PRA degradation control system for vehicle and PRA degradation control method thereof

Abstract

The present application discloses a power relay assembly (PRA) degradation control system for a vehicle and a PRA degradation control method thereof, which is capable of predicting failures of a power relay assembly (PRA) and actively controlling degradation of the PRA by utilizing big data. The PRA degradation control system includes: a vehicle that transmits PRA and battery information; and a server that collects the PRA and battery information of the vehicle and transmits output control information for PRA degradation control to the vehicle. When the server collects the PRA and battery information of the vehicle, the server groups the collected information, sets vehicle-by-vehicle monitoring steps based on the grouped information, performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring steps, and transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring results to the vehicle, so that each vehicle performs PRA degradation control.

Description

Technical Field

[0001] The present invention relates to a power relay assembly (PRA) degradation control system for a vehicle, and in particular, to a PRA degradation control system for a vehicle that can predict PRA failure and actively control PRA degradation by utilizing big data, and a PRA degradation control method thereof. Background Art

[0002] Generally, as one of the measures to improve the global environment, hybrid electric vehicles (HEV), electric vehicles (EV), fuel cell vehicles (FCV), etc. are developed and operated. In particular, the development of electric vehicles is expected to become more prominent in the future.

[0003] Such an electric vehicle or hybrid electric vehicle includes a high-voltage battery and a high-voltage circuit unit for supplying electric power to a motor as a driving source.

[0004] The high-voltage circuit unit may include: a motor that receives power supplied by a high-voltage battery to drive; a motor control unit (MCU) that includes an inverter for driving the motor; and a power relay assembly (PRA) that performs switching to selectively supply power from the battery to the vehicle.

[0005] Here, the degradation state of the PRA may vary depending on the deviation between all vehicle parts, the assembly state, or the amount of high-voltage battery energy used. If the degradation state of the PRA is not controlled, the PRA may cause a fire due to overcurrent.

[0006] However, it is currently impossible to accurately measure the degradation state of the PRA. In addition, since technology that can actively control the heat generation of the PRA has not yet been developed, the degradation of the PRA may be accelerated, and the PRA may cause a fire due to overcurrent.

[0007] Therefore, it is necessary to develop a PRA degradation control system for a vehicle that can periodically monitor the degradation state of the PRA, thereby predicting the degradation of the PRA and actively controlling the degradation of the PRA. Summary of the Invention

[0008] Accordingly, the present invention is directed to a power relay assembly (PRA) degradation control system for a vehicle and a PRA degradation control method thereof that substantially obviate one or more problems due to limitations and disadvantages of the related art.

[0009] An object of the present invention is to provide a PRA degradation control system and a PRA degradation control method for a vehicle, which can collect PRA and battery information of the vehicle, group the collected information, set vehicle-specific monitoring steps based on the grouped information, and periodically monitor the degradation state of the PRA based on the vehicle-specific monitoring steps, so that PRA degradation can be predicted and PRA degradation can be actively controlled.

[0010] The objects of the present invention provided to solve the problems are not limited to the above objects, and other unmentioned objects will be clearly understood by those skilled in the art based on the following detailed description of the present invention.

[0011] To achieve these objects and other advantages, and in accordance with the purposes of the present invention, as embodied and broadly described herein, a PRA degradation control system for a vehicle includes: a vehicle that transmits PRA and battery information; and a server that collects the PRA and battery information of the vehicles and transmits output control information for PRA degradation control to the vehicles, wherein, when the server collects the PRA and battery information of the vehicles, the server groups the collected information, sets vehicle-by-vehicle monitoring steps based on the grouped information, performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring steps, and transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring results to the vehicles so that each vehicle performs PRA degradation control.

[0012] In another aspect of the present invention, a PRA degradation control method of a PRA degradation control system for a vehicle including a server includes: the server collects PRA and battery information from the vehicle; the server groups the collected information; the server sets vehicle-by-vehicle monitoring steps based on the grouped information; the server performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring steps; the server transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring results to the vehicle; and the vehicle performs PRA degradation control based on the output control information.

[0013] In another aspect of the present invention, a computer-readable recording medium containing a program for executing a PRA degradation control method of a PRA degradation control system for a vehicle executes processes included in the PRA degradation control method of the PRA degradation control system for a vehicle.

[0014] In another aspect of the present invention, a vehicle for a PRA degradation control system of the vehicle includes: a communication unit that is communicatively connected to a server; and a battery controller that controls battery output based on output control information received from the server, wherein the battery controller monitors the PRA and the battery to obtain PRA and battery information, controls the communication unit to transmit the obtained PRA and battery information to the server, and when receiving the output control information from the server, monitors the PRA temperature based on the output control information to control the battery output.

[0015] In yet another aspect of the present invention, a server for a PRA degradation control system for a vehicle includes: a communication unit communicatively connected to the vehicle; a data grouping unit that collects PRA and battery information of the vehicle and groups the collected information; and an active output controller that sets vehicle-specific monitoring steps based on the grouped information, performs vehicle-specific monitoring in response to the set vehicle-specific monitoring steps, and transmits vehicle-specific output control information corresponding to the vehicle-specific monitoring results to the vehicle.

[0016] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] This application includes accompanying drawings to provide a further understanding of the present invention, and the accompanying drawings are incorporated into and constitute a part of this application. The accompanying drawings, illustrative embodiments of the present invention, together with the description serve to explain the principles of the present invention. In the drawings:

[0018] Figure 1 is a diagram illustrating a power relay assembly (PRA) degradation control system for a vehicle according to an embodiment of the present invention;

[0019] Figure 2 is a block diagram of a vehicle showing a PRA degradation control system for a vehicle according to an embodiment of the present invention;

[0020] Figure 3 is a block diagram illustrating a server of a PRA degradation control system for a vehicle according to an embodiment of the present invention;

[0021] Figure 4 is a diagram showing a grouping process by driving mode;

[0022] Figure 5 is a diagram showing another grouping process by driving mode;

[0023] Figure 6 is a diagram showing another grouping process by driving mode;

[0024] Figure 7is to show the grouping process by total energy used;

[0025] Figure 8 is a diagram showing a PRA temperature monitoring process of a vehicle;

[0026] Figure 9 is a flowchart illustrating a PRA degradation control method of a PRA degradation control system for a vehicle according to an embodiment of the present invention;

[0027] Figure 10 is a flow chart showing a grouping process by driving mode;

[0028] Figure 11 is a flow chart illustrating the grouping process by total energy used;

[0029] Figure 12 is a flow chart illustrating a process for setting up a per-vehicle PRA temperature monitoring procedure; and

[0030] Figure 13 is a flowchart showing the active PRA output control process. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that those skilled in the art can fully understand the concept of the present invention. However, the present invention is not limited to the following embodiments and can be implemented in various other forms. In order to clearly describe the present invention, parts not related to the description of the present invention are omitted from the accompanying drawings. Throughout the specification, the same reference numerals are used for the same or similar parts.

[0032] Unless otherwise specified, the terms "include" or "comprising" used herein should not be interpreted as excluding other elements, but may further include these other elements. In addition, the terms "unit" or "module" used herein represent a unit that processes at least one function or operation and can be implemented by hardware, software or a combination thereof.

[0033] In addition, the same reference numerals denote the same constituent elements throughout the specification.

[0034] In the following, reference will be made to Figures 1 to 13 A PRA degradation control system for a vehicle and a PRA degradation control method thereof, which can be applied to an embodiment of the present invention, are described in detail.

[0035] Figure 1 is a view showing a PRA degradation control system for a vehicle according to an embodiment of the present invention.

[0036] like Figure 1As shown, a PRA degradation control system for a vehicle according to the present invention may include: a vehicle 100 that transmits PRA and battery information; and a server 200 that collects the PRA and battery information of the vehicle 100 and transmits output control information for PRA degradation control to the vehicle 100.

[0037] Here, the vehicle 100 may monitor the PRA and the battery to acquire PRA and battery information, and may transmit the acquired PRA and battery information to the server 200 .

[0038] At this time, the vehicle 100 may acquire the PRA and battery information through CAN communication, and may transmit the acquired PRA and battery information to the server 200 through wireless communication.

[0039] When transmitting the acquired PRA and battery information, the vehicle 100 may transmit information including at least one of a vehicle identifier (ID), a cumulative amount of charging and discharging energy of the battery, an interval ratio of each used current, an actual output of the battery, and a PRA temperature to the server 200.

[0040] Subsequently, when the vehicle 100 receives output control information for PRA degradation control from the server 200 , the vehicle 100 may monitor the PRA temperature based on the output control information to control the battery output.

[0041] Here, when the vehicle 100 receives the output control information, the vehicle 100 may receive at least one of a vehicle identifier (ID), monitoring step information per vehicle, and an active output limit value of a battery from the server 200 .

[0042] The vehicle 100 may change the communication cycle with the server 200 according to the monitoring step.

[0043] Here, when the monitoring step is a normal step or a caution step, the vehicle 100 can set the communication cycle with the server 200 to once at the time point when the collection of PRA information is completed during driving and charging, and when the monitoring step is a warning step, the communication cycle with the server 200 can be set at intervals of 1 second during driving and charging.

[0044] At this time, when the monitoring step is a normal step, the vehicle 100 can recognize that the PRA temperature does not show an abnormal signal, when the monitoring step is a caution step, the vehicle 100 can recognize that the PRA temperature shows an abnormal signal, and when the monitoring step is a warning step, the vehicle 100 can recognize that the PRA temperature reaches a critical value.

[0045] Next, when the vehicle 100 performs PRA degradation control, the vehicle 100 may initially limit the battery output when the PRA temperature reaches a predetermined percentage of the critical temperature, and may secondarily limit the battery output when the PRA temperature continues to rise for a predetermined time, and may turn off the main relay of the PRA when the PRA temperature exceeds the critical temperature.

[0046] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature, and the predetermined time may be approximately 10 seconds.

[0047] When the vehicle 100 primarily limits the battery output, the vehicle 100 may limit the battery output to the actual output of the vehicle 100 , and when the vehicle 100 secondarily limits the battery output, the vehicle 100 may further limit the battery output to a temperature at which the PRA temperature increases.

[0048] Additionally, when the PRA temperature does not exceed the critical temperature, the vehicle 100 may further limit the battery output to a temperature at which the PRA temperature increases.

[0049] Furthermore, when the PRA temperature does not reach a predetermined percentage of the critical temperature, or when the PRA temperature does not continue to rise for a predetermined time, the vehicle 100 may limit the battery output to the actual output of the battery.

[0050] Furthermore, when the vehicle 100 primarily limits or secondarily limits the battery output, the vehicle 100 may transmit a preventive maintenance guidance sign to the combination meter.

[0051] Next, when the server 200 collects the PRA and battery information of the vehicle 100, the server 200 can group the collected information, set vehicle-by-vehicle monitoring steps based on the grouped information, perform vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring steps, and transmit vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring results to the vehicle 100 so that each vehicle performs PRA degradation control.

[0052] When the server 200 groups the collected information, the server 200 may group the collected information by driving mode to be classified into a plurality of groups by driving mode, and may regroup the information in the groups by driving mode by energy usage to be classified into a plurality of subgroups by energy used.

[0053] Here, when classified into groups by driving mode, the server 200 can store a distribution diagram by battery charging and discharging current interval, calculate the current occupancy rate by battery charging and discharging current interval, calculate the correlation coefficient by vehicle based on the current occupancy rate, classify the vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, classify the vehicles into an unassigned group when the correlation coefficient is equal to or less than a predetermined ratio, calculate the average current occupancy rate by group, calculate the correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, reclassify the vehicles classified into the unassigned group when the correlation coefficient is greater than a predetermined ratio, and maintain the vehicles classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

[0054] As an example, when the correlation coefficient is greater than approximately 70%, the server 200 may classify the vehicles into the same group, when the correlation coefficient is equal to or less than approximately 70%, the server 200 may classify the vehicles into an unassigned group, when the correlation coefficient is greater than approximately 70%, the server 200 may reclassify the vehicles classified into the unassigned group, and when the correlation coefficient is equal to or less than approximately 70%, the server 200 may maintain the vehicles classified into the unassigned group.

[0055] In addition, when classified into subgroups by energy used, the server 200 can calculate the vehicles in the group by driving mode using a histogram of multiple intervals based on the total energy used, and can perform subgrouping by histogram interval to classify into subgroups by energy used.

[0056] Next, when setting the monitoring procedure per vehicle, the server 200 may monitor the PRA temperature and the actual output of the battery of the vehicle per each subgroup, and may set the monitoring procedure per vehicle based on the monitoring result.

[0057] When performing monitoring by vehicle, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the predetermined upper limit rate in the grouped information and appear for several consecutive cycles, the server 200 can monitor the vehicle in the attention step in the monitoring step, and when the PRA maximum temperature and the PRA temperature rising rate of each output are not within the predetermined upper limit rate in the grouped information, the server 200 can monitor the vehicle in the normal step in the monitoring step.

[0058] As an example, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the upper 5% in the grouped information and appear for two consecutive cycles, the server 200 may monitor the vehicle in the attention step in the monitoring step.

[0059] In addition, when the monitoring step is a normal step, the server 200 can recognize that the PRA temperature of the vehicle does not show an abnormal signal, and can monitor the PRA temperature in the normal step, and when the monitoring step is a caution step, the server 200 can recognize that the PRA temperature of the vehicle shows an abnormal signal, and can monitor the PRA temperature in the caution step.

[0060] As an example, the server 200 may determine whether a monitoring step is a normal step or a caution step only at a point in time when the collection of PRA information is completed during driving and charging.

[0061] Next, when monitoring by vehicle is performed, when the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature, the server 200 may monitor the vehicle 100 in a warning step in the monitoring step.

[0062] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature.

[0063] When the PRA temperature of the vehicle does not reach the predetermined percentage of the critical temperature, the server 200 may monitor the vehicle in a normal step in the monitoring step.

[0064] As an example, the server 200 may determine whether the monitoring step is a warning step at intervals of approximately 1 second during driving and charging.

[0065] Next, when transmitting output control information per vehicle, when the monitoring step is a warning step, the server 200 may transmit output control information including a vehicle identifier (ID), monitoring step information per vehicle, and an active output limit value of the battery to the vehicle.

[0066] Then, when transmitting the output control information by vehicle, the server 200 may store the PRA temperature patterns of the abnormal behavior vehicles by group.

[0067] Furthermore, when transmitting the output control information per vehicle, the server 200 may transmit a preventive maintenance guidance sign to the vehicle 100 for a combination meter alarm of the vehicle.

[0068] As described above, in the present invention, the PRA and battery information of the vehicle can be collected, the collected information can be grouped, the monitoring steps for each vehicle can be set based on the grouped information, and the degradation state of the PRA can be periodically monitored based on the monitoring steps for each vehicle, so that the degradation of the PRA can be predicted and the degradation of the PRA can be actively controlled.

[0069] Furthermore, in the present invention, logic can be configured only by changing software without adding hardware.

[0070] Furthermore, in the present invention, the degree of degradation or failure of the PRA can be determined by comparing the PRA temperatures between vehicles.

[0071] Furthermore, in the present invention, the power can be limited in advance, thereby preventing the occurrence of heat generation of the battery or accelerated degradation of the PRA.

[0072] Figure 2 is a block diagram of a vehicle showing a PRA degradation control system for a vehicle according to an embodiment of the present invention.

[0073] like Figure 2 As shown, the vehicle 100 according to the present invention may include: a communication unit 110 communicatively connected to a server 200 ; and a battery controller 120 controlling a battery output based on output control information received from the server 200 .

[0074] As an example, the communication unit 110 may be an audio video navigation (AVN) of the vehicle 100 , and the battery controller 120 may be a battery management system (BMS); however, the present invention is not limited thereto.

[0075] In addition, the battery controller 120 can monitor the PRA 130 and the battery 140 to obtain PRA and battery information, can control the communication unit 110 to transmit the obtained PRA and battery information to the server, and when output control information is received from the server, can monitor the PRA temperature based on the output control information to control the battery output.

[0076] Here, the battery controller 120 may acquire the PRA and the battery information through CAN communication, and may transmit the acquired PRA and the battery information to the server through wireless communication.

[0077] When transmitting the acquired PRA and battery information, the battery controller 120 may transmit information including at least one of a vehicle identifier (ID), the accumulated amount of charging and discharging energy of the battery, the interval ratio of each used current, the actual output of the battery, and the PRA temperature to the server 200.

[0078] Subsequently, when output control information for PRA degradation control is received from the server, the battery controller 120 may monitor the PRA temperature based on the output control information to control the battery output.

[0079] Here, when receiving the output control information, the battery controller 120 may receive at least one of a vehicle identifier (ID), monitoring step information per vehicle, and an active output limit value of the battery from the server.

[0080] The battery controller 120 may change the communication cycle with the server according to the monitoring step.

[0081] Here, when the monitoring step is a normal step or a warning step, the battery controller 120 can set the communication cycle with the server to once at the time point when the collection of PRA information is completed during driving and charging, and when the monitoring step is a warning step, the communication cycle with the server can be set at intervals of 1 second during driving and charging.

[0082] Next, when performing PRA degradation control, the battery controller 120 may initially limit the battery output when the PRA temperature reaches a predetermined percentage of the critical temperature, and may secondarily limit the battery output when the PRA temperature continues to rise for a predetermined time, and may turn off the main relay of the PRA when the PRA temperature exceeds the critical temperature.

[0083] When limiting the battery output primarily, the battery controller 120 may limit the battery output to the actual output of the vehicle 100 , and when limiting the battery output secondarily, the battery controller 120 may further limit the battery output to a temperature at which the PRA temperature increases.

[0084] In addition, when the PRA temperature does not exceed the critical temperature, the battery controller 120 may further limit the battery output to a temperature at which the PRA temperature increases.

[0085] In addition, when the PRA temperature does not reach a predetermined percentage of the critical temperature, or when the PRA temperature does not continuously rise for a predetermined time, the battery controller 120 may limit the battery output to the actual output of the battery 140 .

[0086] In addition, when the battery output is primarily limited or secondarily limited, the battery controller 120 may transmit a preventive maintenance guidance flag to the combination meter.

[0087] Figure 3 is a block diagram illustrating a server of a PRA degradation control system for a vehicle according to an embodiment of the present invention.

[0088] like Figure 3 As shown, the server 200 according to the present invention may include: a communication unit 210, which is communicatively connected to the vehicle; a data grouping unit 220, which collects the PRA and battery information of the vehicle and groups the collected information; and an active output controller 230, which sets vehicle-specific monitoring steps based on the grouped information, performs vehicle-specific monitoring in response to the set vehicle-specific monitoring steps, and transmits vehicle-specific output control information corresponding to the vehicle-specific monitoring results to the vehicle.

[0089] Here, when the data grouping unit 220 groups the collected information, the data grouping unit 220 can group the collected information by driving mode to be classified into multiple groups by driving mode, and can regroup the information in the groups by driving mode by energy usage to be classified into multiple subgroups by energy used.

[0090] In other words, when classified into groups by driving mode, the data grouping unit 220 can store a distribution diagram by battery charging and discharging current interval, calculate the current occupancy rate by battery charging and discharging current interval, calculate the correlation coefficient by vehicle based on the current occupancy rate, classify the vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, classify the vehicles into an unassigned group when the correlation coefficient is equal to or less than a predetermined ratio, calculate the average current occupancy rate by group, calculate the correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, reclassify the vehicles classified into the unassigned group when the correlation coefficient is greater than the predetermined ratio, and maintain the vehicles classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

[0091] As an example, when the correlation coefficient is greater than approximately 70%, the data grouping unit 220 may classify the vehicles into the same group, when the correlation coefficient is equal to or less than approximately 70%, the data grouping unit 220 may classify the vehicles into an unassigned group, when the correlation coefficient is greater than approximately 70%, the data grouping unit 220 may reclassify the vehicles classified into the unassigned group, and when the correlation coefficient is equal to or less than approximately 70%, the data grouping unit 220 may maintain the vehicles classified into the unassigned group.

[0092] In addition, when classified into subgroups by energy used, the data grouping unit 220 can calculate the vehicles in the group by driving mode based on the histogram of multiple intervals according to the total energy used, and can perform subgrouping by histogram interval to classify into subgroups by energy used.

[0093] Next, when setting the monitoring step per vehicle, the active output controller 230 may monitor the PRA temperature and the actual output of the battery per vehicle of each subgroup, and may set the monitoring step per vehicle based on the monitoring result.

[0094] When performing monitoring by vehicle, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the predetermined upper limit rate in the grouped information and appear continuously for several cycles, the active output controller 230 may monitor the vehicle in the attention step in the monitoring step, and when the PRA maximum temperature and the PRA temperature rising rate of each output are not within the predetermined upper limit rate in the grouped information, the active output controller 230 may monitor the vehicle in the normal step in the monitoring step.

[0095] As an example, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the upper 5% of the grouped information and occur for two consecutive cycles, the active output controller 230 may monitor the vehicle in the attention step in the monitoring step.

[0096] In addition, when the monitoring step is a normal step, the active output controller 230 can recognize that the PRA temperature of the vehicle does not show an abnormal signal, and can monitor the PRA temperature in the normal step. When the monitoring step is a caution step, the active output controller 230 can recognize that the PRA temperature of the vehicle shows an abnormal signal, and can monitor the PRA temperature in the caution step.

[0097] As an example, the active output controller 230 may determine whether a monitoring step is a normal step or a caution step only at a point in time when the collection of PRA information is completed during driving and charging.

[0098] Next, when monitoring by vehicle is performed, the active output controller 230 may monitor the vehicle in a warning step in a monitoring step when the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature.

[0099] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature.

[0100] When the PRA temperature of the vehicle does not reach the predetermined percentage of the critical temperature, the active output controller 230 may monitor the vehicle in a normal step in the monitoring step.

[0101] As an example, the active output controller 230 may determine whether the monitoring step is a warning step at intervals of approximately 1 second during driving and charging.

[0102] Next, when the active output controller 230 transmits output control information per vehicle, when the monitoring step is a warning step, the active output controller 230 may transmit output control information including at least one of a vehicle identifier (ID), monitoring step information per vehicle, and an active output limit value of the battery to the vehicle.

[0103] Subsequently, when the active output controller 230 transmits output control information by vehicle, the active output controller 230 may store the PRA temperature pattern of the abnormal behavior vehicles by group.

[0104] Furthermore, when the active output controller 230 transmits the output control information per vehicle, the active output controller 230 may transmit a preventive maintenance guidance sign to the vehicle for a combination meter alarm of the vehicle.

[0105] Figures 4 to 6 is a diagram showing a grouping process by driving mode.

[0106] like Figures 4 to 6 As shown, the present invention can group the collected information by driving mode to classify it into a plurality of groups according to driving mode.

[0107] First, if Figure 4 As shown, the present invention can set current intervals (eg, 6 intervals) to analyze the charging and discharging pattern of each vehicle, and can store a distribution map of each battery charging and discharging current interval.

[0108] In addition, if Figure 5 As shown, the present invention can calculate the current occupancy rate according to the battery charging and discharging current intervals.

[0109] Figure 5 Only two groups of distributions of current occupancy rates according to the current intervals of the vehicle are shown.

[0110] Then, if Figure 6 As shown, the present invention can calculate a correlation coefficient for each vehicle based on the current occupancy rate, classify the vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, classify the vehicles into an unassigned group when the correlation coefficient is equal to or less than the predetermined ratio, calculate the average current occupancy rate for each group, calculate the correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate for each group, reclassify the vehicles classified into the unassigned group when the correlation coefficient is greater than a predetermined ratio, and maintain the vehicles classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

[0111] As an example, when the correlation coefficient is greater than approximately 70%, the data grouping unit 220 may classify the vehicles into the same group, when the correlation coefficient is equal to or less than approximately 70%, the data grouping unit 220 may classify the vehicles into an unassigned group, when the correlation coefficient is greater than approximately 70%, the data grouping unit 220 may reclassify the vehicles classified into the unassigned group, and when the correlation coefficient is equal to or less than approximately 70%, the data grouping unit 220 may maintain the vehicles classified into the unassigned group.

[0112] Figure 6 Grouping based on the correlation between all vehicles is shown. For example, correlation between approximately 10,000 vehicles in 44 groups is shown.

[0113] Figure 7 is a view showing a grouping process by total energy used.

[0114] like Figure 7 As shown, the present invention can regroup the information in the group by driving mode by energy usage to classify it into a plurality of subgroups by energy usage.

[0115] Here, when classified into subgroups by energy used, the present invention can calculate vehicles in groups by driving mode using a histogram of multiple intervals based on the total energy used, and can perform subgrouping by histogram interval to classify into subgroups by energy used.

[0116] Figure 8 FIG. 4 is a diagram showing a PRA temperature monitoring process by vehicle.

[0117] like Figure 8 As shown, the present invention can monitor the PRA temperature and the actual output of the battery for each subgroup of vehicles, and can set a monitoring step for each vehicle based on the monitoring results.

[0118] When the PRA maximum temperature and the PRA temperature rising rate of each output are within the predetermined upper limit rate in the grouped information and appear for several consecutive cycles, the present invention can monitor the vehicle in the attention step in the monitoring step, and when the PRA maximum temperature and the PRA temperature rising rate of each output are not within the predetermined upper limit rate in the grouped information, the present invention can monitor the vehicle in the normal step in the monitoring step.

[0119] As an example, Figure 8 As shown, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the upper 5% of the grouped information and appear for two consecutive cycles, the present invention can monitor the vehicle in the attention step in the monitoring step.

[0120] Furthermore, the present invention may monitor the vehicle in the warning step in the monitoring step when the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature.

[0121] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature.

[0122] Here, the critical temperature may be about 200° C.; however, the present invention is not limited thereto.

[0123] When the PRA temperature of the vehicle does not reach the predetermined percentage of the critical temperature, the present invention may monitor the vehicle in a normal step in the monitoring step.

[0124] Figure 9 is a flowchart illustrating a PRA degradation control method of a PRA degradation control system for a vehicle according to an embodiment of the present invention.

[0125] like Figure 9 As shown, the server according to the present invention may collect PRA and battery information from a vehicle ( S100 ).

[0126] Here, the server may collect information including a vehicle identifier (ID), a cumulative amount of charge and discharge energy of a battery, a section ratio of each used current, an actual output of the battery, and a PRA temperature from the vehicle.

[0127] The server may group the collected information ( S200 ).

[0128] Here, the server may group the collected information by driving mode to be classified into a plurality of groups by driving mode, and may regroup the information in the groups by driving mode by energy usage to be classified into a plurality of subgroups by energy used.

[0129] As an example, when classified into groups by driving mode, the server may store a distribution diagram by battery charging and discharging current interval, may calculate the current occupancy rate by battery charging and discharging current interval, may calculate a correlation coefficient by vehicle based on the current occupancy rate, may classify the vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, may classify the vehicles into an unassigned group when the correlation coefficient is equal to or less than a predetermined ratio, may calculate the average current occupancy rate by group, may calculate the correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, may reclassify the vehicles classified into the unassigned group when the correlation coefficient is greater than a predetermined ratio, and may maintain the vehicles classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

[0130] Furthermore, when classifying into subgroups by energy used, the server may calculate vehicles in the group by driving mode using a histogram of multiple intervals based on the total energy used, and may perform subgrouping by histogram intervals to classify into subgroups by energy used.

[0131] Then, the server may set a monitoring procedure per vehicle based on the grouped information ( S300 ).

[0132] Here, the server may monitor the PRA temperature and the actual output of the battery for each subgroup of vehicles, and may set a monitoring procedure for each vehicle based on the monitoring result.

[0133] Next, the server may perform vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring step ( S400 ).

[0134] Here, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the predetermined upper limit rate in the grouped information and appear for several consecutive cycles, the server may monitor the vehicle in the attention step in the monitoring step, and when the PRA maximum temperature and the PRA temperature rising rate of each output are not within the predetermined upper limit rate in the grouped information, the server may monitor the vehicle in the normal step in the monitoring step.

[0135] Furthermore, when the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature, the server may monitor the vehicle in a warning step in the monitoring step.

[0136] The server may transmit vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring result to the vehicle ( S500 ).

[0137] Here, when the monitoring step is a warning step, the server may transmit output control information including a vehicle identifier (ID), monitoring step information per vehicle, and an active output limit value of the battery to the vehicle.

[0138] Subsequently, the vehicle may perform PRA degradation control based on the output control information ( S600 ).

[0139] Here, when the PRA temperature reaches a predetermined percentage of the critical temperature, the vehicle can initially limit the battery output, when the PRA temperature continues to rise for a predetermined time, the vehicle can secondarily limit the battery output, and when the PRA temperature exceeds the critical temperature, the vehicle can turn off the main relay of the PRA.

[0140] As described above, in the present invention, the PRA and battery information of the vehicle can be collected, the collected information can be grouped, the monitoring steps for each vehicle can be set based on the grouped information, and the degradation state of the PRA can be periodically monitored based on the monitoring steps for each vehicle, so that the degradation of the PRA can be predicted and the degradation of the PRA can be actively controlled.

[0141] Furthermore, in the present invention, logic can be configured only by changing software without adding hardware.

[0142] Furthermore, in the present invention, the degree of degradation or failure of the PRA can be determined by comparing the PRA temperatures between vehicles.

[0143] Furthermore, in the present invention, the power can be limited in advance, thereby preventing the occurrence of heat generation of the battery or accelerated degradation of the PRA.

[0144] Meanwhile, data items transmitted and received between the server and the vehicle according to the present invention are shown in Table 1 below.

[0145]

Table 1

[0146]

[0147] Figure 10 and Figure 11 is a flow chart illustrating a process of grouping collected information according to the present invention.

[0148] like Figure 10 and Figure 11As shown, the server may group the collected information by driving mode to classify into a plurality of groups by driving mode, and may regroup the information in the groups by driving mode by energy usage to classify into a plurality of subgroups by energy used.

[0149] As described above, the present invention can perform data grouping based on the collected information.

[0150] The reason for this is that it is necessary to judge the severity of PRA in similar groups by grouping them according to the total energy used based on the battery charging and discharging current patterns of the vehicles.

[0151] Figure 10 is a flowchart showing the grouping process by driving mode.

[0152] like Figure 10 As shown, first, the present invention can store a distribution map according to the battery charging and discharging current intervals (S212).

[0153] Next, the present invention may calculate the current occupancy rate according to the battery charging and discharging current intervals ( S214 ).

[0154] Subsequently, the present invention may calculate a correlation coefficient per vehicle based on the current occupancy rate ( S216 ).

[0155] Next, the present invention may determine whether the correlation coefficient is greater than a predetermined ratio ( S218 ).

[0156] As an example, the predetermined ratio may be approximately 70%; however, the present invention is not limited thereto.

[0157] When the correlation coefficient is greater than a predetermined ratio, the present invention may classify the vehicles into the same group ( S220 ), and when the correlation coefficient is equal to or less than the predetermined ratio, the present invention may classify the vehicles into an unassigned group ( S222 ).

[0158] Then, the present invention may calculate an average current occupancy rate by group ( S224 ).

[0159] Next, the present invention may calculate a correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, and may determine whether the correlation coefficient is greater than a predetermined ratio ( S226 ).

[0160] As an example, the predetermined ratio may be approximately 70%; however, the present invention is not limited thereto.

[0161] When the correlation coefficient is greater than a predetermined ratio, the present invention may reclassify the vehicle classified into the unassigned group ( S228 ), and when the correlation coefficient is equal to or less than the predetermined ratio, the present invention may maintain the vehicle classified into the unassigned group ( S230 ).

[0162] Figure 11 is a flow chart illustrating the grouping process by total energy used.

[0163] like Figure 11 As shown, the present invention can calculate the vehicles in the group by driving mode based on the histogram of the plurality of intervals of the total energy used ( S242 ).

[0164] Subsequently, the present invention may perform sub-grouping by histogram bins to classify into sub-groups by used energy ( S244 ).

[0165] Figure 12 1 is a flow chart illustrating a process of setting a PRA temperature monitoring step per vehicle according to the present invention.

[0166] like Figure 12 As shown, the present invention may monitor the PRA temperature of the vehicle and the actual output of the battery per subgroup ( S312 ).

[0167] In addition, the present invention may set a vehicle-by-vehicle monitoring step ( S314 ) based on the monitoring result.

[0168] Subsequently, the present invention may determine whether the PRA maximum temperature and the PRA temperature rising rate of each output are within a predetermined upper limit rate in the grouped information and whether they occur continuously for several cycles (S316).

[0169] Next, when the PRA maximum temperature and the PRA temperature rise rate of each output are within the predetermined upper limit rate in the grouped information and appear for several consecutive cycles, the present invention may monitor the vehicle in the attention step in the monitoring step (S318), and when the PRA maximum temperature and the PRA temperature rise rate of each output are not within the predetermined upper limit rate in the grouped information, the present invention may monitor the vehicle in the normal step in the monitoring step (S320).

[0170] As an example, when the PRA maximum temperature and the PRA temperature rising rate of each output are within the upper 5% of the grouped information and appear for two consecutive cycles, the present invention may monitor the vehicle in the attention step in the monitoring step.

[0171] Next, the present invention may determine whether the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature ( S322 ).

[0172] Subsequently, when the PRA temperature of the vehicle reaches a predetermined percentage of the critical temperature, the present invention may monitor the vehicle in a warning step in the monitoring step ( S324 ).

[0173] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature.

[0174] When the PRA temperature of the vehicle does not reach the predetermined percentage of the critical temperature, the present invention may monitor the vehicle in a normal step among the monitoring steps ( S320 ).

[0175] Meanwhile, in the present invention, monitoring steps for active output control may be set for each vehicle, as shown in Table 2 below.

[0176]

Table 2

[0177]

[0178] In other words, when the monitoring step is a normal step or a caution step, the present invention can set the monitoring judgment cycle to once at the time point when the collection of PRA information is completed during driving and charging, and when the monitoring step is a warning step, the present invention can set the monitoring judgment cycle at intervals of 1 second during driving and charging.

[0179] Figure 13 is a flowchart illustrating an active PRA output control process according to the present invention.

[0180] like Figure 13 As shown, when the monitoring step is the warning step, the present invention may perform PRA degradation control of the vehicle ( S612 ).

[0181] Next, the present invention may determine whether the PRA temperature reaches a predetermined percentage of the critical temperature (S614).

[0182] As an example, the predetermined percentage of the critical temperature may be approximately 70% of the critical temperature; however, the present invention is not limited thereto.

[0183] Subsequently, when the PRA temperature reaches a predetermined percentage of the critical temperature, the present invention may initially limit the battery output (S616), and when the PRA temperature does not reach the predetermined percentage of the critical temperature, the present invention may limit the battery output to the actual output of the battery (S618).

[0184] Here, when initially limiting the battery output, the present invention can limit the battery output to the actual output of the vehicle.

[0185] In addition, the present invention may determine whether the PRA temperature continues to rise for a predetermined time (S620).

[0186] Here, the predetermined time may be about 10 seconds; however, the present invention is not limited thereto.

[0187] Next, when the PRA temperature continuously rises for a predetermined time, the present invention can secondarily limit the battery output (S622), and when the PRA temperature continuously rises for less than a predetermined time, the present invention can limit the battery output to the actual output of the battery (S618).

[0188] Here, when the battery output is secondarily limited, the present invention can further limit the battery output to a temperature at which the PRA temperature increases.

[0189] Subsequently, the present invention may determine whether the PRA temperature exceeds a critical temperature (S624).

[0190] Next, when the PRA temperature exceeds the critical temperature, the present invention may turn off the main relay of the PRA ( S626 ), and when the PRA temperature does not exceed the critical temperature, the present invention may further limit the battery output to a temperature at which the PRA temperature increases ( S628 ).

[0191] Furthermore, when the battery output is primarily or secondarily limited, the present invention can transmit a preventive maintenance guidance sign to the combination meter.

[0192] When the critical temperature is about 200° C., the present invention may perform output control in the warning step when the PRA temperature reaches about 70% (about 140° C.) of the critical temperature or when the PRA temperature exceeds the critical temperature.

[0193] Furthermore, when the PRA temperature reaches about 70% of the critical temperature (about 140°C), the present invention can limit the battery output to the actual output of the vehicle, and when the PRA temperature rises continuously for about 10 seconds, the present invention can set the maximum PRA temperature change rate (ΔP) per output calculated for each vehicle. BAT / △T PRA ), the battery output is limited to a target value corresponding to a temperature rise of about 70% (about 140° C.) of the critical temperature.

[0194] As an example, for the measured PRA temperature change rate (ΔP BAT / △T PRA ) is 2kW / 1℃, when the vehicle's PRA temperature continues to rise to about 160℃, the PRA temperature change (△P BAT / △T PRA ) is about 20℃ (160℃-140℃), so the battery output can be limited to 40kW (2kW*20).

[0195] As described above, the present invention can perform active PRA output control, as shown in Table 3 below.

[0196]

Table 3

[0197]

[0198] Furthermore, a computer-readable recording medium containing a program for executing the PRA degradation control method of the PRA degradation control system for a vehicle according to an embodiment of the present invention can execute the processes included in the PRA degradation control method of the PRA degradation control system for a vehicle.

[0199] In the PRA degradation control system and PRA degradation control method for a vehicle according to at least one embodiment of the present invention configured as described above, PRA and battery information of the vehicle can be collected, the collected information can be grouped, monitoring steps per vehicle can be set based on the grouped information, and the degradation state of the PRA can be periodically monitored based on the monitoring steps per vehicle, so that the degradation of the PRA can be predicted and the degradation of the PRA can be actively controlled.

[0200] Furthermore, in the present invention, logic can be configured only by changing software without adding hardware.

[0201] Furthermore, in the present invention, the degree of degradation or failure of the PRA can be determined by comparing the PRA temperatures between vehicles.

[0202] Furthermore, in the present invention, the power can be limited in advance, thereby preventing the occurrence of heat generation of the battery or accelerated degradation of the PRA.

[0203] Those skilled in the art will understand that the effects obtainable by the present invention are not limited to the effects that have been specifically described above, and other effects of the present invention will be more clearly understood from the above detailed description.

[0204] The PRA degradation control method according to the present invention described above can be implemented as a computer-readable program stored in a computer-readable recording medium. The computer-readable medium can be any type of recording device that stores data in a computer-readable manner. Computer-readable media may include, for example, hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random-access memories (RAMs), compact disk read-only memories (CD-ROMs), magnetic tapes, floppy disks, and optical data storage devices.

[0205] The above detailed description should not be interpreted as limiting the present invention in any aspect, but should be considered as an example. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all equivalent modifications made without departing from the scope of the present invention should be understood to be included in the appended claims.

Claims

1. A power relay assembly (PRA) degradation control system for a vehicle, comprising: Multiple vehicles, transmitting PRA and battery information; as well as a server that collects the PRA and battery information of the plurality of vehicles and transmits output control information for PRA degradation control to the plurality of vehicles, When the server collects the PRA and battery information of the plurality of vehicles, the server groups the collected PRA and battery information, sets a vehicle-by-vehicle monitoring step based on the grouped information, performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring step, and transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring result to the plurality of vehicles so that each vehicle performs PRA degradation control.

2. The PRA degradation control system according to claim 1, wherein: When the vehicle performs the PRA degradation control, the vehicle primarily limits battery output when the PRA temperature reaches a predetermined percentage of a critical temperature, secondarily limits battery output when the PRA temperature continues to rise for a predetermined time, and turns off a main relay of the PRA when the PRA temperature exceeds the critical temperature.

3. The PRA degradation control system according to claim 1, wherein: The server collects information including at least one of a vehicle identifier, a cumulative amount of charge and discharge energy of a battery, a section ratio of each used current, an actual output of a battery, and a PRA temperature from the vehicle.

4. The PRA degradation control system according to claim 1, wherein: When the server groups the collected information, the server groups the collected PRA and battery information by driving mode to be classified into a plurality of groups by driving mode, and regroups the information in the groups by driving mode by energy usage to be classified into a plurality of subgroups by energy used.

5. The PRA degradation control system according to claim 4, wherein: When classified into groups by driving mode, the server stores a distribution map by battery charging and discharging current interval, calculates current occupancy rates by battery charging and discharging current interval, calculates correlation coefficients by vehicle based on the current occupancy rates, classifies vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, classifies vehicles into an unassigned group when the correlation coefficient is equal to or less than the predetermined ratio, calculates an average current occupancy rate by group, calculates a correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, reclassifies the vehicles classified into the unassigned group when the correlation coefficient is greater than a predetermined ratio, and maintains the vehicles classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

6. The PRA degradation control system according to claim 4, wherein: When classifying into subgroups by energy used, the server calculates vehicles in the group by driving mode using a histogram of a plurality of intervals according to total energy used, and performs subgrouping by histogram interval to classify into the subgroups by energy used.

7. The PRA degradation control system according to claim 4, wherein: When setting the monitoring step for each vehicle, the server monitors the PRA temperature and the actual output of the battery for each subgroup of vehicles and sets the monitoring step for each vehicle based on the monitoring result.

8. The PRA degradation control system according to claim 1, wherein: When performing monitoring by vehicle, when the PRA maximum temperature and the PRA temperature increase rate of each output are within a predetermined upper limit rate in the grouped information and appear continuously for several cycles, the server monitors the vehicle in the attention step in the monitoring step, and when the PRA maximum temperature and the PRA temperature increase rate of each output are not within the predetermined upper limit rate in the grouped information, the server monitors the vehicle in the normal step in the monitoring step.

9. The PRA degradation control system according to claim 1, wherein: When the monitoring is performed per vehicle, the server monitors the vehicle in a warning step in the monitoring step when the PRA temperature of the vehicle reaches a predetermined percentage of a critical temperature.

10. The PRA degradation control system according to claim 1, wherein: When transmitting vehicle-specific output control information, when the monitoring step is a warning step, the server transmits the output control information including at least one of a vehicle identifier, vehicle-specific monitoring step information, and an active output limit value of a battery to the vehicle.

11. A PRA degradation control method of a power relay assembly PRA degradation control system for a vehicle, comprising: The server collects PRA and battery information from a plurality of vehicles; The server groups the collected PRA and battery information; The server sets monitoring steps for each vehicle based on the grouped information; The server performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring step; The server transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring result to the plurality of vehicles; and The plurality of vehicles execute PRA degradation control based on the output control information.

12. The PRA degradation control method according to claim 11, wherein: Grouping the collected information includes grouping the collected information by driving mode to classify into a plurality of groups by driving mode, and regrouping the information in the groups by driving mode to classify into a plurality of subgroups by energy used by energy usage.

13. The PRA degradation control method according to claim 12, wherein: Classification into groups by driving mode includes storing a distribution map by battery charging and discharging current interval, calculating a current occupancy rate by battery charging and discharging current interval, calculating a correlation coefficient by vehicle based on the current occupancy rate, classifying vehicles into the same group when the correlation coefficient is greater than a predetermined ratio, classifying vehicles into an unassigned group when the correlation coefficient is equal to or less than the predetermined ratio, calculating an average current occupancy rate by group, calculating a correlation coefficient between the vehicles classified into the unassigned group and the average current occupancy rate by group, reclassifying the vehicle classified into the unassigned group when the correlation coefficient is greater than a predetermined ratio, and maintaining the vehicle classified into the unassigned group when the correlation coefficient is equal to or less than the predetermined ratio.

14. The PRA degradation control method according to claim 12, wherein: The classification into subgroups by energy used includes calculating vehicles in the group by driving mode using a histogram of a plurality of intervals according to total energy used, and performing subgrouping by histogram interval to classify into the subgroup by energy used.

15. The PRA degradation control method according to claim 11, wherein: Vehicle-by-vehicle monitoring includes: monitoring the vehicle in a cautioning step in the monitoring step when the PRA maximum temperature and the PRA temperature increase rate of each output are within predetermined upper limit rates in the grouped information and appear continuously for several cycles; and When the PRA maximum temperature and the PRA temperature increase rate of each output are not within the predetermined upper limit rate in the grouped information, the vehicle is monitored in a normal step in the monitoring step.

16. The PRA degradation control method according to claim 11, wherein: Performing the monitoring per vehicle includes monitoring the vehicle in a warning step in the monitoring step when a PRA temperature of the vehicle reaches a predetermined percentage of a critical temperature.

17. The PRA degradation control method according to claim 11, wherein: Executing PRA degradation control includes limiting the battery output primarily when the PRA temperature reaches a predetermined percentage of a critical temperature, limiting the battery output secondarily when the PRA temperature continues to rise for a predetermined time, and turning off the PRA main relay when the PRA temperature exceeds the critical temperature. 18 . A computer-readable recording medium containing a program for executing the PRA degradation control method according to claim 11 .

19. A vehicle having a power relay assembly (PRA) degradation control system, comprising: A communication unit, connected to the server for communication; as well as a battery controller that controls battery output based on output control information received from the server, The battery controller monitors the PRA and the battery to acquire PRA and battery information, controls the communication unit to transmit the acquired PRA and battery information to the server, and upon receiving the output control information from the server, monitors the PRA temperature based on the output control information to control the battery output. The server collects PRA and battery information of multiple vehicles, groups the collected PRA and battery information, sets vehicle-by-vehicle monitoring steps based on the grouped information, performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring steps, and transmits vehicle-by-vehicle output control information corresponding to the monitoring results to the multiple vehicles.

20. A server for a power relay assembly (PRA) degradation control system for a vehicle, comprising: a communication unit, communicatively connected to the plurality of vehicles; a data grouping unit, which collects the PRA and battery information of the plurality of vehicles and groups the collected information; as well as An active output controller sets a vehicle-by-vehicle monitoring step based on the grouped information, performs vehicle-by-vehicle monitoring in response to the set vehicle-by-vehicle monitoring step, and transmits vehicle-by-vehicle output control information corresponding to the vehicle-by-vehicle monitoring result to the plurality of vehicles.

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