive motor when traveling on the set route is predicted, and the engine and the drive motor are When the temperature based on the heat generation amount is predicted to exceed the predetermined temperature, the temperature of the engine or the drive motor can be reduced by limiting the output from the engine or the drive motor in advance or by cooling the engine or the drive motor. Exceeding the predetermined temperature is suppressed, and the vehicle speed is suppressed from abruptly decreasing during high load traveling.
2004-324613

  By the way, in such a vehicle, it is desired that the arrival time at the destination is calculated more accurately. For example, there is one that predicts the arrival time using a distance to a destination and a predetermined speed (for example, 25 km / h for a general road, 70 km / h for a highway, etc.). In this case, an engine or a drive motor The situation where the temperature of the engine rises and the output from the engine and the driving motor is greatly restricted is not taken into consideration, and therefore the arrival time may not be accurately predicted.

  An object of the vehicle and the control method of the present invention is to predict the arrival time of the vehicle at the destination more accurately.

  The vehicle and the control method thereof according to the present invention employ the following means in order to achieve the above-described object.

The first vehicle of the present invention is
A vehicle including a power source capable of outputting power for traveling,
Map information storage means for storing map information including information about roads;
Current position detecting means for detecting the current position of the vehicle;
When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of power that can be output from the power source, and when the temperature of the power system is higher than the predetermined temperature, the predetermined power is set. Upper limit power setting means for setting power smaller than power as the upper limit power;
When a destination is set, a road search means for searching for a road from the detected current position of the vehicle to the set destination according to a predetermined condition using the stored map information;
Using the stored map information, a temperature transition prediction means for predicting a transition of the temperature of the power system when the vehicle travels to the set destination on the searched travel path;
Based on the predicted transition of the temperature of the power system and the predetermined temperature, the arrival prediction of the vehicle at the destination when the vehicle travels to the set destination on the searched traveling path. A predicted arrival time output means for setting the time and outputting the set predicted arrival time;
Control means for controlling the power source so as to travel by outputting power below the set upper limit power from the power source;
It is a summary to provide.

  In the first vehicle of the present invention, when the temperature of the power system including the power source is equal to or lower than the predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of power that can be output from the power source, and the temperature of the power system is predetermined. When the temperature is higher than the temperature, a power smaller than the predetermined power is set as the upper limit power, and the power source is controlled so as to travel by outputting power less than the set upper limit power from the power source. When the destination is set, the travel route from the current position of the vehicle to the destination is searched according to predetermined conditions using map information including road information, and when the vehicle travels to the destination Transition of power system temperature is predicted using map information, and the predicted arrival time of the vehicle when the vehicle travels to the destination based on the power system temperature transition and a predetermined temperature Set and output the predicted arrival time. In the first vehicle of the present invention, the vehicle travels by outputting power below the upper limit power set according to whether or not the temperature of the power system is below a predetermined temperature from the power source. By setting the predicted arrival time based on the transition of the temperature of the power system when traveling and a predetermined temperature, the predicted arrival time can be set more accurately than when the transition of the temperature of the power system is not considered Can do. Here, in addition to the power source, the “power system” may include a drive unit that drives the power source. In addition, the “predetermined condition” includes, for example, a recommended condition for searching for a travel route so that the travel time is shortened in consideration of a legal speed in a route with a width of a predetermined value (for example, 5 m) or more. Toll road priority condition to search for a driving route, General road priority condition to search a driving route only on a general road without traveling on a toll road, Distance priority to search a driving route so that the driving distance is the shortest And a time priority condition for searching for a travel route so that the travel time is the shortest from the legal speed.

  In such a first vehicle of the present invention, the temperature transition predicting means is for each travel section when the vehicle travels on the travel route searched using the stored map information to the set destination. Predicting the temperature of the power system and predicting the transition of the power system temperature, the predicted arrival time output means, for each traveling section, the predicted power system temperature and the predetermined temperature The section required time is set as the time required for traveling in the traveling section based on the magnitude relationship with the time, and the estimated arrival time is set based on the section required time for each set traveling section. You can also. If it carries out like this, arrival prediction time can be set more accurately according to the magnitude relation between the temperature of the power source for every run section, and predetermined temperature. In this case, the predicted arrival time output means is longer for each traveling section than when the predicted temperature of the power system is higher than the predetermined temperature and when the temperature of the power system is lower than the predetermined temperature. It can also be a means for setting the section required time. The predicted arrival time output means calculates the time required for the vehicle to travel to the set destination by adding up the calculated section required time for each travel section. In addition, the estimated arrival time may be set based on the calculated required time and the current time.

The second vehicle of the present invention is
A vehicle including a power source capable of outputting power for traveling,
Map information storage means for storing map information including information about roads;
Current position detecting means for detecting the current position of the vehicle;
When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of power that can be output from the power source, and when the temperature of the power system is higher than the predetermined temperature, the predetermined power is set. Upper limit power setting means for setting power smaller than power as the upper limit power;
When a destination is set, a road search means for searching for a road from the detected current position of the vehicle to the set destination according to a predetermined condition using the stored map information;
Using the stored map information, a temperature transition prediction means for predicting a transition of the temperature of the power system when the vehicle travels to the set destination on the searched travel path;
Based on the predicted transition of the temperature of the power system and the set upper limit power, to the destination of the vehicle when the vehicle travels on the searched travel route to the set destination A predicted arrival time output means for setting the predicted arrival time and outputting the set predicted arrival time;
Control means for controlling the power source so as to travel by outputting power below the set upper limit power from the power source;
It is a summary to provide.

  In the second vehicle of the present invention, when the temperature of the power system including the power source is equal to or lower than the predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of the power that can be output from the power source, and the temperature of the power system is predetermined. When the temperature is higher than the temperature, a power smaller than the predetermined power is set as the upper limit power, and the power source is controlled so as to travel by outputting power less than the set upper limit power from the power source. When the destination is set, the travel route from the current position of the vehicle to the destination is searched according to predetermined conditions using map information including road information, and when the vehicle travels to the destination Transition of power system temperature is predicted using map information, and when the vehicle travels to the destination on the road, the predicted arrival time of the vehicle based on the power system temperature transition and upper limit power Set and output the predicted arrival time. In the second vehicle of the present invention, the vehicle travels by outputting power below the upper limit power set according to whether or not the temperature of the power system is below a predetermined temperature from the power source. By setting the predicted arrival time based on the transition of the temperature of the power system and the upper limit power when traveling, the predicted arrival time can be set more accurately than those not considering the transition of the temperature of the power system Can do. Here, in addition to the power source, the “power system” may include a drive unit that drives the power source. In addition, the “predetermined condition” includes, for example, a recommended condition for searching for a travel route so that the travel time is shortened in consideration of a legal speed in a route with a width of a predetermined value (for example, 5 m) or more. Toll road priority condition to search for a driving route, General road priority condition to search a driving route only on a general road without traveling on a toll road, Distance priority to search a driving route so that the driving distance is the shortest And a time priority condition for searching for a travel route so that the travel time is the shortest from the legal speed.

  In such a second vehicle of the present invention, the temperature transition predicting means is for each travel section when the vehicle travels on the travel route searched using the stored map information to the set destination. Predicting the transition of the power system by predicting the temperature of the power system, and the predicted arrival time output means is set for each travel section based on the predicted temperature of the power system The section required time that is the time required for traveling in the traveling section is set based on the upper limit power, and the estimated arrival time is set based on the section required time for each set traveling section. You can also If it carries out like this, arrival prediction time can be set more accurately according to the upper limit motive power for every travel section. In this case, the predicted arrival time output means is a means for setting the section required time so that the upper limit power set based on the predicted power system temperature is longer for each travel section. It can also be. The predicted arrival time output means calculates the time required for the vehicle to travel to the set destination by adding up the calculated section required time for each travel section. In addition, the estimated arrival time may be set based on the calculated required time and the current time.

  1st or 2nd vehicle of this invention WHEREIN: The said temperature transition prediction means is a means to predict the transition of the temperature of the said power system based on the information regarding the road surface gradient among the said stored map information. You can also In addition, vehicle weight detection means for detecting a vehicle weight that is the weight of the vehicle is provided, and the temperature transition prediction means is a temperature transition of the power system based on the stored map information and the detected vehicle weight. It can also be a means for predicting. In these cases, the transition of the temperature of the power system can be predicted more appropriately according to the road surface gradient and the vehicle weight. Here, in the latter case, the “vehicle weight” may be the weight of the vehicle main body, and in addition to the weight of the vehicle main body, the weight of the occupant, the load when there is a load, or the load is loaded. The total weight including the weight related to the vehicle such as the weight of the object or the weight of the towed object may be used.

  In the first or second vehicle of the present invention, when the power system temperature peak predicted by the temperature transition prediction unit is higher than the predetermined temperature, the vehicle predicted by the temperature transition prediction unit is A second travel route search means for searching for a second travel route in which the peak of the temperature of the power system when traveling to a set destination is equal to or lower than the predetermined temperature using the stored map information; The predicted arrival time output means is configured such that when the second travel path is searched by the second travel path search means, the vehicle is set with the searched second travel path predicted by the temperature transition prediction means. Based on the transition of the temperature of the power system when traveling to the destination, the estimated time of arrival of the vehicle at the destination when the vehicle travels to the destination on the second traveling path Estimated road arrival time Set, can be assumed to be means for outputting a second travel path estimated arrival time at which the predicted arrival time and the setting was the setting. In this way, the operator can select the travel path searched by the travel path search means or the second travel path searched by the second travel path search means in consideration of each estimated arrival time. The convenience for the operator can be improved.

  Furthermore, in the first or second vehicle of the present invention, the power source may be an electric motor capable of outputting traveling power, an internal combustion engine, an output shaft of the internal combustion engine, and an axle. A three-axis power input / output means connected to the three shafts of the side and the rotary shaft and for inputting / outputting power to / from the remaining shaft based on power input / output to / from any two of the three shafts; The power source may include a generator capable of inputting / outputting power to the shaft and an electric motor capable of inputting / outputting power to the axle side.

  In the first or second vehicle according to the present invention including the electric motor, the temperature transition predicting unit may be a unit that predicts a transition of the temperature of the motor as a transition of the temperature of the power system. it can. In the first or second vehicle of the present invention including an electric motor, the power system includes a driving unit that drives the electric motor in addition to the power source, and the temperature transition prediction unit includes the driving circuit. It is also possible to use a means for predicting the temperature transition of the power system as the temperature transition of the power system.

The first vehicle control method of the present invention comprises:
A method for controlling a vehicle including a power source capable of outputting driving power,
(A) When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as an upper limit power that is an upper limit of power that can be output from the power source, and the temperature of the power system is higher than the predetermined temperature Sometimes a power smaller than the predetermined power is set as the upper limit power,
(B) When a destination is set, a travel route from the current position of the vehicle to the set destination is searched according to a predetermined condition using map information including information about the road;
(C) using the map information, predicting a transition of the temperature of the power system when the vehicle travels on the searched travel route to the set destination;
(D) Based on the predicted transition of the temperature of the power system and the predetermined temperature, to the destination of the vehicle when the vehicle travels to the set destination Set the estimated arrival time and output the set estimated arrival time,
(E) The gist is to control the power source so as to travel by outputting power below the set upper limit power from the power source.

  According to the first vehicle control method of the present invention, when the temperature of the power system including the power source is equal to or lower than the predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of the power that can be output from the power source. When the temperature of the system is higher than a predetermined temperature, a power smaller than the predetermined power is set as the upper limit power, and the power source is controlled so as to travel by outputting power less than the set upper limit power from the power source. When the destination is set, the travel route from the current position of the vehicle to the destination is searched according to predetermined conditions using map information including road information, and when the vehicle travels to the destination Transition of power system temperature is predicted using map information, and the predicted arrival time of the vehicle when the vehicle travels to the destination based on the power system temperature transition and a predetermined temperature Set and output the predicted arrival time. In the first vehicle of the present invention, the vehicle travels by outputting power below the upper limit power set according to whether or not the temperature of the power system is below a predetermined temperature from the power source. By setting the predicted arrival time based on the transition of the temperature of the power system when traveling and a predetermined temperature, the predicted arrival time can be set more accurately than when the transition of the temperature of the power system is not considered Can do. Here, in addition to the power source, the “power system” may include a drive unit that drives the power source. In addition, the “predetermined condition” includes, for example, a recommended condition for searching for a travel route so that the travel time is shortened in consideration of a legal speed in a route with a width of a predetermined value (for example, 5 m) or more. Toll road priority condition to search for a driving route, General road priority condition to search a driving route only on a general road without traveling on a toll road, Distance priority to search a driving route so that the driving distance is the shortest And a time priority condition for searching for a travel route so that the travel time is the shortest from the legal speed.

The second vehicle control method of the present invention comprises:
A method for controlling a vehicle including a power source capable of outputting driving power,
(A) When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as an upper limit power that is an upper limit of power that can be output from the power source, and the temperature of the power system is higher than the predetermined temperature Sometimes a power smaller than the predetermined power is set as the upper limit power,
(B) When a destination is set, a travel route from the current position of the vehicle to the set destination is searched according to a predetermined condition using map information including information about the road;
(C) using the map information, predicting a transition of the temperature of the power system when the vehicle travels on the searched travel route to the set destination;
(D) Based on the predicted transition of the temperature of the power system and the set upper limit power, the vehicle when the vehicle travels on the searched travel route to the set destination. Set the estimated arrival time to the destination and output the set estimated arrival time,
(E) A vehicle control method for controlling the power source so as to travel by outputting power less than the set upper limit power from the power source.

  According to the second vehicle control method of the present invention, when the temperature of the power system including the power source is equal to or lower than the predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of the power that can be output from the power source. When the temperature of the system is higher than a predetermined temperature, a power smaller than the predetermined power is set as the upper limit power, and the power source is controlled so as to travel by outputting power less than the set upper limit power from the power source. When the destination is set, the travel route from the current position of the vehicle to the destination is searched according to predetermined conditions using map information including road information, and when the vehicle travels to the destination Transition of power system temperature is predicted using map information, and when the vehicle travels to the destination on the road, the predicted arrival time of the vehicle based on the power system temperature transition and upper limit power Set and output the predicted arrival time. In the second vehicle of the present invention, the vehicle travels by outputting power below the upper limit power set according to whether or not the temperature of the power system is below a predetermined temperature from the power source. By setting the predicted arrival time based on the transition of the temperature of the power system and the upper limit power when traveling, the predicted arrival time can be set more accurately than those not considering the transition of the temperature of the power system Can do. Here, in addition to the power source, the “power system” may include a drive unit that drives the power source. In addition, the “predetermined condition” includes, for example, a recommended condition for searching for a travel route so that the travel time is shortened in consideration of a legal speed in a route with a width of a predetermined value (for example, 5 m) or more. Toll road priority condition to search for a driving route, General road priority condition to search a driving route only on a general road without traveling on a toll road, Distance priority to search a driving route so that the driving distance is the shortest And a time priority condition for searching for a travel route so that the travel time is the shortest from the legal speed.

  Next, the best mode for carrying out the present invention will be described using examples.

  FIG. 1 is a configuration diagram showing an outline of a configuration of an electric vehicle 20 as an embodiment of the present invention. As shown in the drawing, the electric vehicle 20 of the embodiment includes a motor 22 that can input and output power to a drive shaft 32 connected to drive wheels 30 a and 30 b via a differential gear 31, and an inverter 24 that drives the motor 22. A battery 26 that exchanges electric power with the motor 22, an electronic control unit 40 that controls the entire vehicle, and a navigation system 60 that communicates with the electronic control unit 40.

  The motor 22 is configured as a PM type synchronous generator motor including a rotor having a permanent magnet attached to the outer peripheral surface and a stator around which a three-phase coil is wound. The inverter 24 is configured by six switching elements, converts the DC power supplied from the battery 26 into pseudo three-phase AC power, and supplies the pseudo three-phase AC power to the motor 22.

  The navigation system 60 includes a main body 62 incorporating a storage medium such as a hard disk in which map information 63 and the like are stored, and a control unit having a communication port, a GPS antenna 64 that receives information on the current position of the vehicle, A touch panel display 66 that displays various information such as information on the current position and a travel route to the destination and can input various instructions by the operator. When the destination is set by the operator, map information is provided. The travel route to the destination is searched based on 63, the current position of the vehicle and the destination, and the searched travel route is output to the display 66 for route guidance. The map information 63 stores service information (tourist information, parking lots, etc.) and road information for each predetermined travel section in a database. The road information includes distance information, width information, region Information (city area, suburb), type information (general road, highway), gradient information (road surface gradient θ), legal speed, number of traffic lights, etc. are included.

  The electronic control unit 40 is configured as a microprocessor centered on a CPU. In addition to the CPU 42, a ROM 44 for storing processing programs, a RAM 46 for temporarily storing data, an input / output port and a communication port (not shown), Is provided. The electronic control unit 40 includes a motor temperature tm from the temperature sensor 22 a that detects the temperature of the motor 22, a motor rotation speed Nm from the rotation speed sensor 23 that detects the rotation speed of the motor 22, and a temperature that detects the temperature of the battery 26. From the battery temperature tb from the sensor 26a, the current time timepr from the clock 50, the shift position SP from the shift position sensor 52 that detects the operation position of the shift lever 51, and the accelerator pedal position sensor 54 that detects the depression amount of the accelerator pedal 53 The accelerator pedal opening Acc, the brake pedal position BP from the brake pedal position sensor 56 for detecting the depression amount of the brake pedal 55, the vehicle speed V from the vehicle speed sensor 58, the vehicle weight M from the vehicle weight sensor 59, etc. are input via the input port. Have been entered. In the embodiment, the vehicle weight sensor 59 is related to the vehicle in addition to the weight of the vehicle body, such as the weight of the occupant, the weight of the load when there is a load or a load, and the weight of the load. The vehicle weight M that can be detected as the total weight including the weight to be used is used. Of course, this vehicle weight sensor 59 may be one that can detect only the weight of the vehicle body. From the electronic control unit 40, a switching control signal to the switching element of the inverter 24 for driving and controlling the motor 22 is output via an output port. The electronic control unit 40 is connected to the navigation system 60 (main body 62) via a communication port, and exchanges data with the navigation system 60.

  Next, the operation of the electric vehicle 20 configured as described above will be described. FIG. 2 is a flowchart showing an example of a drive control routine executed by the electronic control unit 40 of the embodiment, and FIG. 3 is a flowchart showing an example of a route output routine executed by the navigation system 60. Hereinafter, the drive control routine of FIG. 2 will be described first, and then the route output routine of FIG. 3 will be described. The drive control routine of FIG. 2 is repeatedly executed every predetermined time (for example, every several msec).

  When the drive control routine is executed, the CPU 42 of the electronic control unit 40 firstly, the accelerator opening degree Acc from the accelerator pedal position sensor 54, the vehicle speed V from the vehicle speed sensor 58, the motor rotational speed Nm from the rotational speed sensor 23, Data necessary for control, such as the motor temperature tm from the temperature sensor 22a, the battery temperature tb from the temperature sensor 26a, and the remaining capacity SOC of the battery 26, are input (step S100). Here, the remaining capacity SOC of the battery 26 is calculated based on an integrated value of the charge / discharge current Ib charged / discharged to / from the battery 26 detected by a current sensor (not shown) and is read at a predetermined address in the RAM 46. It was supposed to be entered by

  When the data is thus input, the required torque Td * to be output to the drive shaft 32 connected to the drive wheels 30a, 30b is set based on the accelerator opening Acc and the vehicle speed V (step S110). Here, in the embodiment, the required torque Td * is determined in advance by storing the relationship between the accelerator opening Acc, the vehicle speed V, and the required torque Td * in the ROM 44 as a required torque setting map. When the vehicle speed V is given, the corresponding required torque Td * is derived from the stored map and set. An example of the required torque setting map is shown in FIG.

  Subsequently, Wout is set as the output limit of the battery 26 based on the remaining capacity SOC of the battery 26 and the battery temperature tb (step S120), and the battery 26 is obtained by dividing the set output limit Wout by the motor rotation speed Nm. The torque limit Tmax1 of the motor 22 with respect to the output limit Wout is set (step S130). Here, in the embodiment, the output limit Wout sets the basic value Wouttmp of the output limit based on the battery temperature tb, sets the correction coefficient k based on the remaining capacity SOC of the battery 26, and sets the basic of the set output limit. The value Wouttmp is set by multiplying the correction coefficient k.

  Then, based on the motor temperature tm and the motor rotation speed Nm, the torque limit Tmax2 of the motor 22 with respect to the temperature rise of the motor 22 is set (step S140). Here, in the embodiment, the torque limit Tmax2 is set to the maximum torque at the motor rotation speed Nm at that time when the motor temperature tm is equal to or lower than the predetermined temperature tmref, and at that time when the motor temperature tm is higher than the predetermined temperature tmref. A value such as 50% or 60% of the maximum torque at the motor rotation speed Nm was set. Therefore, the predetermined temperature tmref is determined by the temperature characteristics of the motor 22 as a value near the upper limit temperature at which the motor 22 can be driven with the maximum torque at the motor rotation speed Nm at that time. The torque limit Tmax2 may be set so as to decrease as the motor temperature tm increases when the motor temperature tm is higher than the predetermined temperature tmref.

  When the torque limit Tmax1 and the torque limit Tmax2 are thus set, the minimum value among the required torque Td *, the torque limit Tmax1, and the torque limit Tmax2 is set as the torque command Tm * of the motor 22 (step S150), and the set torque command Switching control of the switching element of the inverter 24 is performed so that the motor 22 is driven at Tm * (step S160), and the drive control routine is terminated. By setting the torque command Tm * of the motor 22 in this way, the required torque Td * to be output to the drive shaft 32 can be set as a torque limited based on the output limit Wout of the battery 26 and the motor temperature tm. it can. Thereby, for example, when the motor temperature tm is higher than the predetermined temperature tmref, the excessive torque of the motor 22 is restricted by limiting the required torque Td * to 50% or 60% of the maximum torque at the motor rotation speed Nm at that time. The rise can be suppressed. At this time, the output from the motor 22 is relatively limited, so that the vehicle speed V is also limited.

  The drive control has been described above. Next, the operation of the navigation system 60 (main body 62) will be described. FIG. 3 is a flowchart showing an example of a route output routine executed by the navigation system 60. This routine is executed when the destination is set by the operator.

  When the route output routine is executed, the navigation system 60 first searches for a travel route from the current position of the vehicle to the destination based on predetermined conditions using the map information 63 (step S200). Here, as the predetermined condition, for example, a recommended condition for searching for a travel route so as to shorten the travel time in consideration of a legal speed in a route with a width of a predetermined value (for example, 5 m) or more, travel on a toll road as much as possible. Toll road priority condition for searching for a driving route, General road priority condition for searching a driving route only on a general road without traveling on a toll road, Distance priority for searching for a driving route so that the driving distance is the shortest There are time priority conditions for searching for a travel route so that the travel time is the shortest from the conditions and legal speed. In the embodiment, it is assumed that the travel route is searched by assuming that the operator selects the distance priority condition among these conditions.

  When the travel route from the current position of the vehicle to the destination is searched in this manner (hereinafter, this travel route is referred to as route 1), the vehicle weight M from the vehicle weight sensor 59 and the current time timepr from the clock 50 are determined by the electronic control unit 40. (Step S210) and both the temperature rise prediction determination flag F1 and the different route re-search determination flag F2 are reset to 0 (step S220). Here, the temperature rise prediction determination flag F1 is set to a value 0 as an initial value, and a peak of an integrated temperature tmadd, which will be described later as a motor temperature tm until the vehicle arrives at the destination, is higher than a predetermined temperature tmref. Sometimes a value 1 is set. The different route re-search determination flag F2 is a flag that is set to a value of 1 when a value of 0 is set as an initial value and another route different from the route 1 is searched again. Details of the temperature rise prediction determination flag F1 and the different route re-search determination flag F2 will be described later.

  Then, the process which extracts the driving | running route from the present position of a vehicle to the destination is performed (step S230). When this process is executed for the first time after this routine is executed, the retrieved route 1 is extracted. Then, the distance L and the road surface gradient θ of the next travel section from the current position of the vehicle for each predetermined travel section on the extracted travel route to the destination are input (step S240), and the input road surface Based on the gradient θ and the vehicle weight M, an increase temperature Δtm of the motor 22 predicted as a temperature change of the motor 22 when the vehicle travels in the target travel section is set (step S250) and the previous integrated temperature By adding the rising temperature Δtm to tmadd, the integrated temperature tmadd predicted as the motor temperature tm when the vehicle travels in the target travel section is calculated (step S260). Here, the rising temperature Δtm can be set based on the temperature characteristics of the motor 22, the performance of a cooling system (not shown) that cools the motor 22, and the like. In the embodiment, the road surface gradient θ, the vehicle weight M, and the rising temperature are set. The relationship with Δtm is determined in advance by experiments or the like and stored in the ROM 44 as a map for setting the rising temperature. When the road surface gradient θ and the vehicle weight M are given, the corresponding rising temperature Δtm is derived and set from the stored map. To do. An example of the rising temperature setting map is shown in FIG. As shown in the figure, the rising temperature Δtm is set so as to increase as the road surface gradient θ increases. This is because when the vehicle travels on an uphill road, the load on the motor 22 increases and the amount of heat generated also increases. Further, the rising temperature Δtm is set so as to increase as the vehicle weight M increases. This is because the load on the motor 22 increases when there is a load or when there is a towed object, and when a plurality of persons get on, compared to when there is no loaded object and no towed object. Because. In the embodiment, the integrated temperature tmadd is used as an initial value by inputting the motor temperature tm detected by the temperature sensor 22a when the routine is executed through communication via the electronic control unit 40.

  Next, the calculated integrated temperature tmadd is compared with a predetermined temperature tmref (step S270). Here, as described above, the predetermined temperature tmref is set as a value near the upper limit temperature at which the motor 22 can be driven with the maximum torque at the motor rotation speed Nm at that time. Therefore, the comparison between the integrated temperature tmadd and the predetermined temperature tmref in step S270 determines whether or not the output from the motor 22 is predicted to be greatly limited (the vehicle speed V is limited). When the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref, the required time Δtime is calculated as the time required for traveling in the travel section based on the calculated integrated temperature tmadd, the predetermined temperature tmref, and the distance L of the target travel section. (Step S310), and adding the calculated section required time Δtime to the previous travel time (previous time), the accumulated required time time as the time required to complete the travel of the target travel section from the current position of the vehicle. Is calculated (step S320). Here, for the section required time Δtime, for example, the basic section required time Δtimetmp is calculated by dividing the distance L by a predetermined speed (for example, 25 km / h for a general road, 70 km / h for a highway, etc.), and the integrated temperature tmadd Is set to a value 1 for the correction coefficient α when the temperature is equal to or lower than the predetermined temperature tmref. When the integrated temperature tmadd is higher than the predetermined temperature tmref, the correction coefficient α is set to a predetermined value greater than 1 (for example, 1.2, 1.3, 1.5). Etc.) and the basic section required time Δtimetmp is multiplied by the correction coefficient α. Thus, when the integrated temperature tmadd is higher than the predetermined temperature tmref, the predetermined value larger than the value 1 is set to the correction coefficient α as described above when the motor temperature tm is higher than the predetermined temperature tmref. This is because the section required time Δtime becomes larger than when the output is greatly limited and the motor temperature tm is equal to or lower than the predetermined temperature tmref. In the embodiment, when the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref, the correction coefficient α is set to a value 1 for the correction coefficient α, and when the integrated temperature tmadd is higher than the predetermined temperature tmref, the correction coefficient α is a predetermined value greater than 1. Although the value is set, when the motor temperature tm is higher than the predetermined temperature tmref, the integrated temperature tmadd is higher than the predetermined temperature tmref when the torque limit Tmax is set such that the motor temperature tm tends to decrease as the motor temperature tm increases. Sometimes, the higher the integrated temperature tmadd, the higher the temperature may be set. A value of 0 is set as the initial value for the total required time time.

  Then, it is determined whether or not there is a next travel section, that is, whether or not processing has been completed for all travel sections from the current position of the vehicle to the destination in the extracted route (step S330). If it is determined that there is, the process returns to step S240. In this way, the integrated temperature tmadd is calculated in order from the current position of the vehicle to the destination for each traveling section, and the calculated integrated temperature tmadd is compared with the predetermined temperature tmref to calculate the integrated required time time. When it is determined that there is no next travel section, that is, it is determined that the processing has been completed for all travel sections, the predicted arrival time time1 is set based on the total required time time and the current time timepr (step S340), The value of the different route re-search determination flag F2 is checked (step S350), and when the different route re-search determination flag F2 is 0, the value of the temperature rise prediction determination flag F1 is checked (step S360). Now, considering that the processing is completed when the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref for all travel sections in the route 1, the temperature rise prediction determination flag F1 and the separate route re-search determination flag F2 are both 0. Route 1 is output to the display 66 by a normal display method (for example, lighting display) and the predicted arrival time time1 of the route 1 is output to the display 66 (step S400), and the route output routine is terminated. Then, route guidance for the travel route (route 1) output to the display 66 is performed.

  When the integrated temperature tmadd is higher than the predetermined temperature tmref in step S270, the value of the another route re-search determination flag F2 is checked (step S280). Considering the case where route 1 is extracted in step S230, the re-search for another route has not been performed yet, so the another route re-search determination flag F2 is 0, and the value 1 is set to the temperature rise prediction determination flag F1. (Step S290) and the target travel section is stored (step S300). Then, the section required time Δtime is calculated based on the integrated temperature tmadd, the predetermined temperature tmref, and the distance L of the target travel section (step S310), and the calculated section required time Δtime is set to the previous travel time (previous time). In addition, the accumulated required time time is calculated (step S320), it is determined whether or not there is a next travel section (step S330), and when it is determined that there is a next travel section, the process returns to step S240, and the next When it is determined that there is no travel section, the estimated arrival time time 1 is set based on the total required time time and the current time time pr (step S340), and the value of the another route re-search determination flag F2 is checked (step S350). When the another route re-search determination flag F2 is 0, the temperature rise prediction determination flag The value of F1 is checked (step S360). Considering that there is a traveling section where the integrated temperature tmadd exceeds the threshold value tmref for the route 1, the temperature rise prediction determination flag F1 is a value 1. Therefore, using the map information 63, the current position to the destination is determined. Another route (hereinafter referred to as route 2) is searched again (step S370), and when it is determined that there is another route (route 2) (step S380), another route re-search determination flag The value 1 is set to F2 (step S390), and the process returns to step 230.

  Then, a travel route (route 2) from the current position of the vehicle to the destination is extracted (step S230), and an integrated temperature tmadd obtained by integrating the rising temperature Δtm based on the road surface gradient θ and the vehicle weight M of the next travel section is obtained. Comparing with the predetermined temperature tmref (steps S240 to S270), when the integrated temperature tmadd is less than the threshold value tmref, integration is performed by integrating the section required time Δtime based on the integrated temperature tmadd, the predetermined temperature tmref, and the distance L of the target travel section. The required time time is calculated (steps S310 and S320), it is determined whether or not there is a next travel section (step S330), and when it is determined that there is a next travel section, the process returns to step S240 and the next travel section is determined. If it is determined that there is not, the arrival prediction based on the accumulated required time time and the current time timepr Set the time Tmarr2 (step S340), checks the value of another route search determination flag F2 (step S350). Since the value 1 is set to the different route re-search determination flag F2, the travel section stored in step S300, that is, the travel section in which the integrated temperature tmadd exceeds the predetermined temperature tmref is the other travel section. Route 1 is output to the display 66 and route 2 is output to the display 66 so as to be displayed in a display method (for example, blinking display) different from the display method (for example, lighting display). , Timer2 are output to the display 66 (step S410), and the route output routine is terminated. Now, considering that the operator has selected the distance priority condition, route 1 has a traveling section in which the motor temperature tm is higher than the predetermined temperature tmref before the vehicle reaches the destination although the traveling distance is shortest. The route 2 is a travel route predicted to be present, and the route 2 is a travel route that is longer than the route 1 but is predicted to have no travel section in which the motor temperature tm exceeds the predetermined temperature tmref. Therefore, by outputting both routes (routes 1 and 2) and the predicted arrival times time1 and time2 of both routes to the display 66, the operator can move the motor 22 before reaching the destination although the travel distance is shortest. The output from the motor 22 may be greatly limited by the torque limit Tmax2 of the motor 22 with respect to the temperature rise of the vehicle (Route 1 or the vehicle speed V may be limited). It is possible to travel by selecting the route 2 that is unlikely to be greatly restricted from the output from the route 2 in consideration of the predicted arrival times time1 and time2. Thereby, the convenience of the operator can be further improved. In addition, regarding route 1, if a traveling section in which accumulated temperature tmadd exceeds predetermined temperature tmref is output to display 66 by a display method different from the display method of other traveling sections, the traveling section is recognized by the driver. Can be made. When route 1 or route 2 is selected by the operator in a state where the route 1 and route 2 and estimated arrival times time 1 and time 2 are output in this way, the selected route and the estimated arrival time of the route are displayed on the display 66. To route guidance. Note that the routes 1 and 2 and the predicted arrival times time1 and time2 of the routes 1 and 2 may be continuously output to the display 66 until the operator selects or does not select the route 1 or the route 2.

  When the integrated temperature tmadd is greater than or equal to the threshold value tmref in step S270, the value of the separate route re-search determination flag F2 is checked (step S280), and it is considered that the separate route re-search determination flag F2 is now 1, so step S370 The subsequent processing is executed. In this case, another travel route that has been searched again is updated as route 2 and the same processing is performed. In this way, the travel route (route 2) in which the peak of the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref is searched again. As a result of searching for another travel route in step S340, if it is determined in step S380 that there is no other travel route (route 2), the travel section stored in step S300, that is, the integrated temperature tmadd is equal to the predetermined temperature tmref. Route 1 is output to the display 66 and route 1 is displayed so that the travel section that has exceeded the other travel section is displayed in a display method (for example, blinking display) different from the display method (for example, lighting display) of the other travel section. Is output to the display 66 (step S420), and the route output routine is terminated. Then, route guidance for the travel route (route 1) output to the display 66 is performed.

  FIG. 6 is an explanatory diagram showing an example of a change in the integrated temperature tmadd (motor temperature tm) calculated based on the road surface gradient θ and the vehicle weight M for each travel section from the current position of the vehicle to the destination. is there. In the figure, a circle indicates a destination. A solid line and a dotted line indicate how the accumulated temperature tmadd changes with respect to the route 1, and a one-dot chain line indicates how the accumulated temperature tmadd changes with respect to the route 2. When the destination is set by the operator, the route 1 is searched as a travel route from the current position of the vehicle to the destination, and the searched route 1 is extracted (steps S200 and S230), and the travel section in the extracted route 1 is extracted. Every time, the rising temperature Δtm is set based on the road surface gradient θ and the vehicle weight M, and this is integrated to calculate the integrated temperature tmadd (steps S240 to S260). At this time, the section required time Δtime is calculated using the magnitude relationship between the integrated temperature tmadd and the predetermined temperature tmref, and the integrated required time time is also calculated by integrating the calculated time (steps S310 and S320). In the example of FIG. 6, since the integrated temperature tmadd is higher than the predetermined temperature tmref in the travel section x to the travel section (x + j) of the route 1, that is, the peak of the integrated temperature tmadd of the route 1 is higher than the predetermined temperature tmref. On the other hand, after calculating the integrated temperature tmadd in order to the destination and setting the predicted arrival time time1 (steps S260 and S340), the route 2 is searched again as another route to the destination and the searched route 2 is extracted again. (Steps S340 and S230), and similarly to the route 1, the accumulated temperature tmadd is calculated by accumulating the rising temperature Δtm (Steps S240 to S260), and all the traveling from the current position to the destination with respect to the route 2 is performed. If the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref in the section, that is, the integrated temperature tm of the route 2 If the peak of dd is equal to or lower than the predetermined temperature tmref, the predicted arrival time time2 of route 2 is set (step S340), and the predicted arrival times time1 and time2 of routes 1 and 2 and 1 and 2 are output to the display 66 ( Step S410). At this time, with respect to route 1, the travel section x to the travel section (x + i) are displayed by a display method different from the display method (for example, lighting display) of other travel sections such as blinking display. An example of the display content displayed on the display 66 at this time is shown in FIG. In the figure, the circle indicates the destination set by the operator, and the square indicates the current position of the vehicle. Also, in the figure, the solid line and dotted line path ABCDE is route 1, and the alternate long and short dash line path ABCFG is route 2. Note that the dotted traveling path BC in the route 1 is a traveling section in which the integrated temperature tmadd is higher than the predetermined temperature tmref. As described above, when one of the routes 1 and 2 is selected by the operator in a state where the predicted arrival times time1 and time2 of the routes 1 and 2 and the routes 1 and 2 are output to the display 66, Displays the selected route and the estimated arrival time for that route.

  According to the electric vehicle 20 of the embodiment described above, when the destination is set, the travel route (route 1) from the current position of the vehicle to the destination is determined according to the conditions selected by the operator using the map information 63. Based on the road surface gradient θ and the vehicle weight M of the traveling section, a transition of the integrated temperature tmadd (motor temperature tm) when traveling to the destination is predicted based on the road surface gradient θ and the vehicle weight M, and the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref. Therefore, the predicted arrival time time 1 to the destination is set, so that the predicted arrival time time 1 can be calculated more appropriately than when the transition of the integrated temperature tmadd is not considered. In addition, according to the electric vehicle 20 of the embodiment, since the integrated temperature tmadd is calculated using the rising temperature Δtm based on the road surface gradient θ and the vehicle weight M of the traveling section, the rising temperature based only on the road surface gradient θ of the traveling section. The integrated temperature tmadd can be calculated more appropriately as compared with the one that calculates the integrated temperature tmadd using Δtm.

  In addition, according to the electric vehicle 20 of the embodiment, the peak of the integrated temperature tmadd (motor temperature tm) with respect to the travel route (route 1) from the current position of the vehicle searched for according to the conditions selected by the operator to the destination (route 1). When the temperature is higher than the predetermined temperature tmref, the travel route (route 2) in which the peak of the integrated temperature tmadd until the vehicle arrives at the destination is equal to or lower than the predetermined temperature tmref is searched again, and the arrival of routes 1, 2 and routes 1, 2 Since the predicted times time1 and time2 are output to the display 66, the operator can select the travel route in consideration of the predicted arrival times time1 and time2 of the routes 1 and 2, thereby improving the convenience for the operator. Can do. Moreover, according to the electric vehicle 20 of the embodiment, since the traveling section where the integrated temperature tmadd is higher than the predetermined temperature tmref is output to the display 66 by a display method different from other traveling sections, the traveling section is displayed to the driver. Can be recognized.

  In the electric vehicle 20 of the embodiment, the section required time Δtime is set using the magnitude relationship between the integrated temperature tmadd and the predetermined temperature tmref. In addition to this, the section required in consideration of road information and traffic jam information. The time Δtime may be set. In this case, the basic section required time Δtimetmp is calculated by dividing the distance L by a predetermined speed, and the basic section required time Δtimetmp is multiplied by the correction coefficient α based on the integrated temperature tmadd and the correction coefficient β based on road information and traffic jam information. The section required time Δtime may be calculated as follows. Here, for example, as in the embodiment, the correction coefficient α is set to 1 when the integrated temperature tmadd is equal to or lower than the predetermined temperature tmref, and is set to the correction coefficient α when the integrated temperature tmadd is higher than the predetermined temperature tmref. A predetermined value larger than the value 1 (for example, 1.2, 1.3, 1.5, etc.) can be set. The correction coefficient β is, for example, a correction coefficient β1 that is set to increase as the width is narrowed, a correction coefficient β2 that is set to a value that is larger in the city than in the suburbs, and a value 1 other than in the congestion section. It can be set by multiplying by a correction coefficient β3 that is set to a value of 1.5 or 2 in a traffic jam section.

  In the electric vehicle 20 of the embodiment, the section required time Δtime is set using the magnitude relationship between the integrated temperature tmadd and the predetermined temperature tmref. Instead, the integrated temperature tmadd and the torque limit Tmax2 are used. The section required time Δtime may be set. For example, when the maximum torque at the motor speed Nm at that time is set to the torque limit Tmax2 of the motor 22, the value 1 is set to the correction coefficient γ, and a torque smaller than the maximum torque at the motor speed Nm at that time is set. When the torque limit Tmax2 of the motor 22 is set, the correction coefficient γ is set so that the smaller the torque limit Tmax2 is, the larger the value 1 is, and the interval is obtained by multiplying the basic interval required time Δtimetmp based on the distance L by the correction coefficient γ. The required time Δtime may be calculated.

  In the electric vehicle 20 of the embodiment, the rising temperature Δtm is set based on the road surface gradient θ and the vehicle weight M, and the accumulated temperature tmadd is calculated by integrating the rising temperature Δtm. In the case of road information, it is set in consideration of distance, area information (city area, suburb), classification method (general road, highway), traffic information, etc., instead of or in addition to road surface gradient θ. Also good. Further, the rising temperature Δtm may be set using only information about the road such as the road surface gradient θ without considering the vehicle weight M.

  In the electric vehicle 20 of the embodiment, the transition of the integrated temperature tmadd (motor temperature tm) until the vehicle arrives at the destination is predicted based on the road surface gradient θ and the vehicle weight M for each traveling section. Instead of the motor temperature tm, the transition of the integrated temperature tmadd may be predicted using the temperature of the inverter 24, the temperature of the cooling water that cools the motor 22 and the inverter 24, and the like.

  In the electric vehicle 20 of the embodiment, the transition of the integrated temperature tmadd and the predicted arrival time time1 are set only when the destination is set. However, the destination is set while the destination is set. It may be repeated every predetermined timing, for example, every predetermined time (for example, every several hundred msec) or every time the vehicle stops.

  In the electric vehicle 20 of the embodiment, when the peak of the accumulated temperature tmadd when the vehicle travels to the destination on the travel route (route 1) is higher than the predetermined temperature tmref, the accumulated temperature tmadd until the vehicle arrives at the destination. Although the travel route (route 2) in which the peak is equal to or lower than the predetermined temperature tmref is searched, the route 2 may not be searched. In this case, although the route 1 and the predicted arrival time timer1 when traveling along the route 1 are output, the estimated arrival time time1 of the route 1 is more appropriate than that not considering the transition of the integrated temperature tmadd. The time can be output.

  In the electric vehicle 20 of the embodiment, the traveling section where the integrated temperature tmadd is higher than the predetermined temperature tmref is output to the display 66 by a display method different from other traveling sections. It may be output. In this case, it is also possible to cause the driver to recognize a travel section where the integrated temperature tmadd is higher than the predetermined temperature tmref by voice or the like.

  In the embodiment, the electric vehicle 20 including the motor 22 that can input and output power to the drive shaft 32 and the battery 26 that exchanges electric power with the motor 22 has been described, but in addition to the motor 22 and the battery 26, FIG. As exemplified in the electric vehicle 120 of the modified example, it may be applied to the electric vehicle 120 in which the engine 122 and the motor 124 are connected to the drive shaft 32 via the planetary gear mechanism 126, or the modified example of FIG. As illustrated in the electric vehicle 220, the engine includes an engine 222, an inner rotor 232 connected to the crankshaft of the engine 222, and an outer rotor 234 connected to the drive shaft 32 connected to the drive wheels 30a and 30b. A counter-rotor motor 230 that transmits a part of the power of the engine 222 to the drive shaft 32 and converts the remaining power into electric power; It may alternatively be applied to an electric vehicle 220 equipped. Moreover, although the Example demonstrated the electric vehicle 20 which can drive | work with the motive power from the motor 22 as a motive power source, you may apply to the motor vehicle which can drive | work with the motive power from the internal combustion engine as a motive power source.

  The best mode for carrying out the present invention has been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various modifications can be made without departing from the gist of the present invention. Of course, it can be implemented in the form.

It is a block diagram which shows the outline of a structure of the electric vehicle 20 as one Example of this invention. It is a flowchart which shows an example of the drive control routine performed by the electronic control unit 40 of an Example. It is a flowchart which shows an example of the route output routine performed by the navigation system 60 of an Example. It is explanatory drawing which shows an example of the map for request | requirement torque setting. It is explanatory drawing which shows an example of the map for a raise temperature setting. It is explanatory drawing which shows an example of the mode of change of the integrated temperature tmadd (motor temperature tm) at the time of drive | working the extracted route | root from the present position of a vehicle to the destination. It is explanatory drawing which shows an example of the display content displayed on the display. It is a block diagram which shows the outline of a structure of the electric vehicle 120 of a modification. It is a block diagram which shows the outline of a structure of the electric vehicle 220 of a modification.

Explanation of symbols

20, 120, 220 Electric vehicle, 22 Motor, 22a Temperature sensor, 23 Speed sensor, 24 Inverter, 26 Battery, 26a Temperature sensor, 30a, 30b Drive wheel, 31 Differential gear, 32 Drive shaft, 40 Electronic control unit, 42 CPU, 44 ROM, 46 RAM, 50 clock, 51 shift lever, 52 shift position sensor, 53 accelerator pedal, 54 accelerator pedal position sensor, 55 brake pedal, 56 brake pedal position sensor, 58 vehicle speed sensor, 59 vehicle weight sensor, 60 Navigation system, 62 body, 63 map information, 64 GPS antenna, 66 display, 122, 222 engine, 124 motor, 126 planetary gear mechanism, 230 pair rotor motor, 232 inner rotor, 234 Outer rotor.

Claims (9)

A vehicle including a power source capable of outputting power for traveling,
Map information storage means for storing map information including information about roads;
Current position detecting means for detecting the current position of the vehicle;
When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as the upper limit power that is the upper limit of power that can be output from the power source, and when the temperature of the power system is higher than the predetermined temperature, the predetermined power is set. Upper limit power setting means for setting power smaller than power as the upper limit power;
When a destination is set, a road search means for searching for a road from the detected current position of the vehicle to the set destination according to a predetermined condition using the stored map information;
Using the stored map information, a temperature transition prediction means for predicting a transition of the temperature of the power system when the vehicle travels to the set destination on the searched travel path;
Based on the predicted transition of the temperature of the power system and the set upper limit power, to the destination of the vehicle when the vehicle travels on the searched travel route to the set destination A predicted arrival time output means for setting the predicted arrival time and outputting the set predicted arrival time;
Control means for controlling the power source so as to travel by outputting power below the set upper limit power from the power source;
A vehicle comprising: The temperature transition prediction unit of the vehicle according to claim 1, wherein the road surface gradient based on information about a means for predicting a transition of temperature of the power system of the stored map information. The vehicle according to claim 1 or 2 ,
Vehicle weight detection means for detecting the vehicle weight, which is the weight of the vehicle,
The temperature transition predicting means is means for predicting a temperature transition of the power system based on the stored map information and the detected vehicle weight. A vehicle according to any one of claims 1 to 3 ,
When the temperature peak of the power system predicted by the temperature transition prediction unit is higher than the predetermined temperature, the power system of the power system when the vehicle predicted by the temperature transition prediction unit travels to the set destination is set. A second travel path search means for searching for a second travel path in which a temperature peak is equal to or lower than the predetermined temperature using the stored map information;
The predicted arrival time output means sets the searched second travel path predicted by the temperature transition prediction means when the vehicle sets the second travel path when the second travel path is searched by the second travel path search means. Based on the transition of the temperature of the power system when traveling to the destination, the second estimated time of arrival of the vehicle at the destination when the vehicle travels on the second travel path to the destination A vehicle that is set as a predicted travel route arrival time and outputs the set predicted arrival time and the set second predicted travel route arrival time. The vehicle according to any one of claims 1 to 4 , wherein the power source is an electric motor capable of outputting driving power. The power source is connected to three shafts of an internal combustion engine, an output shaft of the internal combustion engine, an axle side, and a rotation shaft, and a remaining shaft based on power input / output to / from any two of the three shafts A power source comprising: a three-axis power input / output means for inputting / outputting power to / from the motor; a generator capable of inputting / outputting power to / from the rotating shaft; and an electric motor capable of inputting / outputting power to the axle side. The vehicle according to any one of 1 to 4 . The vehicle according to claim 5 or 6, wherein the temperature transition predicting means is means for predicting a transition of the temperature of the electric motor as a transition of the temperature of the power system. The vehicle according to claim 5 or 6 , wherein
The power system includes drive means for driving the electric motor in addition to the power source,
The temperature transition prediction means is means for predicting a temperature transition of the driving means as a temperature transition of the power system. A method for controlling a vehicle including a power source capable of outputting driving power,
(A) When the temperature of the power system including the power source is equal to or lower than a predetermined temperature, the predetermined power is set as an upper limit power that is an upper limit of power that can be output from the power source, and the temperature of the power system is higher than the predetermined temperature Sometimes a power smaller than the predetermined power is set as the upper limit power,
(B) When a destination is set, a travel route from the current position of the vehicle to the set destination is searched according to a predetermined condition using map information including information about the road;
(C) using the map information, predicting a transition of the temperature of the power system when the vehicle travels on the searched travel route to the set destination;
(D) Based on the predicted transition of the temperature of the power system and the set upper limit power, the vehicle when the vehicle travels on the searched travel route to the set destination. Set the estimated arrival time to the destination and output the set estimated arrival time,
(E) A vehicle control method for controlling the power source so as to travel by outputting power less than the set upper limit power from the power source.

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