JP6776989B2 - 走行制御装置 - Google Patents
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- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Description
101:状態検出部
102:モード設定部
103:情報提供部
Claims (11)
- 車両の自動運転システムに適用される走行制御装置であって、
前記自動運転システムの電源として蓄電装置及び発電装置をそれぞれ少なくとも1つ含むと共に前記蓄電装置及び前記発電装置が合算して少なくとも3つ以上設けられており、それぞれについて正常状態であるか異常状態であるかを検出する状態検出部(101)と、
前記状態検出部が電源の少なくとも1つが異常状態にあることを検出した場合に、異常状態にある電源の種類に対応したフェールオペレーションモードを設定するモード設定部(102)と、を備え、
前記状態検出部が、電源の少なくとも1つが異常状態であり、1つ以上の蓄電装置及び1つ以上の発電装置が正常状態であることを検出した場合に、
前記モード設定部は、正常状態にある蓄電装置のSOCが通常時よりも高くなるように正常状態にある発電装置を駆動させるフェールオペレーションモードを設定する走行制御装置。 - 請求項1に記載の走行制御装置であって、
前記状態検出部が、自動運転に必要な機能群の少なくとも1つに電力を供給する正常状態の電源が蓄電装置又は発電装置のいずれかのみになったことを検出した場合に、
前記モード設定部は、正常状態の電源が蓄電装置のみである場合と、正常状態の電源が発電装置のみである場合とで、互いに異なるフェールオペレーションモードを設定する、走行制御装置。 - 請求項2に記載の走行制御装置であって、
前記状態検出部が、自動運転に必要な機能群の少なくとも1つに電力を供給する正常状態の電源が蓄電装置のみになったことを検出した場合に、
前記モード設定部は、正常状態にある蓄電装置のSOCに応じてフェールオペレーションモードを設定する、走行制御装置。 - 請求項3に記載の走行制御装置であって、
前記モード設定部は、正常状態にある蓄電装置のSOCが周囲の車両の状態から計画される車線変更に必要な電力量よりも大きい状態であって車線変更可能な状態であれば、車両を路肩寄りの車線に移動させる一方で、正常状態にある蓄電装置のSOCが前記車線変更に必要な電力量よりも小さい状態であって車線変更不可能な状態であれば、車両をレーンキープさせる、走行制御装置。 - 請求項4に記載の走行制御装置であって、
前記モード設定部は、車両に搭載されているエンジンの始動を抑制する、走行制御装置。 - 請求項4又は5に記載の走行制御装置であって、
前記モード設定部は、自動運転による退避走行に不要な負荷への電力供給を停止する、走行制御装置。 - 請求項3に記載の走行制御装置であって、
前記モード設定部は、正常状態にある蓄電装置が1つのみ、又は正常状態にある蓄電装置のSOC合算量が所定量より少なくなった場合に、正常状態にある蓄電装置のSOCから推定して移動可能であって安全が確保された場所に車両を停止させる、走行制御装置。 - 請求項2に記載の走行制御装置であって、
前記状態検出部が、自動運転に必要な機能群の少なくとも1つに電力を供給する正常状態の電源が発電装置のみになったことを検出した場合に、
前記モード設定部は、発電装置による発電を継続させつつ、車速を制限するか又は電気負荷の高い装置の作動を制限する、走行制御装置。 - 請求項2に記載の走行制御装置であって、
前記状態検出部が、自動運転に必要な機能の少なくとも1つに電力を供給する正常状態の電源が発電装置のみになったことを検出した場合に、
前記モード設定部は、発電装置による発電を継続させつつ、操舵角速度を制限するか、制動力を出力するための負荷発生を他の高負荷発生と重ならないようにする、走行制御装置。 - 請求項1から9のいずれか1項に記載の走行制御装置であって、
前記状態検出部及び前記モード設定部は、自動運転開始時にそれぞれ所定の処理を実行する、走行制御装置。 - 請求項1から10のいずれか1項に記載の走行制御装置であって、
更に、前記状態検出部が異常状態を検出した場合に、異常状態に応じた情報を提供する情報提供部(103)を備える、走行制御装置。
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