Control device, mobile body, computer-readable storage medium, and control method

Abstract

The present application relates to a control device, a mobile body, a computer-readable storage medium, and a control method. The mobile body is provided with a drive unit having a generation unit that generates a first drive force and an adjustment unit that adjusts the magnitude of the drive force output by the drive unit. The control device that controls the magnitude of the drive force for moving the mobile body is provided with: a required drive force decision unit that decides the magnitude of the drive force required for moving the mobile body, i.e., the required drive force, based on an instruction of a user of the mobile body; a necessity decision unit that decides whether or not to execute a diagnosis process for diagnosing the state of the drive unit; a diagnosis drive force decision unit that decides the magnitude of the drive force generated by the generation unit during the period in which the diagnosis process is executed, i.e., the diagnosis drive force; and a drive control unit that controls the operation of the drive unit. In the case where the necessity decision unit decides to execute the diagnosis process, the drive control unit controls the operation of the drive unit based on the magnitude of the required drive force decided by the required drive force decision unit and the magnitude of the diagnosis drive force decided by the diagnosis drive force decision unit.

Description

TECHNICAL FIELD

[0001] The present application relates to a control device, a moving body, a computer-readable storage medium, and a control method. BACKGROUND

[0002] Patent Literature 1 discloses a brake force control unit that, when a turning state of a vehicle enters an understeering state, applies a brake force to a wheel on an inside of a turn to cause the vehicle to generate a yaw moment, and a rear wheel toe angle control unit that, according to an operation angle of a steering wheel that changes a direction of a front wheel, which is a steering wheel of the vehicle, changes a toe angle of a rear wheel on an outside of the turn to the front toe side.

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2010-179675 SUMMARY

[0004] In recent years, there is an increasing effort to realize a low-carbon society or a decarbonized society, and, for example, in the field of moving bodies such as vehicles, research and development for reduction of CO2 emissions during travel or during a manufacturing process and improvement of energy efficiency are being conducted. Depending on changes in a moving method, a surrounding environment, and the like, the magnitude of a load applied to each unit of a moving body also changes. Therefore, it is difficult to accurately diagnose a state of the moving body. An object of one embodiment of the present application is to more accurately diagnose a state of a moving body.

[0005] In a first aspect of the present application, a control device is provided. The above-described control device, for example, controls the magnitude of a driving force for moving a moving body. In the above-described control device, the moving body, for example, has a driving section that outputs a driving force for moving the moving body. In the above-described control device, the driving section, for example, has a generation section that generates a first driving force that is at least a part of the driving force, and an adjustment section that adjusts the magnitude of the driving force output by the driving section by generating a second driving force or a brake force that is a remaining part of the driving force.

[0006] The above-described control device, for example, has a required driving force decision section that decides the magnitude of a driving force required for moving the moving body, i.e., a required driving force, on the basis of an instruction of a user of the moving body. The above-described control device, for example, has a necessity decision section that decides whether or not to perform a diagnosis process for diagnosing a state of the driving section. The above-described control device, for example, has a diagnosis driving force decision section that decides the magnitude of a driving force generated by the generation section during performance of the diagnosis process, i.e., a diagnosis driving force. The above-described control device, for example, has a driving control section that controls an operation of the driving section.

[0007] In the above control device, the drive control section controls the action of the drive section based on the magnitude of the required drive force decided by the required drive force decision section, for example, (a) in a case where the execution of the diagnosis processing is not decided by the execution decision section. In the above control device, the drive control section controls the action of the drive section based on the magnitude of the required drive force decided by the required drive force decision section and the magnitude of the diagnosis drive force decided by the diagnosis drive force decision section, for example, (b) in a case where the execution of the diagnosis processing is decided by the execution decision section.

[0008] In the above control device, in a case where the execution of the diagnosis processing is decided by the execution decision section, the drive control section can control the action of the generation section so that the magnitude of the first drive force becomes the magnitude of the diagnosis drive force. In the above control device, in a case where the execution of the diagnosis processing is decided by the execution decision section, the drive control section can control the action of the adjustment section based on the difference between the magnitude of the required drive force and the magnitude of the diagnosis drive force. In the above control device, when the difference between the magnitude of the required drive force and the magnitude of the diagnosis drive force is a negative value, the drive control section can control the action of the adjustment section so that the adjustment section generates the braking force of a magnitude corresponding to the absolute value of the difference.

[0009] In the above control device, (i) when the difference between the magnitude of the required drive force and the magnitude of the diagnosis drive force is a positive value, the drive control section can control the action of the adjustment section so that the adjustment section generates the second drive force of a magnitude corresponding to the absolute value of the difference. In the above control device, (ii) when the difference between the magnitude of the required drive force and the magnitude of the diagnosis drive force is a negative value, the drive control section can control the action of the adjustment section so that the adjustment section generates the braking force of a magnitude corresponding to the absolute value of the difference.

[0010] In the above control device, the adjustment section can include at least one of a propulsive force device and a braking device. In the above control device, the diagnosis drive force decision section can decide a component diagnosed in the diagnosis processing, that is, a diagnosis target. In the above control device, the diagnosis drive force decision section can refer to a storage device storing the magnitude of the diagnosis drive force corresponding to each of one or more constituent components constituting at least a part of the mobile body to decide the magnitude of the diagnosis drive force corresponding to the diagnosis target.

[0011] In the above control device, the execution decision section can decide the execution of the diagnosis processing in a case where the moving state of the mobile body meets a predetermined diagnosis start condition. In the above control device, the predetermined condition can include at least one of a condition that the manner of the operation of the mobile body by a user of the mobile body meets a predetermined operation condition, a condition that the degree of acceleration of the mobile body is smaller than a predetermined degree, and a condition that the degree of turning of the mobile body is smaller than a predetermined degree. In the above control device, the mobile body can be provided with a diagnosis section diagnosing the state of the drive section. The diagnosis section can start the diagnosis of the drive section in a case where the execution decision section decides the execution of the diagnosis processing.

[0012] In a second aspect of the present application, a mobile body is provided. The above mobile body, for example, is provided with the control device according to the first aspect. The above mobile body, for example, is provided with a drive unit that outputs a drive force for moving the mobile body. The above mobile body, for example, is provided with a diagnosis unit that diagnoses a state of the drive unit.

[0013] The above mobile body can be provided with a thrust generation unit that generates a thrust of the mobile body using the drive force output by the drive unit. In the above mobile body, the generation unit can have a power generation unit that generates a power. In the above mobile body, the generation unit can have a power transmission unit that transmits the power generated by the power generation unit to the thrust generation unit. In the above mobile body, the power generation unit can include an electric motor.

[0014] In a third aspect of the present application, a control method is provided. The above control method, for example, is a method for controlling a size of a drive force for moving a mobile body. Each step of the above control method, for example, is executed by a computer. In the above control method, the mobile body, for example, is provided with a drive device that outputs a drive force for moving the mobile body. In the above control method, the drive device, for example, has a generation device that generates a first drive force that is at least a part of the drive force and an adjustment device that adjusts the size of the drive force output by the drive device by generating a second drive force or a braking force that is a remainder of the drive force.

[0015] The above control method, for example, has a required drive force decision step that decides a size of a required drive force for moving the mobile body based on an instruction of a user of the mobile body. The above control method, for example, has a necessity decision step that decides whether or not to execute a diagnosis process for diagnosing a state of the drive device. The above control method, for example, has a diagnosis drive force decision step that decides a size of a diagnosis drive force generated by the generation device during execution of the diagnosis process. The above control method, for example, has a control step that controls an operation of the drive device.

[0016] In the above control method, the control step, for example, includes (a) a step of controlling the operation of the drive device based on the size of the required drive force decided in the required drive force decision step when it is not decided in the necessity decision step to execute the diagnosis process. In the above control method, the control step, for example, includes (b) a step of controlling the operation of the drive device based on the size of the required drive force decided in the required drive force decision step and the size of the diagnosis drive force decided in the diagnosis drive force decision step when it is decided in the necessity decision step to execute the diagnosis process.

[0017] In a fourth aspect of the present application, a program is provided. The above program is, for example, a program for causing a computer to function as the control device according to the first aspect described above. The above program is, for example, a program for causing a computer to execute the control method according to the third aspect described above. A computer-readable medium that stores the above program can also be provided. The computer-readable medium can also be a non-transitory computer-readable medium. The computer-readable medium can also be a computer-readable recording medium.

[0018] Further, the summary of the above-described application does not list all the essential features of the present application. Further, sub-combinations of these feature groups can also be an application. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 An example of the system configuration of the mobile body 100 is schematically shown.

[0020] Figure 2 An example of the system configuration of the drive unit 140 is schematically shown.

[0021] Figure 3 An example of the system configuration of the control unit 160 is schematically shown.

[0022] Figure 4 An example of the information processing in the diagnosis timing decision section 344 is schematically shown.

[0023] Figure 5 Another example of the information processing in the diagnosis timing decision section 344 is schematically shown.

[0024] Figure 6 Another example of the information processing in the diagnosis timing decision section 344 is schematically shown.

[0025] Figure 7 Another example of the information processing in the diagnosis timing decision section 344 is schematically shown.

[0026] Figure 8 An example of the information processing in the start decision section 346 is schematically shown.

[0027] Figure 9 An example of the information processing in the diagnosis processing execution section 348 is schematically shown.

[0028] Figure 10 An example of the internal configuration of the vehicle 1000 is schematically shown.

[0029] Figure 11 An example of the internal configuration of the computer 3000 is schematically shown. DETAILED DESCRIPTION

[0030] Hereinafter, the present application will be described through embodiments of the invention, but the following embodiments do not limit the claimed application. In addition, the combinations of features described in the embodiments are not all necessary for the solution means of the invention.

[0031] (Summary of Mobile Body 100)

[0032] Figure 1 An example of the system configuration of the mobile body 100 is schematically shown. In the present embodiment, the mobile body 100 is described in detail taking the case where the mobile body 100 moves according to an instruction of the user 20 as an example. The user 20 can be a rider of the mobile body 100, or a running manager who manages the running of the mobile body 100.

[0033] In the present embodiment, the mobile body 100 is provided with, for example, an input / output unit 120, a thrust generation unit 130, a drive unit 140, a measurement unit 150, and a control unit 160. In the present embodiment, the control unit 160 has a control section 162, a diagnosis section 164, and a storage section 166.

[0034] In the present embodiment, the input / output unit 120, the thrust generation unit 130, the drive unit 140, the measurement unit 150, and the control unit 160 are mounted on the mobile body 100, for example. In the present embodiment, the input / output unit 120, the drive unit 140, the measurement unit 150, and the control unit 160 are configured to be able to transmit and receive information to and from each other, for example.

[0035] The mobile body 100 moves with a person or an object mounted thereon, for example. The mobile body 100 can move under the manipulation of the user 20, or can move autonomously.

[0036] As the mobile body 100, a vehicle, an aircraft, a ship, or the like is exemplified. As the vehicle, a car, an automatic two-wheeled vehicle, a bicycle, a standing-type vehicle having a power unit, construction equipment, an electric train, or the like is exemplified. As the car, an electric car, a fuel cell vehicle (FCV), a hybrid vehicle, a small commuter car, an electric cart, or the like is exemplified. As the automatic two-wheeled vehicle, a motorcycle, a three-wheeled motorcycle, or the like is exemplified. The bicycle can be a bicycle with a motor. The bicycle with a motor can be an electric bicycle, or an electric assist bicycle. As the construction equipment, a forklift, a tiller, a mower, or the like is exemplified. As the aircraft, an airplane, a dirigible or a hot air balloon, a balloon, a helicopter, an unmanned aerial vehicle, or the like is exemplified. As the ship, a boat, a hovercraft, a jet ski, a submarine, a submersible, an underwater scooter, or the like is exemplified.

[0037] In the present embodiment, the input / output unit 120 receives, for example, an input of an instruction or operation from the user 20. The input / output unit 120 can acquire information indicating a kind and an operation amount of an operation of the user 20 instructing the mobile body 100. The input / output unit 120 presents, for example, various kinds of information. The input / output unit 120 can output various kinds of information about a state of the mobile body 100.

[0038] The input / output unit 120 includes, for example, various input devices and / or various output devices. As the input device, a steering wheel, an accelerator, a brake, a shift lever, a winker, and the like are exemplified. As other examples of the input device, a keyboard, a pointing device, a touch panel, a camera, a microphone, a voice input system, a gesture input system, and the like are exemplified. As the output device, a display device, a speaker, and the like are exemplified. As the display device, a display, a projector, and the like are exemplified.

[0039] In the present embodiment, the thrust generating unit 130 generates, for example, a thrust of the mobile body 100. The thrust generating unit 130 can generate a thrust of the mobile body 100 using a driving force output from the driving unit 140. As the thrust generating unit 130, a wheel, a propeller, and the like are exemplified.

[0040] In the present embodiment, the driving unit 140 outputs, for example, a driving force for moving the mobile body 100. The driving unit 140 can also output a braking force for braking the mobile body 100. The driving unit 140 operates, for example, based on an instruction from the control unit 160. Details of the driving unit 140 will be described later.

[0041] In the present embodiment, the measurement unit 150 measures various physical quantities indicating a state of the mobile body 100. The measurement unit 150 can measure various physical quantities indicating a state of the driving unit 140. The measurement unit 150 can output information indicating a measurement result to the control unit 160.

[0042] The measurement unit 150 can include various sensors. As the above-described sensors, a vibration sensor, an AE (Acoustic Emission) sensor, a current sensor, a voltage sensor, a rotation sensor (sometimes referred to as a resolver), a temperature sensor, a pressure sensor, and the like are exemplified.

[0043] The vibration sensor, for example, detects a vibration generated by a failure or deterioration of a component (e.g., a bearing, a gear, a shaft, or the like). The AE sensor, for example, detects an elastic wave generated by a failure or deterioration of a component. The current sensor and / or the voltage sensor detects a change in a waveform caused by a failure or deterioration of a component. The rotation sensor detects a change in a waveform caused by a failure or deterioration of a motor. The temperature sensor, for example, measures an oil temperature, a water temperature, an air temperature, a surface temperature of a component, an internal temperature of a component, or the like. The temperature sensor detects a temperature change caused by a failure or deterioration of a component. Thus, it is possible to detect a failure or a precursor of a failure of a component.

[0044] In the present embodiment, the control unit 160, for example, controls the mobile body 100. In one embodiment, the control unit 160 manages states of the units of the mobile body 100. For example, the control unit 160 acquires a measurement result indicating the states of the units of the mobile body 100 from the measurement unit 150. The control unit 160 can also diagnose the states of the units of the mobile body 100 (sometimes simply referred to as diagnosing the units). In another embodiment, the control unit 160 can control actions of the units of the mobile body 100. For example, the control unit 160 controls actions of the drive unit 140.

[0045] In the present embodiment, the control section 162, for example, controls actions of the units of the mobile body 100. The control section 162 can acquire a measurement result indicating the states of the units of the mobile body 100 from the measurement unit 150. The control section 162 can control actions of the units of the mobile body 100 on the basis of the above measurement result. For example, the controller 162 controls actions of the drive unit 140. The control section 162 can control the drive unit 140 to control a magnitude of a driving force for moving the mobile body 100. The control section 162 will be described in detail later.

[0046] In the present embodiment, the diagnosis section 164, for example, diagnoses the states of the mobile body 100. The diagnosis section 164 can diagnose the states of at least some of a plurality of components (sometimes referred to as constituent components) constituting the mobile body 100. The diagnosis section 164, for example, diagnoses the states of the drive unit 140. The diagnosis section 164 can diagnose the states of at least some of a plurality of components (sometimes referred to as constituent components) constituting the drive unit 140. Thus, the diagnosis section 164, for example, can detect a failure or a precursor of a failure of the above components. The diagnosis section 164 will be described in detail later.

[0047] In the present embodiment, the storage section 166 stores (sometimes referred to as saves) various information. In one embodiment, the storage section 166 stores various information used in information processing in the mobile body 100. In another embodiment, the storage section 166 stores various information generated by information processing in the mobile body 100. The storage section 166 will be described in detail later.

[0048] The user 20 can be an example of a user. The mobile body 100 can be an example of a device. The thrust generation unit 130 can be an example of a thrust generation section. The drive unit 140 can be an example of a drive device or a drive section. The drive unit 140 can be an example of a counter-thrust device or a braking device. The control unit 160 can be an example of a control device, a diagnosis device, or a diagnosis section. The control section 162 can be an example of a control device, a required drive force determination section, a diagnosis drive force determination section, or a drive control section. The diagnosis section 164 can be an example of a diagnosis device or a diagnosis section. The storage section 166 can be an example of a storage device.

[0049] (Summary of the drive unit 140)

[0050] Figure 2 An example of a system configuration of the drive unit 140 is schematically shown. In Figure 2 In the present embodiment, the system configuration of the drive unit 140 is described in detail, taking the case where the mobile body 100 is a vehicle as an example. In Figure 2 In the present embodiment, the system configuration of the drive unit 140 is described in detail, taking the case where the mobile body 100 is a vehicle as an example. In

[0051] In the present embodiment, the drive unit 140 includes a front wheel drive unit 242 and a rear wheel drive unit 244. In the present embodiment, each of the front wheel drive unit 242 and the rear wheel drive unit 244 includes a motor 252, a gear box 254, a shaft 256, and a brake 262.

[0052] In the present embodiment, one of the front wheel drive unit 242 and the rear wheel drive unit 244 generates at least a part of the drive force for moving the mobile body 100 (sometimes referred to as a first drive force). In the present embodiment, the other of the front wheel drive unit 242 and the rear wheel drive unit 244 adjusts the magnitude of the drive force output from the drive unit 140. For example, the other of the front wheel drive unit 242 and the rear wheel drive unit 244 adjusts the magnitude of the drive force output from the drive unit 140 by (i) generating a remaining part of the drive force for moving the mobile body 100 (sometimes referred to as a second drive force) or (ii) generating a braking force for braking the mobile body 100.

[0053] In one embodiment, the other of the front-wheel drive unit 242 and the rear-wheel drive unit 244 generates a braking force by operating the motor 252 or the gear box 254 so that the driving force output from the motor 252 cancels the first driving force output from one of the front-wheel drive unit 242 and the rear-wheel drive unit 244. In another embodiment, the other of the front-wheel drive unit 242 and the rear-wheel drive unit 244 generates a braking force by operating the brake 262.

[0054] In the present embodiment, the motor 252 generates a power. In the present embodiment, the gear box 254 transmits the power generated by the motor 252 to the front wheel 232 or the rear wheel 234. The gear box 254 is composed of one or more components. The gear box 254 contains, for example, a bearing, a gear, or the like, a rotating component. In the present embodiment, the shaft 256 transmits the power generated by the motor 252 to the front wheel 232 or the rear wheel 234.

[0055] The pair of front wheels 232 can be an example of a thrust-generating portion. The pair of rear wheels 234 can be an example of a thrust-generating portion. One of the front-wheel drive unit 242 and the rear-wheel drive unit 244 can be an example of a generating device or a generating portion. The other of the front-wheel drive unit 242 and the rear-wheel drive unit 244 can be an example of an adjusting device or an adjusting portion. The motor 252 can be an example of an electric motor. The motor 252 included in the other of the front-wheel drive unit 242 and the rear-wheel drive unit 244 can be an example of a counter-thrust device. The gear box 254 included in the other of the front-wheel drive unit 242 and the rear-wheel drive unit 244 can be an example of a counter-thrust device. The brake 262 can be an example of a braking device.

[0056] (Examples of Other Embodiments)

[0057] In the present embodiment, details of the drive unit 140 are described with the case where the front-wheel drive unit 242 and the rear-wheel drive unit 244 each have the motor 252, the gear box 254, the shaft 256, and the brake 262 as an example. However, the drive unit 140 is not limited to the present embodiment. In other embodiments, one of the front-wheel drive unit 242 and the rear-wheel drive unit 244 can also not have the motor 252.

[0058] (Outline of Control Unit 160)

[0059] Figure 3 An example of a system configuration of the control unit 160 is schematically shown. According to the present embodiment, information processing in the control unit 160 is explained in detail with the case where the diagnosis section 164 diagnoses a state of the front-wheel drive unit 242 or a part of a component constituting the front-wheel drive unit 242. Figure 3

[0060] ​In this embodiment, the moving body 100 is facing forward (e.g., Figure 2 Taking the case of movement (above) as an example, the control unit 160 is described in detail. In this case, (i) the motor 252, gearbox 254 and shaft 256 of the front wheel drive unit 242 generate a driving force for moving the moving body 100 forward, and (ii) the brake 262 of the front wheel drive unit 242 and / or the rear wheel drive unit 244 adjust the magnitude of the driving force output from the drive unit 140.

[0061] According to one embodiment, (i) the motor 252, gearbox 254, and shaft 256 of the front-wheel drive unit 242 generate a driving force for moving the moving body 100 forward, and (ii) the brake 262 of the front-wheel drive unit 242 and / or the rear-wheel drive unit 244 generate a braking force that counteracts the driving force for moving the moving body 100 forward. According to another embodiment, (i) the motor 252, gearbox 254, and shaft 256 of the front-wheel drive unit 242 generate a portion of the driving force for moving the moving body 100 forward, and (ii) the rear-wheel drive unit 244 generates the remaining portion of the driving force for moving the moving body 100 forward.

[0062] In this embodiment, the control unit 162 includes an input / output control unit 322, a required drive force determination unit 324, a diagnostic drive force determination unit 326, and a drive control unit 328. In this embodiment, the diagnostic unit 164 includes a diagnostic mode determination unit 342, a diagnostic period determination unit 344, a start determination unit 346, and a diagnostic processing execution unit 348. In this embodiment, the storage unit 166 includes a diagnostic interval storage unit 362 and a diagnostic drive force storage unit 364.

[0063] In this embodiment, the input / output control unit 322 controls the input / output between the control unit 160 and each unit of the moving body 100. For example, the input / output control unit 322 acquires information representing the content of the instruction from the user 20 output by the input / output unit 120. For example, the input / output control unit 322 acquires information representing the measurement result output by the measurement unit 150. For example, the input / output control unit 322 outputs information to the drive unit 140 for controlling the operation of the drive unit 140.

[0064] In this embodiment, the drive force determination unit 324 determines the magnitude of the drive force (sometimes referred to as the required drive force) needed to move the moving body 100 based on the instruction from the user 20. The drive force determination unit 324 can output information indicating the magnitude of the required drive force to the drive control unit 328.

[0065] The required driving force determination section 324 determines the magnitude of the required driving force, for example, based on (i) the content of the instruction of the user 20 and (ii) a performance curve related to the movement of the moving body 100. The performance curve is determined, for example, based on the mass of the moving body 100, the movement resistance of the moving body 100, and the like. In the case where the moving body 100 is a vehicle, various kinds of running performance curves are exemplified as the performance curve. In the case where the moving body 100 is a vehicle, the magnitude of the required driving force is determined, for example, based on (i) the content of the instruction of the user 20 and (ii) a driving force line map of the moving body 100.

[0066] For example, consider the case where the content of the instruction of the user 20 is to maintain the movement speed of the moving body 100 at 100 km / h. In this case, as the instruction of the user 20, an operation related to the accelerator operation, the cruise control, and the like are exemplified. The required driving force determination section 324 determines the magnitude of the force required to maintain the speed of 100 km / h based on the driving force line map.

[0067] Thus, the magnitude of the driving force to be output by the driving unit 140 is determined. As described above, the output of the driving unit 140 is calculated by adding the force by which the front-wheel driving unit 242 moves the moving body 100 in the forward direction and the force by which the rear-wheel driving unit 244 moves the moving body 100 in the forward direction or the rearward direction.

[0068] In the present embodiment, the diagnosis driving force determination section 326 determines the magnitude of the driving force (sometimes referred to as diagnosis driving force) generated by the front-wheel driving unit 242 during the period in which the diagnosis processing is performed by the diagnosis section 164. The diagnosis driving force determination section 326 can output information indicating the magnitude of the diagnosis driving force to the driving control section 328.

[0069] The diagnosis driving force determination section 326 can determine the diagnosis driving force such that the magnitude of the load applied to the component (sometimes referred to as diagnosis target) diagnosed in the diagnosis processing of the diagnosis section 164 is greater than the period in which the diagnosis processing is not performed. Thus, the diagnosis section 164 can diagnose the state of the component with high accuracy.

[0070] The diagnosis driving force determination section 326 can also determine the magnitude of the diagnosis driving force such that the magnitude of the diagnosis driving force is greater than the magnitude of the required driving force. Thus, the diagnosis section 164 can diagnose the state of the component with high accuracy.

[0071] As described above, even in the field of mobile bodies, it is desired to reduce the amount of CO2 emission during traveling or during the manufacturing process or to improve energy efficiency. As a method for achieving reduction of the amount of CO2 emission during the manufacturing process of a mobile body, it is considered to continue use of the mobile body or a component mounted on the mobile body (sometimes referred to as a mounted component) until the end of the life. Thereby, the number of newly manufactured mobile bodies or mounted components is reduced, and as a result, the amount of CO2 emission and the amount of energy use during the manufacturing process of the mobile body are reduced.

[0072] In order to continue use of the mobile body or the mounted component until the end of the life, it is necessary to grasp the load input to the mobile body or the mounted component and grasp the remaining life of the mobile body or the mounted component. On the other hand, the magnitude of the load applied to each unit of the mobile body varies depending on changes in the moving manner, the surrounding environment, and the like. Therefore, it is difficult to accurately diagnose the state of the mobile body and determine an appropriate replacement timing or repair timing.

[0073] With respect to these aspects, the inventors found that the greater the load applied to a component, the greater the variation in the measurement data of the component. Specifically, the inventors formed an artificial defect in a part of the rolling surface of the outer ring of a bearing, changed the magnitude of the load applied to the bearing, and observed the vibration of the bearing. The magnitude of the load applied to the bearing was expressed as the magnitude of the load applied in a direction substantially perpendicular to the extension direction of the rotational shaft of the bearing to the rotational shaft inserted into the bearing. After performing a fast Fourier transform on the data of the vibration acceleration, it was found that the greater the load applied to the bearing, the greater the power spectral value of the frequency corresponding to the above-described artificial defect. In addition, application of a load to a specific component is sometimes referred to as input of a load to the component. Likewise, the load applied to a specific component is sometimes referred to as the load input to the component.

[0074] According to the above insight, even in a case where the degree of abnormality or deterioration of a component is small, it is possible to detect the abnormality or deterioration by performing a diagnosis process under a condition where a greater load is applied to the component. Therefore, according to the present embodiment, the diagnosis drive force determination unit 326 determines the magnitude of the drive force generated by the front wheel drive unit 242 (i.e., the diagnosis drive force) so that the load applied to the front wheel drive unit 242 as the diagnosis target becomes greater during the period in which the diagnosis unit 164 performs the diagnosis process.

[0075] In a case where the diagnosis drive force storage section 364 stores information indicating the magnitude of the diagnosis drive force corresponding to each of the one or more constituent members constituting at least a part of the moving body 100, the diagnosis drive force determination section 326 can also determine the diagnosis drive force in accordance with the following flow. First, the diagnosis drive force determination section 326 determines the member to be diagnosed in the diagnosis process, that is, the diagnosis target. Next, the diagnosis drive force determination section 326 refers to the diagnosis drive force storage section 364 to acquire information indicating the magnitude of the diagnosis drive force corresponding to the diagnosis target determined in the above-described flow. Thus, the diagnosis drive force determination section 326 can determine the magnitude of the diagnosis drive force.

[0076] The diagnosis drive force determination section 326 can determine the magnitude of the diagnosis drive force so that, during the period in which the diagnosis process is executed, the drive force output by the front-wheel drive unit 242 is greater than at the time point before the start of the diagnosis process, and the drive force output by the rear-wheel drive unit 244 is less than at the time point before the start of the diagnosis process. The diagnosis drive force determination section 326 can determine the magnitude of the diagnosis drive force so that, during the period in which the diagnosis process is executed, the drive force output by the front-wheel drive unit 242 is greater than at the time point before the start of the diagnosis process, and the braking force generated by the rear-wheel drive unit 244 is greater than at the time point before the start of the diagnosis process. The diagnosis drive force determination section 326 can determine the magnitude of the diagnosis drive force so that, during the period in which the diagnosis process is executed, the output of the motor 252 of the front-wheel drive unit 242 is greater than at the time point before the start of the diagnosis process, and the braking force of the brake 262 of the front-wheel drive unit 242 is greater than at the time point before the start of the diagnosis process.

[0077] In the present embodiment, the drive control section 328 controls the operation of the drive unit 140. The drive control section 328 controls the operation of the drive unit 140, for example, on the basis of the magnitude of the required drive force determined by the required drive force determination section 324. The drive control section 328 controls the operation of the drive unit 140, for example, on the basis of the magnitude of the required drive force determined by the required drive force determination section 324 and the magnitude of the diagnosis drive force determined by the diagnosis drive force determination section 326. The drive control section 328 can output information for controlling the operation of the drive unit 140 (sometimes referred to as a control signal) to the drive unit 140.

[0078] The drive control portion 328 can determine the magnitude of the driving force output by the front-wheel drive unit 242. The drive control portion 328 can control the operation of each unit of the front-wheel drive unit 242. The drive control portion 328 can control the magnitude of the load applied to each of the motor 252, the gear box 254, the shaft 256, and the brake 262 included in the front-wheel drive unit 242. The drive control portion 328, for example, controls the magnitude of the driving force output by the motor 252 of the front-wheel drive unit 242. The drive control portion 328, for example, controls the magnitude of the braking force generated by the brake 262 of the front-wheel drive unit 242. Thus, the magnitude of the load applied to each of the motor 252, the gear box 254, the shaft 256, and the brake 262 included in the front-wheel drive unit 242 is controlled.

[0079] The drive control portion 328 can determine the magnitude of the driving force or the braking force output by the rear-wheel drive unit 244. The drive control portion 328 can control the operation of each unit of the rear-wheel drive unit 244. The drive control portion 328 can control the magnitude of the load applied to each of the motor 252, the gear box 254, and the shaft 256 included in the rear-wheel drive unit 244. The drive control portion 328, for example, controls the magnitude of the driving force output by the motor 252 of the rear-wheel drive unit 244. The drive control portion 328, for example, controls the operation of the gear box 254 of the rear-wheel drive unit 244 to control the direction of the driving force output by the motor 252. The drive control portion 328, for example, controls the magnitude of the braking force generated by the brake 262 of the rear-wheel drive unit 244. Thus, the magnitude of the load applied to each of the motor 252, the gear box 254, and the shaft 256 included in the rear-wheel drive unit 244 is controlled.

[0080] (Control during a period in which the diagnostic operation is not performed)

[0081] In one embodiment, the drive control portion 328 controls the operation of the drive unit 140 based on the magnitude of the required driving force determined by the required driving force determination portion 324. For example, in a case where the diagnostic portion 164 does not determine to perform the diagnostic processing, the drive control portion 328 controls the operation of the drive unit 140 based on the magnitude of the required driving force determined by the required driving force determination portion 324.

[0082] For example, the drive control portion 328 controls the operation of the drive units 140 so that the magnitude of the driving force output by the drive units 140 becomes the magnitude of the required driving force decided by the required driving force deciding portion 324. For example, the drive control portion 328 decides the operation of each of the front-wheel drive unit 242 and the rear-wheel drive unit 244 so that the sum of the magnitude of the driving force output by the front-wheel drive unit 242 and the magnitude of the driving force output by the rear-wheel drive unit 244 matches the magnitude of the required driving force decided by the required driving force deciding portion 324. For example, the drive control portion 328 decides the operation of each of the front-wheel drive unit 242 and the rear-wheel drive unit 244 so that a value obtained by subtracting the magnitude of the braking force generated by the rear-wheel drive unit 244 from the magnitude of the driving force output by the front-wheel drive unit 242 matches the magnitude of the required driving force decided by the required driving force deciding portion 324.

[0083] (CONTROL DURING EXECUTION OF DIAGNOSIS OPERATION)

[0084] In other embodiments, the drive control portion 328 controls the operation of the drive units 140 based on the magnitude of the required driving force decided by the required driving force deciding portion 324 and the magnitude of the diagnosis driving force decided by the diagnosis driving force deciding portion 326. For example, in a case where the diagnosis portion 164 decides to execute the diagnosis processing, the drive control portion 328 controls the operation of the drive units 140 based on the magnitude of the required driving force decided by the required driving force deciding portion 324 and the magnitude of the diagnosis driving force decided by the diagnosis driving force deciding portion 326.

[0085] For example, the drive control portion 328 controls the operation of the drive units 140 so that the magnitude of the driving force output by the drive units 140 becomes the magnitude of the required driving force decided by the required driving force deciding portion 324. For example, the drive control portion 328 decides the operation of each of the front-wheel drive unit 242 and the rear-wheel drive unit 244 so that the sum of the magnitude of the driving force output by the front-wheel drive unit 242 and the magnitude of the driving force output by the rear-wheel drive unit 244 matches the magnitude of the required driving force decided by the required driving force deciding portion 324. For example, the drive control portion 328 decides the operation of each of the front-wheel drive unit 242 and the rear-wheel drive unit 244 so that a value obtained by subtracting the magnitude of the braking force generated by the rear-wheel drive unit 244 from the magnitude of the driving force output by the front-wheel drive unit 242 matches the magnitude of the required driving force decided by the required driving force deciding portion 324.

[0086] For example, the drive control section 328 determines the operation of the front-wheel drive unit 242 so that the magnitude of the driving force output by the front-wheel drive unit 242 becomes the magnitude of the diagnosis driving force determined by the diagnosis driving force determination section 326. The drive control section 328 can control the operation of the rear-wheel drive unit 244 on the basis of the difference between the magnitude of the required driving force determined by the required driving force determination section 324 and the magnitude of the diagnosis driving force determined by the diagnosis driving force determination section 326.

[0087] For example, the drive control section 328 determines the magnitude of the driving force or braking force generated by the rear-wheel drive unit 244 on the basis of the difference between the magnitude of the required driving force and the magnitude of the diagnosis driving force. When the difference between the magnitude of the required driving force and the magnitude of the diagnosis driving force is a negative value, the drive control section 328 can control the operation of the rear-wheel drive unit 244 so that the rear-wheel drive unit 244 generates a braking force of a magnitude corresponding to the absolute value of the above difference. When the difference between the magnitude of the required driving force and the magnitude of the diagnosis driving force is a positive value, the drive control section 328 can control the operation of the rear-wheel drive unit 244 so that the rear-wheel drive unit 244 generates a driving force of a magnitude corresponding to the absolute value of the above difference.

[0088] In the present embodiment, the diagnosis manner determination section 342 determines the manner in which the diagnosis section 164 diagnoses the diagnosis target. As the diagnosis manner, there are exemplified a manner of diagnosing the diagnosis target at regular intervals, a manner of diagnosing the diagnosis target at random intervals, a manner of diagnosing the diagnosis target in accordance with a predetermined diagnosis schedule, and the like.

[0089] In the present embodiment, the diagnosis timing determination section 344 determines the timing at which the diagnosis section 164 diagnoses the diagnosis target. The diagnosis timing determination section 344 determines the timing at which the diagnosis section 164 diagnoses the diagnosis target, for example, by determining the diagnosis frequency or the diagnosis interval (sometimes simply referred to as the diagnosis interval). The diagnosis frequency indicates the number of diagnoses in a unit period having a predetermined length of time. The diagnosis interval indicates the time interval between two diagnoses that are continuous in time.

[0090] The diagnosis timing determination section 344 determines the diagnosis interval in a manner in which the diagnosis interval differs depending on the timing, thereby determining the diagnosis timing. The diagnosis timing determination section 344 can determine the diagnosis interval on the basis of the elapsed period since the mobile body 100 was produced and / or the degree of load applied to the mobile body 100 or the diagnosis target. The degree of load is determined, for example, on the basis of a cumulative value of the load applied to the mobile body 100 or the diagnosis target.

[0091] The diagnosis period determination unit 344 can determine the diagnosis interval for each diagnosis target, or can determine the diagnosis interval for each kind of diagnosis target. In one embodiment, the diagnosis period determination unit 344 refers to a database in which the identification information of the diagnosis target and information indicating the diagnosis interval of each diagnosis period are associated with each other, and determines the diagnosis interval in each period for each diagnosis target. In another embodiment, the diagnosis period determination unit 344 refers to a database in which information indicating the kind of diagnosis target and information indicating the diagnosis interval of each diagnosis period are associated with each other, and determines the diagnosis interval in each period for each diagnosis target.

[0092] Examples of the determination procedure of the diagnosis interval by the diagnosis period determination unit 344 will be described using the embodiment in which the first period and the second period are considered, and the embodiment in which the first period, the second period, and the third period are considered. In addition, the details of the determination procedure of the diagnosis interval by the diagnosis period determination unit 344 are described, for example, in association with Figure 4 、 Figure 5 、 Figure 6 and Figure 7 .

[0093] (Embodiment in which the first period and the second period are considered)

[0094] For example, in a case where two periods that do not overlap in time, the first period and the second period, are assumed, the diagnosis period determination unit 344 determines the above diagnosis period in a manner that the length of the time interval of diagnosis in the first period is equal to or shorter than a first reference value, and the length of the time interval of diagnosis in the second period is longer than the first reference value. In a case where the diagnosis manner determination unit 342 determines to operate the diagnosis unit 164 in a manner that the diagnosis target is diagnosed periodically, the diagnosis period determination unit 344 can determine the above diagnosis period in a manner that the length of the time interval of periodic diagnosis in the first period is equal to or shorter than a first reference value, and the length of the time interval of periodic diagnosis in the second period is longer than the first reference value.

[0095] According to the present embodiment, the diagnosis interval in the second period is longer than the diagnosis interval in the first period, and the frequency of diagnosis in the second period is lower than the frequency of diagnosis in the first period. Thus, the number of diagnoses performed in the first period and the second period can be reduced. As a result, the power consumed by the diagnosis of the mobile body 100 is reduced. In addition, for example, degradation caused by heat generation of the computer mounted on the mobile body 100 is suppressed.

[0096] (Diagnosis interval of the first period)

[0097] In one embodiment, in a case where the length of the elapsed period from the point in time at which the mobile body 100 is produced or the point in time at which the mobile body 100 is transferred to the user of the device (sometimes referred to as a first point in time) is less than a predetermined value (sometimes referred to as a first threshold value), the diagnosis period decision section 344 can decide the above-described diagnosis period based on the length of the time interval of the first period (sometimes referred to as a first time interval). At this time, the diagnosis period decision section 344, for example, decides to perform the (n+1)th diagnosis in a case where the first time interval has elapsed after the n-th diagnosis is performed. n can be an integer of 0 or more.

[0098] The (n+1)th diagnosis can not be performed immediately after the diagnosis period decision section 344 decides to perform the (n+1)th diagnosis. For example, there can be a case where the diagnosis of the mobile body 100 cannot be performed according to the usage status of the mobile body 100 even if the diagnosis period decision section 344 decides to perform the (n+1)th diagnosis.

[0099] The diagnosis period decision section 344 can decide the length of the first time interval as the predetermined value or a value specified by the user. The diagnosis period decision section 344 can decide the length of the first time interval according to the length of the elapsed period from the first point in time. The diagnosis period decision section 344 can decide the length of the first time interval in a manner such that the longer the length of the elapsed period from the first point in time, the longer the length of the first time interval.

[0100] The diagnosis period decision section 344 can refer to the diagnosis interval storage section 362 to decide the length of the first time interval. For example, in a case where the diagnosis interval storage section 362 stores conditions related to the length of the elapsed period from the above-described first point in time and the diagnosis interval at the time when the conditions are satisfied in correspondence, the diagnosis period decision section 344 calculates the length of the elapsed period from the first point in time at the current point in time, refers to the diagnosis interval storage section 362, and acquires information indicating the diagnosis interval corresponding to the length of the elapsed period. For example, in a case where the diagnosis interval storage section 362 stores conditions related to the degree of load applied to the diagnosis target from the above-described first point in time and the diagnosis interval at the time when the conditions are satisfied in correspondence, the diagnosis period decision section 344 calculates the degree of the above-described load at the current point in time, refers to the diagnosis interval storage section 362, and acquires information indicating the diagnosis interval corresponding to the degree of the load.

[0101] The first period can be a period from the first point in time to a point in time (sometimes referred to as a second point in time) at which the length of the elapsed period from the first point in time becomes the first threshold value. The second period can be a period from a point in time (sometimes referred to as a third point in time) at which the degree of load applied to the diagnosis target during the period of the elapsed period from the first point in time exceeds the second point in time to a point in time at which the degree of the load reaches a predetermined degree.

[0102] (diagnostic interval in the second period)

[0103] In other embodiments, in a case where the length of the elapsed period from the first time point is greater than the first threshold and the degree of the load applied to the diagnosis target during the elapsed period from the first time point is less than the first degree decided in advance, the diagnosis period decision section 344 can decide the period based on the length of the time interval (sometimes referred to as a second time interval) in the second period. According to the present embodiment, the start of the second period is, for example, the time point at which the length of the elapsed period from the first time point exceeds the first threshold, and the end of the second period is, for example, the time point at which the degree of the load applied to the diagnosis target during the elapsed period from the first time point reaches the first degree. In addition, the start of the second period can also be the time point at which the length of the elapsed period from the first time point reaches the first threshold, and the end of the second period can also be the time point at which the degree of the load applied to the diagnosis target during the elapsed period from the first time point exceeds the first degree.

[0104] At this time, the diagnosis period decision section 344 decides to perform the nth+1 diagnosis, for example, in a case where the second time interval has elapsed after the nth diagnosis is performed. As described above, the nth+1 diagnosis can also be performed immediately after the diagnosis period decision section 344 decides to perform the nth+1 diagnosis.

[0105] The diagnosis period decision section 344 can decide the length of the second time interval as a predetermined value or a value specified by the user. The diagnosis period decision section 344 can decide the length of the second time interval in accordance with the degree of the load applied to the diagnosis target during the elapsed period from the first time point. The diagnosis period decision section 344 can decide the length of the second time interval in such a manner that the greater the degree of the load applied to the diagnosis target during the elapsed period from the first time point, the smaller the length of the second time interval,

[0106] The diagnosis period decision section 344 can refer to the diagnostic interval storage section 362 to decide the length of the second time interval. For example, in a case where the diagnostic interval storage section 362 stores conditions related to the length of the elapsed period from the above-described first time point and the diagnostic interval at the time when the conditions are satisfied in correspondence, the diagnosis period decision section 344 calculates the length of the elapsed period from the first time point at the current time point, refers to the diagnostic interval storage section 362, and acquires information indicating the diagnostic interval corresponding to the length of the elapsed period. For example, in a case where the diagnostic interval storage section 362 stores conditions related to the degree of the load applied to the diagnosis target from the above-described first time point and the diagnostic interval at the time when the conditions are satisfied in correspondence, the diagnosis period decision section 344 calculates the degree of the above-described load at the current time point, refers to the diagnostic interval storage section 362, and acquires information indicating the diagnostic interval corresponding to the degree of the load.

[0107] (Embodiment considering the first period, the second period, and the third period)

[0108] For example, in a case where three periods, i.e., the first period, the second period, and the third period, are assumed to be non-overlapping in time, the diagnosis period decision unit 344 decides the above diagnosis period in a manner that the length of the time interval of diagnosis in the first period is shorter than a first reference value, and the length of the time interval of diagnosis in the second period is longer than the first reference value. In addition, the diagnosis period decision unit 344 decides the above diagnosis period in a manner that the length of the time interval of diagnosis in the third period is shorter than a second reference value, and the length of the time interval of diagnosis in the second period is longer than the second reference value. For example, in a case where the diagnosis manner decision unit 342 decides to cause the diagnosis unit 164 to operate in a manner that diagnoses the diagnosis target periodically, the diagnosis period decision unit 344 can decide the diagnosis period according to the above procedure.

[0109] The first reference value and the second reference value can be the same or different. The first reference value can be greater than the second reference value or smaller than the second reference value. The absolute value of the difference between the first reference value and the second reference value can be smaller than 24 hours. The second period can start after the first period ends. The third period can start after the second period ends.

[0110] According to the present embodiment, the diagnosis interval in the second period is longer than the diagnosis interval in the first period, and the diagnosis frequency in the second period is smaller than the diagnosis frequency in the first period. On the other hand, the diagnosis interval in the third period is shorter than the diagnosis interval in the second period, and the diagnosis frequency in the third period is greater than the diagnosis frequency in the second period. Thereby, the accuracy of diagnosis in the first period and the third period is improved. In addition, as described above, the number of diagnoses performed in the second period can be reduced.

[0111] For example, in a period (e.g., the first period) from when the mobile body 100 is produced to when a predetermined time elapses, a failure due to an initial defect of a component is likely to occur. On the other hand, if the above period elapses, a failure due to an initial defect of a component is less likely to occur. Thereafter, if deterioration, wear, or the like of a component progresses to a certain degree or more, a failure due to the deterioration, wear, or the like of the component is likely to occur.

[0112] Therefore, by reducing the diagnosis interval in the first period, the diagnosis unit 164 can detect a precursor of a failure due to an initial defect of a component. In addition, after the first period elapses, by increasing the diagnosis interval in the second period, the diagnosis unit 164 can suppress an increase in power consumption accompanying diagnosis, deterioration of a computer, or the like. Furthermore, by reducing the diagnosis interval in the third period, the diagnosis unit 164 can detect a precursor of a failure due to deterioration, wear, or the like of a component.

[0113] In the present embodiment, the start determination section 346 determines whether or not to execute a diagnosis process. As a diagnosis target of the diagnosis process, the driving unit 140 or a component of the driving unit 140 is exemplified, as described above. Further, in the diagnosis process, the state of the diagnosis target is diagnosed.

[0114] The start determination section 346 determines to execute the diagnosis process in a case where the state of the moving body 100 coincides with a predetermined condition (sometimes referred to as a diagnosis start condition). The start determination section 346 can determine to execute the diagnosis process in a case where the diagnosis period has come and the state of the moving body 100 coincides with the diagnosis start condition.

[0115] As the state of the moving body 100, the moving state of the moving body 100 is exemplified. As the moving state of the moving body 100, the degree of stability of the moving body 100, the degree of stability of the number of rotations of a rotating component included in the moving body 100, and the like are exemplified. As the rotating component, the driving unit 140, a component of the driving unit 140, and the like are exemplified.

[0116] As the diagnosis start condition, at least one of a condition in which the manner of operation of the moving body by the user of the moving body coincides with a predetermined condition (sometimes referred to as an operation condition), a condition in which the degree of acceleration of the moving body is less than a predetermined degree, and a condition in which the degree of rotation of the moving body is less than a predetermined degree is exemplified. These conditions can be satisfied in a case where the number of rotations of the rotating component included in the moving body 100 is relatively stable.

[0117] As another example of the diagnosis start condition, at least one of a condition in which the amount of steering by the user 20 is less than a predetermined value, a condition in which no brake operation is implemented, a condition in which the amount of brake operation is less than a predetermined value, a condition in which the state of the road surface coincides with a predetermined condition (sometimes referred to as a road surface condition), and a condition in which a system for automatically stabilizing the running state of the moving body 100 is not operating is exemplified. These conditions can be satisfied in a case where the state of the moving body 100 is relatively stable.

[0118] As the road surface condition, a condition in which the magnitude of the frictional force acting on the contact surface of the tire and the road surface or the magnitude of the friction coefficient of the friction is greater than a predetermined value is exemplified. As the system for automatically stabilizing the running state of the moving body 100, a safety device such as an anti-lock brake system (ABS), a traction control system (TCS), a side slip suppression device, or a system that comprehensively controls these safety devices is exemplified.

[0119] In the present embodiment, the diagnosis processing execution section 348, for example, executes a diagnosis processing. The diagnosis processing execution section 348 can start diagnosis of a diagnosis target when the start determination section 346 determines to execute the diagnosis processing. As the diagnosis target of the diagnosis processing, the drive unit 140 or a constituent component of the drive unit 140 is exemplified. Further, in the diagnosis processing, a state of the diagnosis target is diagnosed.

[0120] In the present embodiment, the diagnosis interval storage section 362 stores, in correspondence with a condition related to a period and a diagnosis interval of the period, information. In one embodiment, the diagnosis interval storage section 362 stores, in correspondence with a condition related to a length of an elapsed period from a first time point described above and a diagnosis interval at a time when the condition is satisfied, information. In another embodiment, the diagnosis interval storage section 362 stores, in correspondence with a condition related to a degree of a load applied to a diagnosis target from the first time point described above and a diagnosis interval at a time when the condition is satisfied, information. In still another embodiment, the diagnosis interval storage section 362 stores, in correspondence with a combination of a condition related to a length of an elapsed period from the first time point described above and a condition related to a degree of a load applied to a diagnosis target from the first time point described above and a diagnosis interval at a time when the combination of conditions is satisfied, information.

[0121] In the present embodiment, the diagnosis drive force storage section 364 stores information indicating a magnitude of a diagnosis drive force corresponding to each of one or more constituent components constituting at least a part of the moving body 100. In one embodiment, the diagnosis drive force storage section 364 stores, in correspondence with information indicating a kind of a constituent component and information indicating a magnitude of a diagnosis drive force appropriate for diagnosis of the constituent component, information. In another embodiment, the diagnosis drive force storage section 364 stores, in correspondence with identification information for identifying each of the at least a part of the constituent components described above and information indicating a magnitude of a diagnosis drive force appropriate for diagnosis of the constituent component, information.

[0122] (Specific Configuration of Each Unit of the Control Unit 160)

[0123] Each unit of the control unit 160 can be realized by hardware, can be realized by software, or can be realized by both hardware and software. At least a part of each unit of the control unit 160 can be realized by a single server, or can be realized by a plurality of servers. At least a part of each unit of the control unit 160 can be realized on a virtual machine or a cloud system. At least a part of each unit of the control unit 160 can also be realized by a personal computer or a portable terminal. As the portable terminal, a mobile phone, a smartphone, a PDA, a tablet, a notebook computer, a laptop computer, a wearable computer, or the like can be exemplified. Each unit of the control unit 160 can also store information using a distributed ledger technology or a distributed network such as a blockchain.

[0124] When at least a part of the components constituting the control unit 160 is realized by software, the component realized by the software can be realized by activating the software or program defining the operation relating to the component in an information processing apparatus having a general configuration. The information processing apparatus having a general configuration described above can be provided with (i) a data processing apparatus having a processor such as a CPU, a GPU, a ROM, a RAM, a communication interface, and the like, (ii) an input apparatus such as a keyboard, a pointing device, a touch panel, a camera, a voice input apparatus, a gesture input apparatus, various sensors, a GPS receiver, and the like, (iii) an output apparatus such as a display apparatus, a voice output apparatus, a vibration apparatus, and the like, and (iv) a storage apparatus such as a memory, an HDD, an SSD, and the like (including an external storage apparatus).

[0125] In the information processing apparatus having a general configuration described above, the data processing apparatus or the storage apparatus can store the software or program described above. The information processing apparatus performs the operation defined by the software or program by executing the software or program by the processor. The software or program can also be saved in a non-volatile computer-readable recording medium. The software or program can be a program for causing a computer to function as the control unit 160 or a part thereof. The software or program can be a program for causing a computer to execute the information processing method in the control unit 160 or a part thereof.

[0126] In one embodiment, the information processing method described above can be a control method for controlling the magnitude of a driving force for moving a mobile body. In the control method described above, the mobile body can be provided with a driving device that outputs a driving force for moving the mobile body. In the control method described above, the driving device can have a generation device that generates a first driving force that is at least a part of the driving force and an adjustment device that adjusts the magnitude of the driving force output by the driving device by generating a second driving force or a braking force that is the remaining part of the driving force.

[0127] The control method described above, for example, has a required driving force decision step that decides the magnitude of a required driving force that is a driving force required for moving the mobile body based on an instruction of a user of the mobile body. The control method described above, for example, has a necessity decision step that decides whether or not to execute a diagnosis process for diagnosing the state of the driving device. The control method described above, for example, has a diagnosis driving force decision step that decides the magnitude of a diagnosis driving force that is a driving force generated by the generation device during execution of the diagnosis process. The control method described above, for example, has a control step that controls the operation of the driving device.

[0128] In the above control method, the controlling step includes, for example, (a) when it is decided in the yes / no decision step to execute the diagnosis processing, controlling the operation of the drive device based on the magnitude of the required drive force decided in the required drive force decision step. The controlling step includes, for example, (b) when it is decided in the yes / no decision step to execute the diagnosis processing, controlling the operation of the drive device based on the magnitude of the required drive force decided in the required drive force decision step and the magnitude of the diagnosis drive force decided in the diagnosis drive force decision step.

[0129] In other embodiments, the above information processing method can be a control method of a diagnosis device that diagnoses a state of a device mounted on the device. The above control method has, for example, a period decision step that decides a period in which the diagnosis device diagnoses the state of the device. In the above control method, the period decision step includes, for example, a step of deciding the period in a manner such that a length of a time interval of diagnosis in a first period is equal to or less than a first reference value, and a length of a time interval of diagnosis in a second period is greater than the first reference value. In the above control method, the first period and the second period do not overlap in time.

[0130] The diagnosis section 164 can be an example of the yes / no decision section. The diagnosis manner decision section 342 can be an example of the manner decision section. The diagnosis period decision section 344 can be an example of the period decision section. The start determination section 346 can be an example of the yes / no decision section. The diagnosis processing execution section 348 can be an example of the diagnosis section. The diagnosis drive force saving section 364 can be an example of the storage device. The component that becomes a diagnosis target can be an example of the device.

[0131] (Examples of Other Embodiments)

[0132] In the present embodiment, the diagnosis period decision section 344 is described in detail in a case where the start period of the second period is a point in time at which a length of an elapsed period from a first point in time exceeds a first threshold value, and the end period of the second period is a point in time at which a degree of load applied to a diagnosis target in the elapsed period from the first point in time reaches a first degree. However, the diagnosis period decision section 344 is not limited to the present embodiment.

[0133] In other embodiments, the start period of the second period can be a point in time at which a length of an elapsed period from a first point in time exceeds a first threshold value, and the end period of the second period can be a point in time at which the length of the elapsed period from the first point in time reaches a predetermined second threshold value. According to the above embodiments, in a case where the length of the elapsed period from the first point in time is greater than the first threshold value and smaller than the predetermined second threshold value, the diagnosis period decision section 344 decides the diagnosis period based on a length of a time interval in the second period (sometimes referred to as a second time interval).

[0134] In other embodiments, the diagnosis period determining section 344 can determine the diagnosis period in accordance with the length of the time interval in the second period, i.e., the second time interval, in a case where the degree of the load applied to the device during the elapsed period from the first time point is smaller than a predetermined first degree. In other embodiments, the diagnosis period determining section 344 can determine the diagnosis period in accordance with the length of the time interval in the first period, i.e., the first time interval, in a case where the degree of the load applied to the device during the elapsed period from the first time point is (a) larger than the first degree or (b) smaller than a predetermined second degree. In this case, the second degree can indicate that the degree of the load is smaller than the first degree.

[0135] In the present embodiment, the control unit 160 is described in detail with the case where the start determining section 346 is included in the diagnosis section 164. However, the control unit 160 is not limited to the present embodiment. In other embodiments, the start determining section 346 can be included in the control section 162. In this case, the control section 162 can be an example of a control device.

[0136] In the present embodiment, the information processing in the control unit 160 is described in detail with the case where the diagnosis section 164 diagnoses the state of the front wheel drive unit 242 or a part of the components constituting the front wheel drive unit 242. However, the control unit 160 is not limited to the present embodiment. In other embodiments, the control unit 160 can diagnose the state of other components constituting the mobile body 100.

[0137] Figure 4 An example of the information processing in the diagnosis period determining section 344 is schematically shown. In Figure 4 In the above, t1 indicates an example of the first time point. t2 indicates an example of the second time point. t3 indicates an example of the third time point.

[0138] As described above, t1 indicates (i) a time point at which the mobile body 100 is produced or (ii) a time point at which the mobile body 100 is transferred from the producer to the user 20. t2 (i) can be a time point at which the length of the elapsed period from the first time point reaches the first threshold value, and (ii) can be a time point at which the degree of the load applied to the mobile body 100 or the diagnosis target during the elapsed period from the first time point reaches the second degree. t3 (i) can be a time point at which the degree of the load applied to the mobile body 100 or the diagnosis target during the elapsed period from the first time point reaches the first degree, and (ii) can be a time point at which the length of the elapsed period from the first time point reaches the second threshold value.

[0139] For example, the first degree indicates that the amount of the load accumulated is larger than the second degree. For example, the second threshold value is larger than the first threshold value.

[0140] As described above, t2 can be a point in time at which the length of the elapsed period from the first point in time reaches a first threshold value. Thus, the diagnosis unit 164 can detect a precursor to a failure due to an initial defect of a component. t3 can be a point in time at which the degree of load applied to the mobile body 100 or the diagnosis target during the elapsed period from the first point in time reaches a first degree. Thus, the diagnosis unit 164 can detect a precursor to a failure due to deterioration, wear, or the like of a component.

[0141] Likewise, the period P1 represents an example of the above-described first period. The period P2 represents an example of the above-described second period. The period P3 represents an example of the above-described third period.

[0142] In the Figure 4 , the case in which the start of the period P2 is after the end of the period P1 and the start of the period P3 is after the end of the period P2 is exemplified, and the method of determining the diagnosis period in the diagnosis period determination unit 344 is described in detail. As described above, the diagnosis period determination unit 344 determines the diagnosis period of the n+1th diagnosis by determining the time interval from after the nth diagnosis to the n+1th diagnosis.

[0143] As described above, the start determination unit 346 determines the period in which the diagnosis processing execution unit 348 starts the diagnosis processing. Thus, depending on the state of the mobile body 100, the actual diagnosis interval can be longer than TL1.

[0144] As Figure 4 indicated above, according to the present embodiment, the diagnosis period determination unit 344 determines the diagnosis period in the period P1, for example, in such a manner that the diagnosis interval is TL1. The diagnosis period determination unit 344 determines the diagnosis period in the period P2, for example, in such a manner that the diagnosis interval becomes TL2. The diagnosis period determination unit 344 determines the diagnosis period in the period P3, for example, in such a manner that the diagnosis interval becomes TL3.

[0145] As Figure 4 indicated above, TL2 is a value larger than ST1, and TL1 is a value smaller than ST1. The diagnosis period determination unit 344 can determine TL1 in such a manner that TL1 is smaller than ST1. The diagnosis period determination unit 344 can determine TL2 in such a manner that TL2 is larger than ST1.

[0146] At least one of TL1 and TL2 can be a predetermined value. At least one of TL1 and TL2 can be determined based on the length of the elapsed period from t1. At least one of TL1 and TL2 can be determined based on the degree of load applied to the diagnosis target during the elapsed period from t1.

[0147] As Figure 4As shown, TL2 is a value larger than ST2, and TL3 is a value smaller than ST2. The diagnosis period determination section 344 can determine TL2 in such a manner that TL2 is larger than ST2. The diagnosis period determination section 344 can determine TL3 in such a manner that TL3 is smaller than ST2.

[0148] As described above, at least one of TL2 and TL3 can be a predetermined value. At least one of TL2 and TL3 can be determined based on a length of an elapsed period from tl. At least one of TL2 and TL3 can be determined based on a degree of load applied to the diagnosis target during the elapsed period from tl.

[0149] TL1 can be an example of one of the first time interval and the first time interval. TL2 can be an example of the other of the first time interval and the first time interval. TL1 can be an example of the first time interval. TL2 can be an example of the second time interval. TL3 can be an example of the third time interval. ST1 can be an example of the first reference value. ST2 can be an example of the second reference value.

[0150] (Examples of Other Embodiments)

[0151] In the present embodiment, an example of information processing in the diagnosis period determination section 344 is described with the case where ST1 is larger than ST2 as an example. Specifically, an example of determination processing of determining the diagnosis interval is described. However, the information processing in the diagnosis period determination section 344 is not limited to the present embodiment. In other embodiments, ST1 and ST2 can be equal, and ST1 can be smaller than ST2.

[0152] In the present embodiment, an example of information processing in the diagnosis period determination section 344 is described with the case where TL1 is larger than TL3 as an example. Specifically, an example of determination processing of determining the diagnosis interval is described. However, the information processing in the diagnosis period determination section 344 is not limited to the present embodiment. In other embodiments, TL1 and TL3 can be equal, and TL1 can be smaller than TL3.

[0153] In the present embodiment, an example of information processing in the diagnosis period determination section 344 is described with the case where the diagnosis interval is constant in the first period as an example. Specifically, an example of determination processing of determining the diagnosis interval is described. However, the information processing in the diagnosis period determination section 344 is not limited to the present embodiment. In other embodiments, the diagnosis interval can be different at a plurality of time points included in the first period. The diagnosis interval in the first period can continuously change with time, or can change stepwise with time.

[0154] In the present embodiment, an example of the information processing in the diagnosis period decision section 344 is described with the case where the diagnosis interval is constant in the second period as an example. Specifically, an example of the decision processing that decides the diagnosis interval is described. However, the information processing in the diagnosis period decision section 344 is not limited to the present embodiment. In other embodiments, the diagnosis interval can be different at a plurality of time points included in the second period. The diagnosis interval in the second period can continuously change with time or can change stepwise with time.

[0155] In the present embodiment, an example of the information processing in the diagnosis period decision section 344 is described with the case where the diagnosis interval is constant in the third period as an example. Specifically, an example of the decision processing that decides the diagnosis interval is described. However, the information processing in the diagnosis period decision section 344 is not limited to the present embodiment. In other embodiments, the diagnosis interval can be different at a plurality of time points included in the third period. The diagnosis interval in the third period can continuously change with time or can change stepwise with time.

[0156] Figure 5 Another example of the information processing in the diagnosis period decision section 344 is schematically shown. Referring to Figure 5 , an embodiment that decides both the end period of the period P1 and the end period of the period P2 based on the degree of the load applied to the diagnosis target during the elapsed period from t1 is described. According to the present embodiment, at the time point at which the cumulative amount of the load applied to the diagnosis target during the elapsed period from t1 becomes AL2, the period P1 ends and the period P2 starts. Also, at the time point at which the cumulative amount of the load applied to the diagnosis target during the elapsed period from t1 becomes AL1, the period P2 ends and the period P3 starts.

[0157] AL1 can be an example of the first degree. AL2 can be an example of the second degree.

[0158] Figure 6 Another example of the information processing in the diagnosis period decision section 344 is schematically shown. According to the embodiment described in conjunction with Figure 6 , the difference from the embodiment described in conjunction with Figure 4 is that the diagnosis interval in the period P2 is expressed as a function of the elapsed period from t1 and / or the degree of the load applied to the diagnosis target during the elapsed period from t1. According to the embodiment described in conjunction with Figure 6 , the difference from the embodiment described in conjunction with Figure 4 is that the diagnosis interval in the period P1 is equal to the diagnosis interval in the period P3. Except for the above difference, the embodiment described in conjunction with Figure 6 can have the same features as the embodiment described in conjunction with Figure 4 .

[0159] In the present embodiment, the diagnosis period determining section 344 determines the diagnosis interval of the period P2 in such a manner that (i) the diagnosis interval of the start period t2 of the period P2 is TL3, (ii) the diagnosis interval of the end period t3 of the period P2 is TL2, and (iii) the diagnosis interval becomes smaller as the elapsed period from tl and / or the degree of the load applied to the diagnosis target during the elapsed period from tl becomes larger. According to the present embodiment, the diagnosis interval of the period P2 is determined by using a function that continuously changes in accordance with the elapsed period from tl and / or the degree of the load applied to the diagnosis target during the elapsed period from tl. Note that the above function used to determine the diagnosis interval is not limited to the present embodiment.

[0160] Figure 7 Another example of the information processing in the diagnosis period determining section 344 is schematically shown. According to the present embodiment, first, in step 812 (sometimes the step is omitted as S), it is determined whether the diagnosis period of the diagnosis target has come. For example, the start determining section 346 determines whether the diagnosis period of the diagnosis target has come, based on the diagnosis interval determined by the diagnosis period determining section 344 and the time at which the last diagnosis was performed. Figure 7 The embodiment described above is different from the embodiment described above in that the diagnosis interval of the period P2 is expressed as a function that changes in steps in accordance with the elapsed period from tl and / or the degree of the load applied to the diagnosis target during the elapsed period from tl. Figure 6 The embodiment described above is different from the embodiment described above in that the diagnosis interval of the period P2 is expressed as a function that changes in steps in accordance with the elapsed period from tl and / or the degree of the load applied to the diagnosis target during the elapsed period from tl.

[0161] According to the present embodiment, the diagnosis period determining section 344 determines the diagnosis period in such a manner that the diagnosis interval becomes TL2 in the period from t2 to t4, for example. The diagnosis period determining section 344 determines the diagnosis period in such a manner that the diagnosis interval becomes TL3 in the period from t4 to t5, for example. The diagnosis period determining section 344 determines the diagnosis period in such a manner that the diagnosis interval becomes TL2 in the period from t5 to t3, for example. TL3 can be a value larger than TL2.

[0162] Figure 8 An example of the information processing in the start determining section 346 is schematically shown. According to the present embodiment, first, in step 812 (sometimes the step is omitted as S), it is determined whether the diagnosis period of the diagnosis target has come. For example, the start determining section 346 determines whether the diagnosis period of the diagnosis target has come, based on the diagnosis interval determined by the diagnosis period determining section 344 and the time at which the last diagnosis was performed.

[0163] More specifically, the start determining section 346 calculates the length of the elapsed period from the time at which the last diagnosis was performed. In a case where the calculated length of the elapsed period is larger than the value of the diagnosis interval determined by the diagnosis period determining section 344, the start determining section 346 determines that the diagnosis period of the diagnosis target has come.

[0164] In a case where it is determined that the diagnosis period of the diagnosis object has not come (the case of "No" in S812), the diagnosis processing is not executed. At this time, in S832, the mobile body 100 travels in the normal mode. For example, the drive control section 328 controls the front-wheel drive unit 242 and the rear-wheel drive unit 244 so that the sum of the absolute value of the output generated by the front-wheel drive unit 242 and the absolute value of the output generated by the rear-wheel drive unit 244 becomes the output of the drive unit 140. Thereby, the drive control section 328 can control the action of the drive unit 140 so that the magnitude of the driving force output by the drive unit 140 matches the magnitude of the required driving force.

[0165] On the other hand, in a case where it is determined that the diagnosis period of the diagnosis object has come (the case of "Yes" in S812), in S814, it is determined whether the degree of variation of the travel speed of the mobile body 100 is less than a predetermined degree. The travel state in which the degree of variation of the travel speed of the mobile body 100 is less than the predetermined degree is sometimes referred to as cruise travel, cruise driving, or the like. In addition, the control of the mobile body 100 so that the degree of variation of the travel speed of the mobile body 100 is less than the predetermined degree is sometimes referred to as cruise control.

[0166] The start determination section 346 determines whether the mobile body 100 is in cruise driving, for example, by determining at least one of (i) whether the opening degree of the accelerator pedal is greater than a predetermined value, (ii) whether the amount of variation of the opening degree of the accelerator pedal over a predetermined period is less than a predetermined value, (iii) whether the actual acceleration of the mobile body 100 is less than a predetermined value, and (iv) whether the rotational acceleration of the mobile body 100 is less than a predetermined value. For example, in a case where (i) the opening degree of the accelerator pedal is greater than the predetermined value, (ii) the amount of variation of the opening degree of the accelerator pedal over the predetermined period is less than the predetermined value, (iii) the actual acceleration of the mobile body 100 is less than the predetermined value, and (iv) the rotational acceleration of the mobile body 100 is less than the predetermined value, the start determination section 346 determines that the mobile body 100 is cruising.

[0167] In a case where it is determined that the mobile body 100 is not in cruise driving (the case of "No" in S814), the diagnosis processing is not executed. At this time, in S832, the mobile body 100 travels in the normal mode.

[0168] On the other hand, in a case where it is determined that the mobile body 100 is in cruise driving (the case of "Yes" in S814), in S816, it is determined whether the travel state of the mobile body 100 is stable. The diagnosis processing can be executed in the travel of the mobile body 100 or in the stop of the mobile body 100. For example, when the diagnosis object is the drive unit 140 or the constituent component of the drive unit 140, the diagnosis processing is executed in the travel of the mobile body 100.

[0169] The start determination portion 346 determines whether the running state of the mobile body 100 is stable, for example, by determining at least one of (i) whether the steering amount is smaller than a predetermined value, (ii) whether a brake operation is performed or the brake operation amount is smaller than a predetermined value, (iii) whether the state of the road surface meets the road surface condition described above, and (iv) whether the system for automatically stabilizing the running state of the mobile body 100 is operating. For example, in a case where (i) the steering amount is smaller than a predetermined value, (ii) a brake operation is not performed or the brake operation amount is smaller than a predetermined value, (iii) the size of the frictional force acting on the contact surface between the tire and the road surface or the size of the friction coefficient of the friction is larger than a predetermined value, and (iv) the system for automatically stabilizing the running state of the mobile body 100 is not operating, the start determination portion 346 determines that the running state of the mobile body 100 is stable.

[0170] In a case where it is determined that the running state of the mobile body 100 is not stable (NO in S816), the diagnosis processing is not performed. At this time, in S832, the mobile body 100 runs in the normal mode.

[0171] On the other hand, in a case where it is determined that the running state of the mobile body 100 is stable (YES in S816), in S822, the operation mode of the mobile body 100 is switched from the normal mode to the diagnosis mode. For example, the drive control portion 328 adjusts the output distribution of the front wheel drive unit 242 and the rear wheel drive unit 244. Thereby, the operation mode of the mobile body 100 is switched from the normal mode to the diagnosis mode, and the mobile body 100 runs in the diagnosis mode.

[0172] In one embodiment, the drive control portion 328 controls the front wheel drive unit 242 so that the absolute value of the output generated by the front wheel drive unit 242 becomes the diagnosis drive force. The drive control portion 328 controls the front wheel drive unit 242 and the rear wheel drive unit 244 so that a value obtained by subtracting the absolute value of the output or the braking force generated by the rear wheel drive unit 244 from the absolute value of the output generated by the front wheel drive unit 242 becomes the required drive force. Thereby, the drive control portion 328 can control the operation of the drive unit 140 so that the size of the drive force output from the drive unit 140 matches the size of the required drive force.

[0173] For example, when the required driving force for cruising driving of the mobile body 100 at a certain speed is 500 N, in the normal mode, the driving control section 328 controls the actions of the front-wheel driving unit 242 and the rear-wheel driving unit 244 so that the brake 262 of the front-wheel driving unit 242 is closed, the front-wheel driving unit 242 outputs the driving force of 500 N, and the driving force or the braking force of the rear-wheel driving unit 244 is substantially 0 N. On the other hand, in the diagnosis mode, the driving control section 328 controls the actions of the front-wheel driving unit 242 and the rear-wheel driving unit 244 so that the brake 262 of the front-wheel driving unit 242 is closed, the front-wheel driving unit 242 outputs the driving force of 700 N, and the rear-wheel driving unit 244 outputs the braking force of 200 N. The motor 252 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244, the brake 262 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244, and the motor 252 and the brake 262 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244.

[0174] In other embodiments, the driving control section 328 controls the front-wheel driving unit 242 so that the absolute value of the output generated by the motor 252 of the front-wheel driving unit 242 becomes the diagnosis driving force. The driving control section 328 controls the front-wheel driving unit 242 and the rear-wheel driving unit 244 so that a value obtained by subtracting (i) the absolute value of the output generated by the motor 252 of the front-wheel driving unit 242 from (ii) the sum of the absolute value of the braking force generated by the brake 262 of the front-wheel driving unit 242 and the absolute value of the output or the braking force generated by the rear-wheel driving unit 244 becomes the required driving force. Thereby, the driving control section 328 can control the actions of the driving unit 140 so that the magnitude of the driving force output by the driving unit 140 matches the magnitude of the required driving force.

[0175] For example, when the required driving force for cruising driving of the mobile body 100 at a certain speed is 500 N, in the diagnosis mode, the driving control section 328 controls the action of the front-wheel driving unit 242 so that the motor 252 of the front-wheel driving unit 242 generates the driving force of 750 N and the brake 262 of the front-wheel driving unit 242 generates the braking force of 50 N. In addition, the action of the rear-wheel driving unit 244 is controlled so that the rear-wheel driving unit 244 outputs the braking force of 200 N. The motor 252 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244, the brake 262 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244, and the motor 252 and the brake 262 of the rear-wheel driving unit 244 can generate the braking force of the rear-wheel driving unit 244.

[0176] Next, in S824, the diagnosis processing of the diagnosis target is executed. For example, the diagnosis processing execution section 348 collects data from the measurement unit 150, and detects a precursor of a failure of the diagnosis target or determines a degree of deterioration of the diagnosis target by analyzing the data. Details of the diagnosis processing will be described later.

[0177] If the diagnosis processing ends in S824, in S826, the movement mode of the mobile body 100 is switched from the diagnosis mode to the normal mode. For example, the drive control section 328 adjusts the output distribution of the front wheel drive unit 242 and the rear wheel drive unit 244. The movement mode of the mobile body 100 is switched from the diagnosis mode to the normal mode, and the mobile body 100 travels in the normal mode. Thus, the processing ends.

[0178] Figure 9 An example of information processing in the diagnosis processing execution section 348 is schematically shown. The information processing in the diagnosis processing execution section 348 is described in detail using an example in which the diagnosis processing execution section 348 diagnoses the state of the bearing included in the gear case 254 of the front wheel drive unit 242. Figure 9

[0179] According to the present embodiment, first, in S912, the diagnosis processing execution section 348 executes the acquisition processing of the measurement data. For example, the diagnosis processing execution section 348 collects the output data of a predetermined sensor for a predetermined period. For example, the diagnosis processing execution section 348 collects the output data of the vibration sensor provided in the gear case 254.

[0180] Next, in S914, the diagnosis processing execution section 348 performs a fast Fourier transform processing (sometimes referred to as an FFT processing) on the collected data. Thus, information indicating a frequency distribution of a vibration velocity, a vibration intensity, an amplitude, or a vibration acceleration, or a frequency distribution of a vibration power spectrum is obtained.

[0181] According to the position of the abnormal change occurring in the bearing, the frequency represented in the result of the FFT processing is different. Therefore, by performing the FFT processing on the output data of the vibration sensor, a precursor of a failure of the bearing can be detected. In the present embodiment, the information processing in the diagnosis processing execution section 348 is described in detail using an example in which a frequency distribution of a vibration velocity is obtained by the FFT processing for the purpose of simplifying the description.

[0182] First, in S922, it is determined whether or not the vibration velocity of the frequency corresponding to the abnormal change (for example, a scratch) occurring on the outer ring rolling surface is equal to or greater than a threshold value. When the vibration velocity of the frequency corresponding to the abnormal change occurring on the outer ring rolling surface is equal to or greater than the threshold value (the case of "Yes" in S922), in S932, the diagnosis processing execution section 348 determines that there is a precursor of a failure of the bearing.

[0183] ​On the other hand, when the vibration velocity of the frequency corresponding to the abnormal change generated on the outer ring rolling surface is less than the threshold value (the case of "No" in S922), in S924, it is determined whether the vibration velocity of the frequency corresponding to the abnormal change (e.g., a scratch) generated on the inner ring rolling surface is the threshold value or more. When the vibration velocity of the frequency corresponding to the abnormal change generated on the inner ring rolling surface is the threshold value or more (the case of "Yes" in S924), in S932, the diagnosis processing execution section 348 determines that there is a precursor to a bearing failure.

[0184] On the other hand, when the vibration velocity of the frequency corresponding to the abnormal change generated on the inner ring rolling surface is less than the threshold value (the case of "No" in S924), in S926, it is determined whether the vibration velocity of the frequency corresponding to the abnormal change (e.g., a scratch) generated on the ball rolling surface is the threshold value or more. When the vibration velocity of the frequency corresponding to the abnormal change generated on the ball rolling surface is the threshold value or more (the case of "Yes" in S926), in S932, the diagnosis processing execution section 348 determines that there is a precursor to a bearing failure.

[0185] On the other hand, when the vibration velocity of the frequency corresponding to the abnormal change generated on the ball rolling surface is less than the threshold value (the case of "No" in S926), in S934, the diagnosis processing execution section 348 determines that there is no precursor to a bearing failure. Thereby, the processing ends.

[0186] Figure 10 An example of the internal configuration of a vehicle 1000 as an example of the moving body 100 is schematically shown. In the present embodiment, the vehicle 1000 is provided with a core ECU 1010. In the present embodiment, the vehicle 1000 is provided with a TCU 1020, an AD / ADAS ECU 1021, an information system ECU 1022, a zone ECU 1023, and a zone ECU 1024.

[0187] In the present embodiment, the vehicle 1000 is provided with a drive system device 1030, a comfort system device 1031, an alarm system device 1032, a field of view system device 1033, an advanced safety system device 1034, an anti-theft system device 1035, a light body system device 1036, a door system device 1037, a drive position system device 1038, an opening / closing system device 1039, a sensor device 1040, and an information system device 1041. In the present embodiment, the vehicle 1000 is provided with a communication network 1080, a communication network 1081, a communication network 1082, a communication network 1084, and a communication network 1085.

[0188] As the drive system device 1030, an electric parking brake (EPB), an electric power steering system (EPS), a vehicle stability control system (VSA), a shifter, a power drive unit (PDU), an intelligent power unit (IPU), and a fuel injection device (FI) are exemplified. As the sensor device 1040, sensors including a camera, a radar, and a LIDAR are exemplified.

[0189] The information system device 1041 includes, for example, at least one of an information communication device, a multimedia related device, and a user interface device. As the information system device 1041, a narrow area communication system, a meter device, a wireless charger, a USB port, a tuner, a player, a microphone, a speaker, a display device, and the like are exemplified. The display device can have a display and a voice recognition system. The display device can also have an input device such as a touch panel, a pointing device, a switch, and the like instead of the voice recognition system or together with the voice recognition system.

[0190] The core ECU 1010 controls the entire vehicle 1000. The core ECU 1010 controls the entire vehicle 1000 by controlling the TCU 1020, the AD / ADAS ECU 1021, the information system ECU 1022, the zone ECU 1023, and the zone ECU 1024.

[0191] The TCU 1020 is a telematics control unit. The AD / ADAS ECU 1021 is an ECU that performs control related to an autonomous driving (AD) and an advanced driver assistance system (ADAS). The AD / ADAS ECU 1021 is connected to each sensor included in the sensor device 1040 through a bus, controls each sensor included in the sensor device 1040, and acquires information detected by each sensor. The information system ECU 1022 is connected to each device included in the information system device 1041 through a bus, and controls each device included in the information system device 1041.

[0192] The regional ECU 1023 is connected to each device included in the drive system device 1030 via a bus and controls each device included in the drive system device 1030. The regional ECU 1024 is connected to the comfort system device 1031, the alarm system device 1032, the vision system device 1033, the advanced safety system device 1034, the theft protection system device 1035, the lamp body system device 1036, the door system device 1037, the drive position system device 1038, and the opening and closing system device 1039 via a bus and controls each device included in the comfort system device 1031, the alarm system device 1032, the vision system device 1033, the advanced safety system device 1034, the theft protection system device 1035, the lamp body system device 1036, the door system device 1037, the drive position system device 1038, and the opening and closing system device 1039.

[0193] The communication networks 1080, 1081, 1082, 1084, and 1085 transmit information, for example, between various devices arranged inside the moving body 100. At least a part of the communication networks 1080, 1081, 1082, 1084, and 1085 can include a CAN.

[0194] The communication networks 1080, 1081, 1082, 1084, and 1085 can include a network of Ethernet (registered trademark). The TCU 1020, the core ECU 1010, the AD / ADAS ECU 1021, the information system ECU 1022, the regional ECU 1023, and the regional ECU 1024 can perform IP communication via the communication networks 1080, 1081, 1082, 1084, and 1085.

[0195] Figure 11 An example of a computer 3000 that can implement the plurality of embodiments of the present application in whole or in part is shown. For example, at least a part of the moving body 100 is implemented by the computer 3000. For example, at least a part of the control unit 160 is implemented by the computer 3000. For example, the control unit 160 is implemented by the computer 3000 in conjunction with the moving body 100. Figure 10 At least a part of the various ECUs described is implemented by the computer 3000.

[0196] A program installed in the computer 3000 can cause the computer 3000 to function as an operation associated with the apparatus or one or more "units" of the apparatus related to the embodiments, or can cause the computer 3000 to execute the operation or the one or more "units", and / or can cause the computer 3000 to execute a process or steps of the process related to the embodiments. Such a program can be executed by the CPU 3012 in order to cause the computer 3000 to perform specific operations associated with some or all of the functional blocks in the flowcharts and block diagrams described in this specification.

[0197] The computer 3000 of the present embodiment includes the CPU 3012, the RAM 3014, the GPU 3016, and the display device 3018, which are connected to each other by the host controller 3010. The computer 3000 further includes the input / output units such as the communication interface 3022, the hard disk drive 3024, the DVD-ROM drive 3026, and the IC card drive, which are connected to the host controller 3010 via the input / output controller 3020. The computer 3000 further includes the ROM 3030 and the conventional input / output units such as the keyboard 3042, which are connected to the input / output controller 3020 via the input / output chip 3040.

[0198] The CPU 3012 operates in accordance with the programs stored in the ROM 3030 and the RAM 3014, thereby controlling the units. The GPU 3016 acquires image data generated by the CPU 3012 in a frame buffer or the like provided in the RAM 3014 or in itself, and causes the image data to be displayed on the display device 3018.

[0199] The communication interface 3022 communicates with other electronic devices via a network. The hard disk drive 3024 stores programs and data used by the CPU 3012 in the computer 3000. The DVD-ROM drive 3026 reads programs or data from the DVD-ROM 3001 or the like, and provides the programs or data to the hard disk drive 3024 via the RAM 3014. The IC card drive reads programs and data from an IC card, and / or writes programs and data to the IC card.

[0200] The ROM 3030 stores therein a boot program or the like to be executed by the computer 3000 when activated, and / or a program dependent on the hardware of the computer 3000. The input / output chip 3040 can also connect various input / output units to the input / output controller 3020 via a parallel port, a serial port, a keyboard port, a mouse port, or the like.

[0201] The programs are supplied from a computer-readable storage medium such as a DVD-ROM 3001 or an IC card. The programs are read from the computer-readable storage medium, installed into a hard disk drive 3024, the RAM 3014, or the ROM 3030, which are examples of the computer-readable storage medium, and executed by the CPU 3012. The information processing described in these programs is read by the computer 3000, and the cooperation between the programs and the various types of hardware resources described above is realized. An apparatus or a method can be constituted by the operation or processing of information in compliance with the use of the computer 3000.

[0202] For example, in the case where communication is performed between the computer 3000 and an external device, the CPU 3012 can execute a communication program loaded into the RAM 3014, instruct the communication interface 3022 to perform communication processing based on the processing described in the communication program. The communication interface 3022 reads transmission data saved in a transmission buffer processing area provided in the RAM 3014, the hard disk drive 3024, the DVD-ROM 3001, or a recording medium such as an IC card under the control of the CPU 3012, transmits the read transmission data to a network, or writes reception data received from a network to a reception buffer processing area provided in the recording medium, or the like.

[0203] In addition, the CPU 3012 can cause all or a desired part of a file or a database saved in the hard disk drive 3024, the DVD-ROM drive 3026 (DVD-ROM 3001), an external recording medium such as an IC card, or the like to be read into the RAM 3014, and perform various types of processing on the data on the RAM 3014. The CPU 3012 can then write the processed data back to the external recording medium.

[0204] Various types of programs, data, tables, and various information such as databases can be saved to the recording medium, and information processing can be accepted. The CPU 3012 can perform various processing described throughout the present disclosure, including various operations specified by a sequence of instructions of a program, information processing, condition judgment, condition branching, unconditional branching, search / replacement of information, and the like, on data read from the RAM 3014, and write the results back to the RAM 3014. In addition, the CPU 3012 can search for information in a file, a database, or the like in the recording medium. For example, in the case where a plurality of items each having a first attribute value associated with an attribute value of a second attribute are saved in the recording medium, the CPU 3012 can search for an item that matches a condition in which a first attribute value is specified from the plurality of items, read the attribute value of the second attribute saved in the item, and thereby acquire the attribute value of the second attribute that is associated with the first attribute that satisfies a condition set in advance.

[0205] The programs or software modules described above can be stored in a computer-readable storage medium on or near the computer 3000. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer-readable storage medium, whereby the programs described above are provided to the computer 3000 via the network.

[0206] The above describes the present application by way of embodiments, but the technical scope of the present application is not limited to the range described in the above embodiments. It will be apparent to those skilled in the art that various changes or modifications can be made to the above embodiments. Embodiments made by such changes or modifications can also be included in the technical scope of the present application as apparent from the claims.

[0207] As for the order of execution of each process of the apparatuses, systems, programs, and methods, actions, flows, steps, and stages, etc. shown in the claims, the specification, and the drawings, it should be noted that there is no particular indication of "before", "prior", etc., and in addition, as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. As for the action flow in the claims, the specification, and the drawings, even if it is described using "first", "then", etc. for convenience, it does not mean that it must be implemented in such an order.

[0208] For example, the present application specification discloses the following.

[0209] (Item 1)

[0210] A diagnostic device is a diagnostic device mounted on an apparatus and diagnosing a state of the apparatus, wherein

[0211] has a period decision unit that decides a period in which the diagnostic device diagnoses the state of the apparatus,

[0212] The period decision unit decides the period so that the length of the time interval of the diagnosis in the first period is equal to or less than a first reference value, and the length of the time interval of the diagnosis in the second period is greater than the first reference value,

[0213] The first period and the second period do not overlap in time.

[0214] (Item 2)

[0215] The diagnostic device according to item 1, wherein

[0216] Further has a manner decision unit that decides a manner in which the diagnostic device diagnoses the state of the apparatus,

[0217] In a case where the manner determination unit determines to cause the diagnosis device to operate in a manner of periodically diagnosing the device,

[0218] The period determination unit determines the period such that a length of a time interval of the periodic diagnosis in the first period is equal to or shorter than the first reference value, and a length of a time interval of the periodic diagnosis in the second period is longer than the first reference value.

[0219] Item 3

[0220] The diagnosis device according to Item 1 or Item 2, wherein

[0221] In a case where a length of an elapsed period from a time point at which the device is produced or a time point at which a user of the device is assigned, i.e., a first time point, is less than a predetermined first threshold value,

[0222] The period determination unit determines the period based on a length of the time interval, i.e., a first time interval, of the periodic diagnosis in the first period.

[0223] Item 4

[0224] The diagnosis device according to Item 3, wherein

[0225] The period determination unit (i) determines the length of the first time interval as a predetermined value or a value specified by a user, or (ii) determines the length of the first time interval based on the length of the elapsed period from the first time point.

[0226] Item 5

[0227] The diagnosis device according to Item 3, wherein

[0228] The first period is a period from the first time point to a second time point at which the length of the elapsed period from the first time point becomes the first threshold value,

[0229] The second period is a period from the second time point to a third time point at which a degree of a load applied to the device during the elapsed period from the first time point reaches a predetermined degree.

[0230] Item 6

[0231] The diagnosis device according to Item 3 or Item 4, wherein

[0232] In a case where the length of the elapsed period from the first time point is greater than the first threshold value, and a degree of a load applied to the device during the elapsed period from the first time point is less than a predetermined first degree,

[0233] The period determination unit determines the period based on the length of the time interval of the second period, i.e., the second time interval.

[0234] (Item 7)

[0235] The diagnostic device according to Item 1 or Item 2, wherein

[0236] In a case where the degree of load applied to the device in the elapsed period from a first point in time, i.e., a point in time at which the device is produced or a point in time at which the device is transferred to a user of the device, is less than a predetermined first degree,

[0237] The period determination unit determines the period based on the length of the time interval of the second period, i.e., the second time interval.

[0238] (Item 8)

[0239] The diagnostic device according to Item 6 or Item 7, wherein

[0240] The period determination unit (i) determines the length of the second time interval as a predetermined value or a value specified by a user, or (ii) determines the length of the second time interval based on the degree of load applied to the device in the elapsed period from the first point in time.

[0241] (Item 9)

[0242] The diagnostic device according to any one of Items 1 to 8, wherein

[0243] The period determination unit determines the period such that the length of the time interval of diagnosis of the third period is equal to or less than a second reference value, and the length of the time interval of diagnosis of the second period is greater than the second reference value.

[0244] The first period, the second period, and the third period do not overlap in time.

[0245] (Item 10)

[0246] The diagnostic device according to Item 9, wherein

[0247] The second period starts after the first period ends.

[0248] The third period starts after the second period ends.

[0249] (Item 11)

[0250] The diagnostic device according to Item 10, wherein

[0251] the first reference value is equal to the second reference value, or

[0252] an absolute value of a difference between the first reference value and the second reference value is less than 24 hours.

[0253] Item 12

[0254] The diagnostic device according to item 3, wherein

[0255] in a case where a length of the elapsed period from the first time point is greater than the first threshold value and less than a predetermined second threshold value,

[0256] The period determining unit determines the period based on a length of the time interval of the second period, i.e., a second time interval.

[0257] Item 13

[0258] The diagnostic device according to item 7, wherein

[0259] in a case where the degree (a) of the load applied to the device during the elapsed period from the first time point is greater than the first degree, or (b) is less than a predetermined second degree,

[0260] The period determining unit determines the period based on a length of the time interval of the first period, i.e., a first time interval,

[0261] The second degree indicates that the degree of the load is less than the first degree.

[0262] Item 14

[0263] A device, wherein

[0264] The diagnostic device according to any one of items 1 to 13 is provided.

[0265] Item 15

[0266] A program for causing a computer to function as the diagnostic device according to any one of items 1 to 13.

[0267] Item 16

[0268] A control method of a diagnostic device is a control method of a diagnostic device that is mounted on a device and diagnoses a state of the device, wherein

[0269] has a period determining step of determining a period in which the diagnostic device diagnoses the state of the device,

[0270] The period determination step includes determining the period so that the length of the time interval of the diagnosis in the first period is below a first reference value, and the length of the time interval of the diagnosis in the second period is greater than the first reference value.

[0271] The first period and the second period do not overlap in time.

[0272] [Legend]

[0273] 20 user; 100 mobile body; 120 input / output unit; 130 thrust generation unit; 140 drive unit; 150 measurement unit; 160 control unit; 162 control section; 164 diagnosis section; 166 storage section; 220 vehicle body; 232 front wheel; 234 rear wheel; 242 front wheel drive unit; 244 rear wheel drive unit; 252 motor; 254 gear box; 256 shaft; 262 brake; 322 input / output control section; 324 required drive force determination section; 326 diagnosed drive force determination section; 328 drive control section; 342 diagnosis mode determination section; 344 diagnosis period determination section; 346 start determination section; 348 diagnosis processing execution section; 362 diagnosis interval storage section; 364 diagnosed drive force storage section; 1000 vehicle; 1010 core ECU; 1020 TCU; 1021 ECU; 1022 information system ECU; 1023 regional ECU; 1024 regional ECU; 1030 drive system device; 1031 comfort system device; 1032 alarm system device; 1033 field of view system device; 1034 advanced safety system device; 1035 theft prevention system device; 1036 light body system device; 1037 door system device; 1038 drive position system device; 1039 opening and closing system device; 1040 sensor device; 1041 information system device; 1080 communication network; 1081 communication network; 1082 communication network; 1084 communication network; 1085 communication network; 3000 computer; 3001 DVD-ROM; 3010 main controller; 3012 CPU; 3014 RAM; 3016 GPU; 3018 display device; 3020 input / output controller; 3022 communication interface; 3024 hard disk drive; 3026 DVD-ROM drive; 3030 ROM; 3040 input / output chip; 3042 keyboard.

Claims

1. A control device that controls a magnitude of a driving force for moving a mobile body, wherein the mobile body is provided with a driving section that outputs a driving force for moving the mobile body, the driving section has: a generation section that generates a first driving force that is at least a part of the driving force; and an adjustment section that adjusts the magnitude of the driving force output by the driving section by generating a second driving force or a braking force that is a remaining part of the driving force, the control device is provided with: a required driving force decision section that decides a magnitude of a required driving force, which is a driving force required for moving the mobile body, based on an instruction of a user of the mobile body; a necessity decision section that decides whether or not to execute a diagnosis process for diagnosing a state of the driving section; a diagnosis driving force decision section that decides a magnitude of a diagnosis driving force, which is a driving force generated by the generation section during execution of the diagnosis process; and a driving control section that controls an operation of the driving section, the driving control section performs the following processes: (a) in a case where the necessity decision section does not decide to execute the diagnosis process, controls the operation of the driving section based on the magnitude of the required driving force decided by the required driving force decision section, and (b) in a case where the necessity decision section decides to execute the diagnosis process, controls the operation of the driving section based on the magnitude of the required driving force decided by the required driving force decision section and the magnitude of the diagnosis driving force decided by the diagnosis driving force decision section.

2. The control device according to claim 1, wherein in the case where the necessity decision section decides to execute the diagnosis process, the driving control section controls the operation of the generation section so that the magnitude of the first driving force becomes the magnitude of the diagnosis driving force.

3. The control device according to claim 1, wherein in the case where the necessity decision section decides to execute the diagnosis process, the driving control section controls the operation of the adjustment section based on a difference between the magnitude of the required driving force and the magnitude of the diagnosis driving force.

4. The control device according to claim 3, wherein in a case where the difference obtained by subtracting the magnitude of the diagnosis driving force from the magnitude of the required driving force is a negative value, the driving control section controls the operation of the adjustment section so that the adjustment section generates the braking force whose magnitude corresponds to an absolute value of the difference.

5. The control device according to claim 3, wherein the driving control section performs the following processes: (i) in a case where the difference obtained by subtracting the magnitude of the diagnosis driving force from the magnitude of the required driving force is a positive value, controls the operation of the adjustment section so that the adjustment section generates the second driving force whose magnitude corresponds to an absolute value of the difference, and (ii) in a case where the difference obtained by subtracting the magnitude of the diagnosis driving force from the magnitude of the required driving force is a negative value, controls the operation of the adjustment section so that the adjustment section generates the braking force whose magnitude corresponds to an absolute value of the difference.

6. The control device according to claim 1, wherein the adjustment section includes at least one of a counter thrust device and a braking device. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 7. The control device according to claim 1, wherein the diagnosis drive force determining section performs the following process: determining a component to be diagnosed in the diagnosis process, that is, a diagnosis target, referring to a storage device that stores the magnitude of the diagnosis drive force corresponding to each of one or more constituent components that constitute at least a part of the moving body, to determine the magnitude of the diagnosis drive force corresponding to the diagnosis target.

8. The control device according to claim 1, wherein the necessity determining section determines to execute the diagnosis process when the moving state of the moving body satisfies a predetermined diagnosis start condition.

9. The control device according to claim 8, wherein the predetermined condition includes at least one of: a condition that the manner of operation of the moving body by a user of the moving body satisfies a predetermined operation condition; a condition that the degree of acceleration of the moving body is less than a predetermined degree; and a condition that the degree of turning of the moving body is less than a predetermined degree.

10. The control device according to claim 1, wherein the moving body further includes a diagnosis section that diagnoses the state of the drive section, the diagnosis section starts diagnosis of the drive section when the necessity determining section determines to execute the diagnosis process. includes:

11. A mobile body, wherein the control device according to any one of claims 1 to 10; a drive section that outputs a drive force for moving the moving body; and a diagnosis section that diagnoses the state of the drive section.

12. The moving body according to claim 11, wherein further includes a thrust force generating section that generates a thrust force of the moving body using the drive force output by the drive section, the generating section includes: a power generating section that generates power; and a power transmitting section that transmits the power generated by the power generating section to the thrust force generating section.

13. The moving body according to claim 12, wherein the power generating section includes an electric motor.

14. A computer-readable storage medium storing a program, wherein the program is for causing a computer to function as the control device according to any one of claims 1 to 10.

15. A control method for controlling the magnitude of a drive force for moving a moving body, wherein the moving body includes a drive device that outputs a drive force for moving the moving body, the drive device includes: a generating device that generates a first drive force that is at least a part of the drive force; and an adjusting device that adjusts the magnitude of the drive force output by the drive device by generating a second drive force or a braking force that is the remaining part of the drive force, the control method includes: a required drive force determining step of determining the magnitude of a required drive force, that is, a drive force required for moving the moving body, based on an instruction by a user of the moving body; a necessity determining step of determining whether to execute a diagnosis process for diagnosing the state of the drive device; a diagnosis drive force determining step of determining the magnitude of a drive force, that is, a diagnosis drive force, generated by the generating device during execution of the diagnosis process; and a control step of controlling the operation of the drive device, the control step includes: ​ ​ (a) when it is not decided in the necessity decision step to execute the diagnosis processing, a step of controlling the operation of the drive device based on the magnitude of the required driving force decided in the required driving force decision step; and (b) when it is decided in the necessity decision step to execute the diagnosis processing, a step of controlling the operation of the drive device based on the magnitude of the required driving force decided in the required driving force decision step and the magnitude of the diagnosis driving force decided in the diagnosis driving force decision step.

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