JP7342506B2 - Vehicle control device - Google Patents

Description

The present disclosure relates to a vehicle control device.

Conventionally, there is a vehicle control device described in Patent Document 1 below. The control device described in Patent Document 1 executes so-called coasting travel control that causes the vehicle to coast. Specifically, the control device causes the vehicle to coast by cutting off power transmission between the vehicle's power source and the wheels while coasting travel control is being executed. While the vehicle is coasting, the fuel of the vehicle is less likely to be consumed, so it is possible to improve the fuel efficiency of the vehicle.

Japanese Patent Application Publication No. 2010-525252

By the way, when a vehicle is coasting on flat ground or uphill, the vehicle speed gradually decreases over time. Therefore, if the vehicle occupants are not aware that coasting control is being executed, and the vehicle speed gradually decreases due to coasting, the vehicle occupants may feel uncomfortable, such as thinking that some kind of malfunction has occurred in the vehicle. There is. Further, when the vehicle is coasting downhill, the vehicle speed gradually increases over time, and the occupants may feel uncomfortable in this situation as well.

Note that this problem is not limited to vehicles that perform coasting control, but also applies to vehicles that perform driving energy reduction control that automatically controls the driving of the vehicle so that the vehicle's driving energy consumption is reduced. This is a common issue.
The present disclosure has been made in view of these circumstances, and its purpose is to provide a vehicle control device that can reduce the sense of discomfort felt by occupants regarding the vehicle running state when running energy reduction control is being executed. Our goal is to provide the following.

A vehicle control device that solves the above problem includes a travel control section (450) and a notification control section (451). The driving control unit executes driving energy reduction control that automatically controls the driving of the vehicle so that the consumption of driving energy of the vehicle is reduced. The notification control unit notifies virtual information through a notification device (53) provided in the vehicle when executing the driving energy reduction control. The notification device is a display device (53) that can display images. The notification control unit displays, as virtual information, a virtual video of another running vehicle or a virtual video of scenery outside the vehicle that allows the occupants of the vehicle to recognize that the vehicle is traveling at a speed different from the actual travel speed. Display on the device.

According to this configuration, when the travel control unit executes the travel energy reduction control, the virtual information notified by the notification device makes it difficult for the occupant to recognize a change in the travel speed of the vehicle. Therefore, it is possible to reduce the discomfort felt by the occupant regarding the running state of the vehicle.
Note that the above-mentioned means and the reference numerals in parentheses described in the claims are examples showing correspondences with specific means described in the embodiments to be described later.

According to the present disclosure, it is possible to provide a vehicle control device that can reduce an occupant's sense of discomfort regarding the running state of the vehicle when running energy reduction control is being executed.

FIG. 1 is a block diagram showing a schematic configuration of a vehicle according to a first embodiment. FIG. 2 is a side view showing the side structure of the vehicle according to the first embodiment. FIG. 3 is a flowchart showing the procedure of processing executed by the notification control unit of the first embodiment. FIG. 4 is a flowchart illustrating the procedure of processing executed by the notification control unit of a modification of the first embodiment. FIG. 5 is a flowchart showing the procedure of processing executed by the notification control unit of the second embodiment.

Hereinafter, embodiments of a vehicle control device will be described with reference to the drawings. In order to facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and redundant description will be omitted.
<First embodiment>
First, a schematic configuration of a vehicle in which the control device of the first embodiment is mounted will be described. As shown in FIG. 1, the vehicle 10 of this embodiment is a so-called hybrid vehicle that uses a motor generator 20 and an internal combustion engine 30 as driving sources for driving. The vehicle 10 is a passenger vehicle such as a bus that can carry a large number of users. Vehicle 10 includes a motor generator 20 and an internal combustion engine 30, as well as an inverter device 21, a battery 22, and a clutch 23. In this embodiment, the vehicle 10 corresponds to the host vehicle.

The internal combustion engine 30 has a piston that reciprocates by burning fuel such as gasoline, and the reciprocating movement of the piston rotates the first power transmission shaft 29a.
The battery 22 consists of a secondary battery such as a lithium ion battery that can be charged and discharged. Inverter device 21 converts DC power charged in battery 22 to AC power, and supplies the converted AC power to motor generator 20 . The motor generator 20 is driven based on AC power supplied from the inverter device 21, and rotates the second power transmission shaft 29b. The second power transmission shaft 29b is connected to the first power transmission shaft 29a via the clutch 23.

The clutch 23 has a connected state in which the first power transmission shaft 29a and the second power transmission shaft 29b are connected to each other so that power can be transmitted between them, and a state in which the first power transmission shaft 29a and the second power transmission shaft 29b are connected to each other so that power can be transmitted between them. By releasing the connection with 29b, it is possible to transition to a disconnected state in which transmission of power between them is interrupted. When the clutch 23 is in the connected state, power can be applied to the second power transmission shaft 29b from at least one of the internal combustion engine 30 and the motor generator 20.

The power applied to the second power transmission shaft 29b is input to the transmission 31. The transmission 31 speeds up or decelerates the power input from at least one of the internal combustion engine 30 and the motor generator 20 via the second power transmission shaft 29b, and transmits it to the third power transmission shaft 29c. The power transmitted to the third power transmission shaft 29c is transmitted to the wheels 28 of the vehicle 10 via the differential gear 26 and the drive shaft 27, and the wheels 28 rotate. The vehicle 10 travels based on this rotation of the wheels 28.

The motor generator 20 performs regenerative power generation when the vehicle 10 is braked. That is, the braking force acting on the wheels 28 when braking the vehicle 10 is input to the motor generator 20 via the drive shaft 27, differential gear 26, third power transmission shaft 29c, transmission 31, and second power transmission shaft 29b. be done. Motor generator 20 can generate electricity based on the power input from wheels 28 . The electric power generated by the motor generator 20 is converted from AC power to DC power by the inverter device 21 and charged into the battery 22 .

The vehicle 10 includes an MG (Motor Generator) ECU (Electronic Control Unit) 40, an engine ECU 41, an HV (Hybrid Vehicle) ECU 42, a brake ECU 43, a steering ECU 44, a travel control ECU 45, a traffic condition acquisition ECU 46, and a notification It further includes an ECU 47, an on-vehicle sensor 48, a surroundings detection sensor 49, a position sensor 50, a map information storage device 51, a communication section 52, and a display device 53. Each ECU 40 to 47 is a control device mainly composed of a microcomputer having a storage device such as ROM or RAM and a CPU, and executes various controls by executing programs stored in advance in the storage device. do.

Engine ECU 41 controls the driving of internal combustion engine 30 in an integrated manner. Engine ECU 41 controls driving of internal combustion engine 30 based on commands from HVECU 42, for example. Specifically, HVECU 42 transmits a power command value that is a command value of output power of internal combustion engine 30 to engine ECU 41 . When engine ECU 41 receives a power command value transmitted from HVECU 42, engine ECU 41 controls internal combustion engine 30 so that power according to this power command value is output. Further, the engine ECU 41 controls switching of the clutch 23 between a connected state and a disconnected state based on a command from the HVECU 42.

MGECU 40 controls the operation of motor generator 20 by controlling the drive of inverter device 21 based on commands from HVECU 42 . For example, the HVECU 42 transmits a power command value, which is a command value of the output power of the motor generator 20, to the MGECU 40. Upon receiving the power command value transmitted from the HVECU 42, the MGECU 40 controls the driving of the inverter device 21 so that the motor generator 20 outputs power according to the power command value. Furthermore, when the vehicle 10 is braked such as during deceleration, the MGECU 40 drives the inverter device 21 so that the battery 22 is charged with the electric power generated by the regenerative power generation of the motor generator 20.

The HVECU 42 calculates a power command value necessary to realize driving according to the driving request of the driver, for example, a power command value according to the amount of depression of the accelerator pedal, and also transmits the calculated power command value to the MGECU 40 and the engine. By transmitting the information to the ECU 41, the vehicle 10 can be driven in accordance with the driver's driving request. Furthermore, the HVECU 42 realizes running of the vehicle 10 according to the request from the travel control ECU 45 by transmitting a power command value according to the request from the travel control ECU 45 to the MGECU 40 and the engine ECU 41.

The brake ECU 43 centrally controls the brake system of the vehicle 10.
Steering ECU 44 centrally controls the steering device of vehicle 10 .
The travel control ECU 45 executes travel control to automatically cause the vehicle 10 to travel along a predetermined travel route. Specifically, the travel control ECU 45 receives output signals from the on-vehicle sensor 48, the surroundings detection sensor 49, and the position sensor 50.

The on-vehicle sensor 48 detects various state quantities of the vehicle 10 and outputs a signal corresponding to the detected state quantity of the vehicle 10 to the travel control ECU 45. The state quantity detected by the on-vehicle sensor 48 includes various information such as the traveling speed and acceleration of the vehicle 10, and the amount of depression of the accelerator pedal.

The surroundings detection sensor 49 is a sensor that detects information about the surroundings of the vehicle 10. The information acquired by the surrounding detection sensor 49 includes information on vehicles traveling around the vehicle 10, obstacles located in front of the vehicle 10, traffic lights located in front of the vehicle 10, and the driving lane in which the vehicle 10 is traveling. Contains lane information, etc. The surrounding detection sensor 49 is configured by, for example, a camera, an infrared sensor, or a radar device. The surroundings detection sensor 49 outputs detected surrounding information of the vehicle 10 to the travel control ECU 45.

The position sensor 50 acquires the current location of the vehicle 10 using GPS (Global Positioning System) or the like. The position sensor 50 outputs the acquired information on the current location of the vehicle 10 to the travel control ECU 45.
Map information is stored in the map information storage device 51 in advance. The map information stored in the map information storage device 51 includes, in addition to road information, information on the driving route of the vehicle 10, information on the location of the stop of the vehicle 10, information on the place where the vehicle 10 is legally required to stop, etc. It is included. Places where you are legally required to stop include stop lines at traffic lights, stop lines at railroad crossings, temporary stop lines, etc. The travel control ECU 45 can read this map information from the map information storage device 51.

The driving control ECU 45 reads information on the driving route of the vehicle 10 from the map information storage device 51 and also reads information on the driving route of the vehicle 10 based on the current location of the vehicle 10 detected by the position sensor 50 and surrounding information of the vehicle 10 detected by the surroundings detection sensor 49. Then, control command values such as a target value of acceleration of the vehicle 10 and a target value of the steering angle necessary for automatically driving the vehicle 10 along the travel route are calculated. Travel control ECU 45 transmits the calculated control command value to HVECU 42, brake ECU 43, and steering ECU 44. Based on this control command value, the HVECU 42, brake ECU 43, and steering ECU 44 control the internal combustion engine 30, motor generator 20, braking device, and steering device of the vehicle 10, thereby driving the vehicle 10 along a travel route at a predetermined speed. automatically run along the

The travel control ECU 45 also executes so-called coasting control, which causes the vehicle 10 to coast while the vehicle 10 is automatically traveling. Specifically, when a railroad crossing is detected in front of the vehicle 10 by the surrounding detection sensor 49, the travel control ECU 45 calculates the distance from the current location of the vehicle 10 to the railroad crossing, and calculates the distance from the current location of the vehicle 10 to the railroad crossing by using the on-vehicle sensor 48. Detect 10 speeds. Then, based on the calculated distance to the railroad crossing and the current speed of the vehicle 10, the travel control ECU 45 calculates a coasting start point where the vehicle can stop immediately before the railroad crossing. When the travel control ECU 45 determines that the vehicle 10 has reached the coasting start point, it starts coasting control. In coasting control, travel control ECU 45 first sends to HVECU 42 a command to stop motor generator 20 and a command to disengage clutch 23. As a result, HVECU 42 transmits a command to stop motor generator 20 to MGECU 40, and also transmits a command to engine ECU 41 to disengage clutch 23. As a result, motor generator 20 stops and the mechanical connection between internal combustion engine 30 and wheels 28 is released, so vehicle 10 starts coasting. After the vehicle 10 starts coasting, it stops just before the stop line of the railroad crossing.

Note that the travel control ECU 45 performs similar coasting control not only at railroad crossings, but also at various locations where the vehicle is legally required to stop, such as at the stop line of a traffic light when a red light is on, or at a temporary stop line. In this embodiment, coasting control corresponds to driving energy reduction control that automatically controls the driving of the vehicle so that the consumption of driving energy of the vehicle is reduced.

The notification ECU 47 provides various notifications to the occupants of the vehicle 10 by displaying images on a display device 53 provided in the vehicle 10. The display device 53 of this embodiment is provided in each window 11 of the vehicle 10, as shown in FIG. 2, and displays virtual information such as moving images and still images on the window 11. The virtual information displayed by the display device 53 includes, for example, a moving image of a vehicle other than the vehicle 10 traveling, a scenery outside the vehicle, and the like. The notification ECU 47 normally does not display images on the display device 53. In this case, the occupants of the vehicle 10 can see the outside scenery through the window 11, similar to a normal window. The notification ECU 47 displays virtual information on the display device 53 in response to a request from the travel control ECU 45. In this embodiment, the display device 53 corresponds to a notification device.

As shown in FIG. 1, the traffic condition acquisition ECU 46 acquires information regarding the current traffic condition from a server device 61 that is separate from the vehicle 10. Specifically, the traffic condition acquisition ECU 46 can wirelessly communicate with the server device 61 by using the network line 60 via the communication unit 52 provided in the vehicle 10. The server device 61 acquires the state quantities of each vehicle traveling on the road through a vehicle monitoring device provided on the road. The information acquired by the server device 61 includes traffic jam information, information on the average vehicle speed of vehicles at each point, and the like. The traffic condition acquisition ECU 46 sequentially acquires information regarding the traffic condition from the server device 61 via the network line 60, and transmits the acquired traffic information to the travel control ECU 45 or notification ECU 47 in response to a request from the travel control ECU 45 or notification ECU 47. Send to.

By the way, when the vehicle 10 coasts due to execution of coasting control, the traveling speed of the vehicle 10 gradually decreases. Therefore, when the vehicle 10 is stopped by coasting, the distance that the vehicle 10 travels until it actually stops at the stop line becomes longer than when the vehicle 10 is stopped using a braking device. Therefore, deceleration of the vehicle 10 by coasting control is started earlier than deceleration of the vehicle 10 by braking. Therefore, if the occupants of the vehicle are not aware that coasting control is being executed, the deceleration of the vehicle 10 will start earlier than usual, and the occupants may misunderstand that some kind of malfunction has occurred in the vehicle 10. Passengers may feel uncomfortable.

Therefore, the travel control ECU 45 of the present embodiment displays a virtual video on the display device 53 while the vehicle 10 is coasting, in addition to the travel control unit 450 that controls the travel of the vehicle 10. To make it difficult for an occupant to recognize a change in the running speed of a vehicle 10 due to execution of control.

Next, a virtual video display process executed by the travel control ECU 45 will be specifically described.
As shown in FIG. 1, the travel control ECU 45 includes a travel control section 450 and a notification control section 451.

The travel control unit 450 is a part that executes travel control that automatically causes the vehicle 10 to travel along a travel route, coasting control that causes the vehicle 10 to coast, and the like.
The notification control unit 451 causes the display device 53 to display the virtual video by instructing the notification ECU 47 to display the virtual video while the vehicle 10 is coasting.

FIG. 3 is a flowchart specifically showing the processing executed by the notification control unit 451. Note that the notification control unit 451 repeatedly executes the process shown in FIG. 3 at a predetermined period.
As shown in FIG. 3, the notification control unit 451 first determines whether coasting control is being executed by the travel control unit 450 as processing in step S10. If coasting control is not being executed, the notification control unit 451 makes a negative determination in step S10 and executes a series of processes shown in FIG. 3.

If coasting control is being executed, the notification control unit 451 makes an affirmative determination in step S10, and determines whether the traveling speed V of the vehicle 10 is equal to or lower than the predetermined speed Vth in the subsequent step S11. to judge. The predetermined speed Vth is a predetermined speed. As the predetermined speed Vth, for example, the average traveling speed of other vehicles traveling around the vehicle 10, a speed slower than the average traveling speed by a predetermined speed, a legal speed, etc. can be used. If the traveling speed V of the vehicle 10 is less than or equal to the predetermined speed Vth, the notification control unit 451 determines that there is a possibility that the occupant will feel uncomfortable due to the decrease in the traveling speed of the vehicle 10, and performs the processing in the subsequent step S12. , the virtual moving image is displayed on the display device 53.

Specifically, the traffic condition acquisition ECU 46 sequentially acquires information on the average vehicle speed Vave of other vehicles on the road on which the vehicle 10 is currently traveling from the server device 61 via the communication unit 52 and the network line 60. . The notification control unit 451 acquires information on the average vehicle speed Vave of other vehicles from the traffic condition acquisition ECU 46. The notification control unit 451 requests the notification ECU 47 to display a moving image of the running virtual vehicle so that the occupant can recognize that the vehicle 10 is traveling at a speed equal to or higher than the average vehicle speed Vave. Thereby, the notification ECU 47 displays a moving image of the running virtual vehicle on the display device 53.

Note that the moving image of the running virtual vehicle is not limited to a moving image of a plurality of virtual vehicles running at the same speed, but may be a moving image of a plurality of virtual vehicles running at different speeds.
Further, as the virtual video, a video of a running virtual vehicle or the like that allows the occupant to recognize that the vehicle 10 is traveling at a legal speed may be used.

The notification control unit 451 determines whether the vehicle 10 has stopped as processing in step S13 following step S12. If the notification control unit 451 determines that the vehicle 10 has stopped, it determines that the execution of the coasting control has been completed, and instructs the display device 53 to hide the virtual video in the subsequent step S14. The notification ECU 47 is instructed to do so. As a result, the virtual moving image is no longer displayed on the display device 53, so that the inside and outside of the vehicle 10 can be seen through the window 11.

According to the travel control ECU 45 of the present embodiment described above, the functions and effects shown in (1) to (5) below can be obtained.
(1) When coasting control is executed by the traveling control unit 450, the virtual video displayed on the display device 53 makes it difficult for the occupant to recognize changes in the traveling speed of the vehicle 10. Therefore, it is possible to reduce the discomfort felt by the occupant regarding the running state of the vehicle 10.

(2) As virtual information, the notification control unit 451 displays on the display device 53 a virtual video that is different from the scenery outside the vehicle, specifically a video that allows the occupants to recognize that the vehicle 10 is traveling at a speed equal to or higher than the average vehicle speed Vave. indicate. The occupant of the vehicle 10 often recognizes the speed of the vehicle 10 based on changes in the scenery outside while the vehicle 10 is traveling. Therefore, if a virtual moving image different from the scenery outside the vehicle is displayed on the display device 53, it becomes difficult for the occupant to more accurately recognize changes in the traveling speed of the vehicle 10. As a result, the discomfort felt by the occupant can be further reduced.

(3) The display device 53 displays the virtual video on the window 11 of the vehicle 10. According to such a configuration, the virtual moving image displayed on the window 11 makes it difficult to see the scenery outside the vehicle, making it difficult to recognize that the vehicle 10 is decelerating. Therefore, it is possible to more accurately reduce the discomfort felt by the occupant.

(4) The notification control unit 451 displays the virtual video on the display device 53 based on the fact that the traveling speed V of the vehicle 10 is less than or equal to the predetermined speed Vth. According to such a configuration, since the virtual video is displayed on the display device 53 when the traveling speed of the vehicle 10 decreases, the discomfort felt by the occupant due to the decrease in the traveling speed of the vehicle 10 can be more reliably reduced. I can do it.

(5) If the vehicle 10 stops after displaying the virtual video on the display device 53, the notification control unit 451 stops displaying the image on the display device 53. As a result, a person getting on the stopped vehicle 10 or getting off the vehicle 10 can see inside and outside the vehicle 10 through the window 11, so it is possible to get on and off the vehicle 10 smoothly. Become.

(Modified example)
Next, a modification of the travel control ECU 45 will be described.
The notification control unit 451 of this modification executes the process shown in FIG. 4 instead of the process shown in FIG. 3. As shown in FIG. 4, when the notification control unit 451 makes an affirmative determination in the process of step S10, that is, when coasting control is being executed, the notification control unit 451 transmits the virtual information to the display device as the process of step S12. 53. Further, if the notification control unit 451 makes a negative determination in the process of step S10, that is, if coasting control is not being executed, the notification control unit 451 hides the virtual information on the display device 53 as a process of step S14. .

Even with such a configuration, it is possible to obtain the same or similar functions and effects as those shown in (1) to (3) above.
Furthermore, coasting control is effective not only when the vehicle 10 is stopped at a stop line, but also when the vehicle 10 is traveling downhill, for example. If the vehicle 10 is coasted when traveling downhill, the vehicle 10 can be run without consuming fuel or electricity, so the fuel efficiency and electricity consumption of the vehicle 10 can be improved. It is.

On the other hand, when the vehicle 10 coasts downhill, the speed of the vehicle 10 gradually increases, which may cause the occupants of the vehicle 10 to feel uncomfortable. In this regard, in the driving control ECU 45 of the present modification, virtual information is displayed on the display device 53 when the vehicle 10 coasts downhill, so it is possible to reduce the discomfort felt by the occupant.

<Second embodiment>
Next, a second embodiment of the travel control ECU 45 will be described. Hereinafter, differences from the travel control ECU 45 of the first embodiment will be mainly explained.
The travel control unit 450 of the travel control ECU 45 of this embodiment executes normal travel control and low-speed travel control. Normal travel control is control that automatically causes the vehicle 10 to travel along a travel route at a predetermined reference speed. Low-speed travel control is control that causes the vehicle 10 to travel at a speed slower than the reference speed. The low-speed travel control is executed, for example, in a predetermined section on the travel route of the vehicle 10. By executing the low-speed running control, the fuel efficiency and electricity consumption of the vehicle 10 can be improved.

On the other hand, the notification control unit 451 of the travel control ECU 45 executes the process shown in FIG. 5 instead of the process shown in FIG. 3. In the flowchart shown in FIG. 5, the same processes as those shown in FIG. 3 are given the same reference numerals and redundant explanations will be omitted.
As shown in FIG. 5, the notification control unit 451 first determines whether or not the travel control unit 450 is executing low-speed travel control as processing in step S20. If the low-speed travel control is not being executed by the travel control unit 450, the notification control unit 451 makes a negative determination in the process of step S20, and ends the series of processes shown in FIG. 5.

If the travel control unit 450 is executing low-speed travel control, the notification control unit 451 makes an affirmative determination in step S20 and executes steps S11 and S12. As a process in step S21 following step S12, the notification control unit 451 determines whether or not low-speed travel control has transitioned to normal travel control. When the notification control unit 451 determines that the transition has been made from low-speed travel control to normal travel control, it makes an affirmative determination in the process of step S21 and executes the process of step S14.

According to the driving control ECU 45 of the present embodiment described above, when the driving control unit 450 executes the low-speed driving control, the driving control ECU 45 has functions and effects similar to those shown in (1) to (3) above. effect can be obtained.
<Other embodiments>
Note that each embodiment can also be implemented in the following forms.

- In the process of step S11 shown in FIGS. 3 and 5, the notification control unit 451 determines whether the relative traveling speed of the own vehicle 10 with respect to the average vehicle speed of surrounding vehicles traveling around the vehicle 10 is below a predetermined speed. You may decide whether or not to do so. It is effective to use the relative speed of the own vehicle 10 in the determination process of step S11, because the occupant of the vehicle 10 is likely to feel uncomfortable based on the relative speed of the own vehicle 10 with respect to surrounding vehicles.

- The image displayed on the display device 53 in the process of step S12 shown in FIGS. 3 and 5 is not limited to a moving image of a running virtual vehicle, but may be a moving image of a landscape moving at a predetermined speed. Further, the virtual information displayed on the display device 53 is not limited to a virtual moving image, but may be a virtual still image.

- In the process of step S13 shown in FIG. 3, the notification control unit 451 may determine whether the traveling speed V of the vehicle 10 has become equal to or lower than the predetermined speed Vth.
- The notification control unit 451 may change the image displayed on the display device 53 in the process of step S14 shown in FIG. For example, in the process of step S14, the notification control unit 451 may change from a video of the other vehicle traveling to a still image of the other vehicle stopped. In this case, changing from a moving image to a still image corresponds to changing the notification mode.

- The notification device for notifying the occupants of the vehicle 10 is not limited to the display device 53, and a speaker device or the like that notifies the occupants by music or voice may be used. In this case, the speaker device corresponds to the notification device. As the notification device, it is possible to use any device that provides notification that can be felt by the occupant through touch, hearing, or vision. If the notification control unit 451 changes the control for notifying virtual information to the occupant's sense of touch, hearing, and vision using the notification device in accordance with the speed change, the notification control unit 451 may be the same as or similar to the notification control unit 451 of each of the embodiments described above. It is possible to obtain the functions and effects of
- Traveling control unit 450 may apply braking force to vehicle 10 by performing regenerative power generation in motor generator 20 when executing coasting control. The braking force at this time is sufficiently smaller than the braking force applied to the vehicle 10 through the braking device. Further, the traveling control unit 450 may adjust the traveling speed of the vehicle 10 by adjusting the braking force applied to the vehicle 10 when coasting control is executed.

- Conditions for starting coasting control can be changed as appropriate. For example, travel control unit 450 may start coasting control based on the fact that the travel speed of vehicle 10 becomes equal to or higher than a predetermined upper limit speed. Thereafter, travel control unit 450 executes acceleration control to accelerate vehicle 10 based on the fact that the travel speed of vehicle 10 becomes equal to or lower than a predetermined lower limit speed. According to such a configuration, coasting and acceleration of the vehicle 10 are alternately performed. Thereby, the fuel efficiency and electricity consumption of the vehicle 10 can be improved.

- The travel control unit 450 may start coasting control based on instructions from the server device 61.
- The travel control unit 450 may set the average vehicle speed of the vehicle 10 that is executing travel control based on the locations of a plurality of stops provided on the travel route.

- The vehicle 10 is not limited to one that automatically travels along a travel route, but may be one that travels in response to manual operation by the driver.
- The vehicle 10 is not limited to a hybrid vehicle that uses both the motor generator 20 and the internal combustion engine 30 as a power source, but may also be an engine vehicle that uses only the internal combustion engine as a power source, or an electric vehicle that uses only the motor generator 20 as a power source. It's okay.

- The travel control ECU 45 and its control method described in the present disclosure are provided by configuring a processor and memory programmed to execute one or more functions embodied by a computer program. It may also be realized by multiple dedicated computers. The travel control ECU 45 and its control method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor including one or more dedicated hardware logic circuits. The travel control ECU 45 and its control method according to the present disclosure are configured by a combination of a processor and memory programmed to execute one or more functions and a processor including one or more hardware logic circuits. It may also be implemented by one or more dedicated computers. A computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium. Dedicated hardware logic circuits and hardware logic circuits may be implemented by digital circuits that include multiple logic circuits, or by analog circuits.

- The present disclosure is not limited to the above specific examples. Design changes made by those skilled in the art to the specific examples described above are also included within the scope of the present disclosure as long as they have the characteristics of the present disclosure. The elements included in each of the specific examples described above, as well as their arrangement, conditions, shapes, etc., are not limited to those illustrated, and can be changed as appropriate. The elements included in each of the specific examples described above can be appropriately combined as long as no technical contradiction occurs.

10: Vehicle 45: Control device 53: Display device (notification device)
450: Travel control section 451: Notification control section

Claims (9)

a driving control unit (450) that executes driving energy reduction control to control driving of the vehicle so that the consumption of driving energy of the vehicle is reduced;
and a notification control unit (451) that notifies virtual information through a notification device (53) provided in the vehicle when executing the driving energy reduction control ,
The notification device is a display device (53) capable of displaying an image,
The notification control unit may include, as the virtual information, a virtual video of another running vehicle or a scene outside the vehicle that allows an occupant of the vehicle to recognize that the vehicle is running at a speed different from the actual running speed. Displaying a virtual video on the display device
Vehicle control device. The vehicle control device according to claim 1, wherein the travel control unit executes coasting control to cause the vehicle to coast as the travel energy reduction control. The vehicle control device according to claim 2, wherein the travel control unit executes the coasting control based on the travel speed of the vehicle becoming equal to or higher than a predetermined speed. The vehicle control device according to claim 1, wherein the travel control unit executes low-speed travel control that automatically causes the vehicle to travel at a speed slower than a predetermined travel speed as the travel energy reduction control. The notification control unit displays, as the virtual video, a video on the display device that allows an occupant of the vehicle to recognize that the vehicle is traveling at a predetermined speed or higher. Control device for the vehicle described. The vehicle control device according to any one of claims 1 to 5, wherein the display device displays the virtual video on a window of the vehicle. The vehicle control device according to any one of claims 1 to 6 , wherein the notification control unit notifies the virtual information by the notification device based on the fact that the traveling speed of the vehicle is less than or equal to a predetermined speed. The notification control unit stops notification by the notification device if the traveling speed of the vehicle becomes equal to or less than a predetermined speed after the virtual information is notified by the notification device, or if the vehicle stops; The vehicle control device according to any one of claims 1 to 7 , wherein the control device changes the notification mode by the notification device. The vehicle control device according to any one of claims 1 to 8 , wherein the travel control section automatically causes the vehicle to travel.

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