Vehicle control device and vehicle control method

Abstract

The present invention provides a vehicle control device and a vehicle control method that achieve an increase in a travelable distance during an abnormality and a guarantee of desired travel safety. A vehicle control device (10) is provided with a plurality of power units (11) mounted on a vehicle (1), and a processing unit (13) for controlling the power units (11). Each of the plurality of power units (11) is provided with: rotary electric machines (21a, 21b) that transmit and receive torque to and from a drive wheel W; power storage devices (25a, 25b) and fuel cells (23a, 23b) that serve as power sources; and power control units (27a, 27b). When any one of the fuel cell systems is abnormal, the processing unit (13) controls the operation of the rotating electric machine (21a or 21b) in the abnormal power unit (11) on the basis of the remaining capacity SOC of the electricity storage device (25a or 25b) in the abnormal power unit (11), the rotational speed (N) of the rotating electric machine (21a or 21b), and the required torque (TR) of the vehicle (1).

Description

Technical Field

[0001] The invention relates to a vehicle control device and a vehicle control method. Background Art

[0002] In recent years, measures for realizing a low-carbon society or a decarbonized society have been actively implemented, and research and development related to electrification technology is also being conducted in order to reduce CO2 emissions and improve energy efficiency in vehicles. In the past, there is a known electric vehicle in which, when a power generation device in one of two parallel drive systems fails, the distribution of the required torque to the motor in the two drive systems is set according to the storage capacity of the battery in the drive system on the failed side (for example, refer to Patent Document 1).

[0003] When the electric vehicle is driven, the amount of power stored in the battery in the drive system on the faulty side decreases, so that the distribution of the required torque to the motor in the drive system on the faulty side is reduced. On the other hand, during braking, the target amount of power stored in the battery in the drive system on the faulty side is increased compared to normal, and the motor is regenerated.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2016-144366 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In addition, in technologies related to electrification technology, for example, maintaining the amount of electric power required for driving the vehicle and auxiliary machine driving and ensuring the desired driving safety even when the system is abnormal is a subject. For example, in the above-mentioned electric vehicle of the prior art, when the output shafts of the motors of the two drive systems are connected, when the power supply to the motor is stopped in order to reduce the power consumption in the drive system on the faulty side, a back electromotive force may be generated due to the follow-up rotation caused by the motor of the drive system on the normal side. For example, if an excessive back electromotive force is generated during the high-speed rotation of the motor on the normal side, abnormalities may occur in various electrical equipment.

[0009] The present application aims to solve the above-mentioned problems and to increase the drivable distance in abnormal conditions and ensure the desired driving safety, and further contribute to the improvement of energy efficiency.

[0010] Solutions to Solve Problems

[0011] In order to solve the above-mentioned problems and achieve the object, the present invention adopts the following means.

[0012] (1): A vehicle control device according to one embodiment of the present invention (e.g., the vehicle control device 10 in the embodiment) comprises: a plurality of power units (e.g., the power unit 11 in the embodiment) mounted on a vehicle (e.g., the fuel cell vehicle 1 in the embodiment); and a control unit (e.g., the processing unit 13 in the embodiment) for controlling the power units, wherein the plurality of power units respectively comprise: a rotating motor (e.g., the first rotating motor 21a and the second rotating motor 21b in the embodiment) for transmitting and receiving torque to and from wheels (e.g., the drive wheels W in the embodiment); a power storage device (e.g., the first power storage device 25a and the second power storage device 25b in the embodiment) and a fuel cell (e.g., the first fuel cell 23a and the second fuel cell 23b in the embodiment) which are power units. power source; and a power control unit (for example, a first power control unit 27a and a second power control unit 27b in the embodiment), which controls the power transfer between the rotating motor, the power storage device and the fuel cell. When an abnormality occurs in the fuel cell, the control unit controls the operation of the abnormal side rotating motor (for example, the first rotating motor 21a or the second rotating motor 21b in the embodiment) which is the rotating motor in the power unit with the abnormal fuel cell, based on the remaining capacity of the power storage device in the power unit with the abnormal fuel cell (for example, the remaining capacity SOC in the embodiment) and the rotation speed of the rotating motor (for example, the rotation speed N in the embodiment), and the required torque of the vehicle (for example, the required torque TR in the embodiment).

[0013] (2): In the vehicle control device described in (1) above, the control unit may cause the abnormal side rotating motor to perform a traction action when the rotation speed is less than a specified rotation speed (for example, the specified rotation speed Nt in the embodiment), the required torque is greater than a specified torque (for example, the specified torque Tt in the embodiment), and the remaining capacity is greater than a specified remaining capacity (for example, the specified second remaining capacity SOC2 in the embodiment), and the control unit may stop the abnormal side rotating motor or set the torque of the abnormal side rotating motor to zero when the rotation speed is less than the specified rotation speed, the required torque is greater than the specified torque, and the remaining capacity is less than the specified remaining capacity.

[0014] (3): In the vehicle control device described in (1) above, the control unit may stop the abnormal side rotating motor or make the torque of the abnormal side rotating motor zero when the rotation speed is less than a specified rotation speed (for example, the specified rotation speed Nt in the embodiment), the required torque is less than a specified torque (for example, the specified torque Tt in the embodiment), and the remaining capacity is greater than a specified remaining capacity (for example, the specified third remaining capacity SOC3 in the embodiment), and the control unit causes the abnormal side rotating motor to perform regeneration when the rotation speed is less than the specified rotation speed, the required torque is less than the specified torque, and the remaining capacity is less than the specified remaining capacity.

[0015] (4): In the vehicle control device described in (1) above, the control unit may cause the abnormal side rotating electric machine to perform a traction operation when the rotation speed is less than a specified rotation speed (for example, a specified rotation speed Nt in the embodiment), the required torque is greater than a specified torque (for example, a specified torque Tt in the embodiment), and the remaining capacity is greater than a specified first remaining capacity (for example, a specified second remaining capacity SOC2 in the embodiment), and the control unit may stop the abnormal side rotating electric machine or cause the abnormal side rotating electric machine to rotate when the rotation speed is less than the specified rotation speed, the required torque is greater than the specified torque, and the remaining capacity is less than the specified first remaining capacity and is greater than a specified second remaining capacity that is smaller than the specified first remaining capacity (for example, a specified first remaining capacity SOC1 in the embodiment). The torque of the normal-side rotating motor is zero, and the control unit stops the abnormal-side rotating motor when the rotation speed is less than the specified rotation speed, the required torque is greater than the specified torque, and the remaining capacity is less than the specified second remaining capacity. The control unit stops the abnormal-side rotating motor or makes the torque of the abnormal-side rotating motor zero when the rotation speed is less than the specified rotation speed, the required torque is less than the specified torque, and the remaining capacity is greater than a specified third remaining capacity (for example, the specified third remaining capacity SOC3 in an embodiment) that is larger than the specified first remaining capacity. The control unit causes the abnormal-side rotating motor to perform regeneration when the rotation speed is less than the specified rotation speed, the required torque is less than the specified torque, and the remaining capacity is less than the specified third remaining capacity.

[0016] (5): In the vehicle control device described in (1) above, the control unit may cause the abnormal side rotating motor to perform a traction action when the speed is above a specified speed (for example, the specified speed Nt in the embodiment), the required torque is above a specified torque (for example, the specified torque Tt in the embodiment), and the remaining capacity is above a specified remaining capacity (for example, the specified second remaining capacity SOC2 in the embodiment), and the control unit may stop the abnormal side rotating motor or set the torque of the abnormal side rotating motor to zero when the speed is above the specified speed, the required torque is above the specified torque, and the remaining capacity is less than the specified remaining capacity.

[0017] (6): In the vehicle control device described in (1) above, the control unit may make the torque of the abnormal side rotating electric machine zero when the rotation speed is above a prescribed rotation speed (for example, the prescribed rotation speed Nt in the embodiment), the required torque is less than a prescribed torque (for example, the prescribed torque Tt in the embodiment), and the remaining capacity is more than a prescribed remaining capacity (for example, the prescribed third remaining capacity SOC3 in the embodiment), and the control unit may make the abnormal side rotating electric machine perform a regenerative action when the rotation speed is above the prescribed rotation speed, the required torque is less than the prescribed torque, and the remaining capacity is less than the prescribed remaining capacity. When making the torque zero, control may be performed to make the output of the abnormal side rotating electric machine zero, or it may be achieved by using the power control unit to control the phase current of the rotating electric machine. In addition, although driving (traction) and regeneration are repeated instantaneously and for a short period of time, the overall power is zero in a long period of time.

[0018] (7): In the vehicle control device described in (1) above, the control unit may cause the abnormal-side rotating electric machine to perform a traction operation when the speed is above a prescribed speed (for example, a prescribed speed Nt in the embodiment), the required torque is above a prescribed torque (for example, a prescribed torque Tt in the embodiment), and the remaining capacity is above a prescribed first remaining capacity (for example, a prescribed second remaining capacity SOC2 in the embodiment), and the control unit causes the torque of the abnormal-side rotating electric machine to be above a prescribed second remaining capacity (for example, a prescribed first remaining capacity SOC1 in the embodiment) which is smaller than the prescribed first remaining capacity. The control unit stops the abnormal-side rotating electric machine or makes the rotating electric machine's speed less than the prescribed speed when the speed is greater than the prescribed speed, the required torque is greater than the prescribed torque, and the remaining capacity is less than the prescribed second remaining capacity. The control unit makes the torque of the abnormal-side rotating electric machine zero when the speed is greater than the prescribed speed, the required torque is less than the prescribed torque, and the remaining capacity is greater than a prescribed third remaining capacity (for example, a prescribed third remaining capacity SOC3 in an embodiment) that is larger than the prescribed first remaining capacity. The control unit causes the abnormal-side rotating electric machine to perform a regenerative action when the speed is greater than the prescribed speed, the required torque is less than the prescribed torque, and the remaining capacity is less than the prescribed third remaining capacity.

[0019] (8) In the vehicle control device described in (4) or (7) above, the power storage device may be in an overcharged state when the remaining capacity is greater than the specified third remaining capacity, and may be in an overdischarged state when the remaining capacity is less than the specified second remaining capacity.

[0020] (9): A vehicle control method according to one embodiment of the present invention is executed by a control unit (e.g., a processing unit 13 in the embodiment) that controls a plurality of power units (e.g., the power unit 11 in the embodiment) mounted on a vehicle (e.g., the fuel cell vehicle 1 in the embodiment), wherein the plurality of power units respectively include: a rotating motor (e.g., the first rotating motor 21a and the second rotating motor 21b in the embodiment) that transmits and receives torque to and from wheels (e.g., the drive wheels W in the embodiment); a power storage device (e.g., the first power storage device 25a and the second power storage device 25b in the embodiment) and a fuel cell (e.g., the first fuel cell 23a and the second fuel cell 23b in the embodiment) that are power sources; and a power control unit (e.g., , a first power control unit 27a and a second power control unit 27b in the embodiment, which control the power transfer between the rotating motor, the power storage device and the fuel cell, the vehicle control method includes the following steps: determining whether there is an abnormality in the fuel cell (for example, step S01 in the embodiment); and controlling the operation of the rotating motor in the power unit with the abnormal fuel cell (for example, steps S02 to S04 in the embodiment) based on the remaining capacity of the power storage device in the power unit with the abnormal fuel cell (for example, the remaining capacity SOC in the embodiment) and the rotation speed of the rotating motor (for example, the rotation speed N in the embodiment), and the required torque of the vehicle (for example, the required torque TR in the embodiment).

[0021] Effects of the Invention

[0022] According to the above (1), by providing a control unit that controls the operation of the abnormal side rotating electric machine based on the remaining capacity of the power storage device in the power unit having the abnormal fuel cell, the rotation speed of the rotating electric machine, and the required torque of the vehicle, it is possible to increase the possible driving distance during the abnormality and ensure the desired driving safety.

[0023] In the case of (2) above, if the remaining capacity is greater than or equal to the specified remaining capacity, the abnormal side rotating electric machine is pulled to ensure the required torque greater than or equal to the specified torque. When the remaining capacity is less than the specified remaining capacity, the abnormal side rotating electric machine is stopped or the torque is zeroed, thereby suppressing the reduction of the remaining capacity.

[0024] In the case of (3) above, if the remaining capacity is greater than the predetermined remaining capacity, the abnormal side rotating motor is stopped or the torque is zeroed, thereby suppressing the reduction of the remaining capacity. If the remaining capacity is less than the predetermined remaining capacity, the abnormal side rotating motor is regenerated, thereby increasing the remaining capacity.

[0025] In the case of (4) above, the required torque greater than the specified torque can be ensured by the traction action of the abnormal side rotating motor. By stopping the abnormal side rotating motor when the residual capacity is less than the specified first residual capacity, the reduction of the residual capacity can be suppressed. By making the torque of the abnormal side rotating motor zero when the residual capacity is less than the specified first residual capacity, a slight reduction in the residual capacity can be allowed and the generation of back electromotive force can be suppressed. By stopping the abnormal side rotating motor or making the torque zero when the residual capacity is greater than the specified third residual capacity, the required torque less than the specified torque can be ensured and the reduction of the residual capacity can be suppressed. By the regenerative action of the abnormal side rotating motor when the residual capacity is less than the specified third residual capacity, the required torque less than the specified torque can be ensured and the residual capacity can be increased.

[0026] In the case of (5) above, if the remaining capacity is greater than or equal to the specified remaining capacity, the abnormal side rotating electric machine is pulled to ensure the required torque greater than or equal to the specified torque. When the remaining capacity is less than the specified remaining capacity, the abnormal side rotating electric machine is stopped or the torque is zeroed, thereby suppressing the reduction of the remaining capacity.

[0027] In the case of (6) above, if the remaining capacity is greater than the predetermined remaining capacity, the generation of the back electromotive force can be suppressed by making the torque of the abnormal side rotating motor zero. If the remaining capacity is less than the predetermined remaining capacity, the remaining capacity can be increased by regenerative action of the abnormal side rotating motor.

[0028] In the case of (7) above, the required torque above the specified torque can be ensured by the traction action of the abnormal side rotating motor. By stopping the abnormal side rotating motor or limiting the rotation speed when the remaining capacity is less than the specified first remaining capacity, the reduction of the remaining capacity can be suppressed. By making the torque of the abnormal side rotating motor zero when the remaining capacity is less than the specified first remaining capacity, a slight reduction in the remaining capacity can be allowed and the generation of back electromotive force can be suppressed. By making the torque of the abnormal side rotating motor zero when the remaining capacity is greater than the specified third remaining capacity, the required torque less than the specified torque can be ensured and the generation of back electromotive force can be suppressed. By making the regenerative action of the abnormal side rotating motor when the remaining capacity is less than the specified third remaining capacity, the required torque less than the specified torque can be ensured and the remaining capacity can be increased.

[0029] In the case of (8) above, it is possible to ensure the required torque in the overcharge state and suppress a decrease in the remaining capacity in the overdischarge state.

[0030] According to the above (9), by controlling the operation of the abnormal side rotating electric machine based on the remaining capacity of the power storage device in the power unit with the abnormal fuel cell, the rotation speed of the rotating electric machine, and the required torque of the vehicle, it is possible to increase the drivable distance during the abnormality and ensure the desired driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural diagram of a fuel cell vehicle equipped with a vehicle control device according to an embodiment of the present invention.

[0032] Figure 2 This is a flowchart showing the operation of the vehicle control device according to the embodiment of the present invention.

[0033] Figure 3 1 is a diagram showing the region setting of the remaining capacity of the power storage device by the vehicle control device according to the embodiment of the present invention.

[0034] Figure 4 1 is a diagram showing the range setting of the rotation speed of the rotating electric machine performed by the vehicle control device according to the embodiment of the present invention.

[0035] Description of Reference Numerals

[0036] 1: fuel cell vehicle, 10: vehicle control device, 11: power unit, 11a: first power unit (power unit), 11b: second power unit (power unit), 13: processing unit (control unit), 15: sensor, 21a: first rotating motor (rotating motor), 21b: second rotating motor (rotating motor), 23a: first fuel cell (fuel cell), 23b: second fuel cell (fuel cell), 25a: first power storage device (power storage device), 25b: second power storage device (power storage device), 27a: first power control unit (power control unit), 27b: second power control unit (power control unit). DETAILED DESCRIPTION

[0037] Hereinafter, a vehicle control device and a vehicle control method according to embodiments of the present invention will be described with reference to the drawings.

[0038] Figure 1 It is a configuration diagram of a fuel cell vehicle 1 equipped with a vehicle control device 10 according to the embodiment.

[0039] like Figure 1 As shown, the vehicle control device 10 mounted on the fuel cell vehicle 1 includes, for example, a plurality of power units 11 , a processing unit 13 for controlling the plurality of power units 11 , and a sensor 15 .

[0040] The plurality of power units 11 are, for example, a first power unit 11a and a second power unit 11b. The plurality of power units 11 are directly connected to each other and are connected to the drive wheels W via a differential mechanism D, for example.

[0041] The structures of the plurality of power units 11 are, for example, the same as each other.

[0042] The first power unit 11 a includes, for example, a first rotating electrical machine 21 a , a first fuel cell 23 a , a first power storage device 25 a , and a first power control unit 27 a .

[0043] The second power unit 11 b includes, for example, a second rotating electrical machine 21 b , a second fuel cell 23 b , a second power storage device 25 b , and a second power control unit 27 b .

[0044] Each rotating electric machine 21a, 21b is, for example, a three-phase brushless DC motor, etc. Each rotating electric machine 21a, 21b transmits and receives torque to and from the drive wheels W via, for example, a differential mechanism D. Each rotating electric machine 21a, 21b is connected to each power control unit 27a, 27b.

[0045] Each fuel cell 23a, 23b is, for example, a solid polymer fuel cell or a solid oxide fuel cell, etc., which is a power source of the fuel cell vehicle 1. Each fuel cell 23a, 23b, for example, constitutes each fuel cell system together with each supply unit of fuel and oxidant, exhaust and drainage discharge units, and various sensors, etc. Each fuel cell 23a, 23b is connected to each power storage device 25a, 25b and each power control unit 27a, 27b, for example.

[0046] Each power storage device 25a, 25b is, for example, a high-voltage battery or the like as a power source of the fuel cell vehicle 1. Each power storage device 25a, 25b is, for example, connected to each fuel cell 23a, 23b and each power control unit 27a, 27b. Each power storage device 25a, 25b is, for example, charged by each fuel cell 23a, 23b, and transmits and receives power to each rotating electric machine 21a, 21b via each power control unit 27a, 27b.

[0047] Each power control unit 27a, 27b includes, for example, a power conversion module formed by a plurality of switching elements and rectifying elements, etc. Each power control unit 27a, 27b controls the power transfer between each power storage device 25a, 25b or each fuel cell 23a, 23b and each rotating electric machine 21a, 21b by, for example, bidirectional power conversion between DC power and AC power.

[0048] The processing unit 13 is, for example, a software function unit that performs functions by executing a predetermined program by a processor such as a CPU (Central Processing Unit). The software function unit is an ECU that includes a processor such as a CPU, a ROM (Read Only Memory) for storing programs, a RAM (Random Access Memory) for temporarily storing data, and electronic circuits such as a timer. It should be noted that at least a part of the processing unit 13 may also be an integrated circuit such as an LSI (Large Scale Integration).

[0049] For example, the processing unit 13 obtains signals of detection values ​​output from various sensors 15. The various sensors 15 include, for example, operation amount sensors for detecting the presence or absence of operation and the operation amount of the accelerator operating member and the brake operating member of the fuel cell vehicle 1 respectively performed by the driver, current sensors, voltage sensors, and temperature sensors in each rotating electric machine 21a, 21b and each power storage device 25a, 25b, rotation angle sensors of each rotating electric machine 21a, 21b, and pressure sensors and flow sensors of each fuel cell system.

[0050] The processing unit 13 controls the first power unit 11a and the second power unit 11b, respectively, based on signals of detection values ​​output from the various sensors 15. For example, when an abnormality occurs in the fuel cell system of any power unit 11, the processing unit 13 controls the operation of each rotating motor 21a, 21b of each power unit 11 based on the remaining capacity of the power storage device (25a or 25b) and the rotation speed of the rotating motor (21a or 21b) in the abnormal power unit 11, and the required torque of the fuel cell vehicle 1.

[0051] Hereinafter, an operation of the vehicle control device 10 in the embodiment, that is, an example of a vehicle control method will be described.

[0052] Figure 2 It is a flowchart showing the operation of the vehicle control device 10 in the embodiment.

[0053] like Figure 2 As shown, first, the processing unit 13 determines whether or not there is an abnormality in the fuel cell system of any power unit 11 (step S01 ).

[0054] If the determination result is "No", the processing unit 13 ends the processing.

[0055] On the other hand, when the determination result is "Yes", the processing unit 13 advances the process to step S02.

[0056] Next, the processing unit 13 obtains the remaining capacity SOC (State Of Charge) of the power storage device (first power storage device 25a or second power storage device 25b) in the abnormal power unit 11 based on signals output from the current sensor, voltage sensor, and temperature sensor of the sensor 15 (step S02).

[0057] Next, the processing unit 13 obtains the required torque TR of the fuel cell vehicle 1 corresponding to the driver's or a predetermined control's request based on, for example, a signal output from the operation amount sensor of the sensor 15. The processing unit 13 obtains the rotation speed N of the rotating electric machine (the first rotating electric machine 21a or the second rotating electric machine 21b) in the abnormal power unit 11 based on, for example, a signal output from the rotation angle sensor of the sensor 15 (step S03).

[0058] Next, the processing unit 13 controls the operation of each rotating electric machine 21a, 21b of each power unit 11 based on, for example, the remaining capacity SOC and the rotation speed N of the abnormal power unit 11 and the required torque TR of the fuel cell vehicle 1 (step S04). Then, the processing unit 13 ends the processing.

[0059] The processing unit 13 instructs a predetermined operating state to the rotating electric machine (the first rotating electric machine 21 a or the second rotating electric machine 21 b ) of the abnormal power unit 11 , for example, as shown in Table 1 below.

[0060]

Table 1

[0061]

[0062] Figure 3 1 is a diagram showing the region setting of the remaining capacity SOC of each power storage device 25 a , 25 b by the vehicle control device 10 according to the embodiment. Figure 4 1 is a diagram showing the region setting of the rotation speed N of each of the rotating electrical machines 21 a and 21 b performed by the vehicle control device 10 according to the embodiment.

[0063] like Figure 3 As shown, the processing unit 13 sets the first remaining capacity area SA, the second remaining capacity area SB, the third remaining capacity area SC, and the fourth remaining capacity area SD using, for example, the first remaining capacity SOC1, the second remaining capacity SOC2, and the third remaining capacity SOC3.

[0064] The predetermined first remaining capacity SOC1 is, for example, a remaining capacity close to 0. The first remaining capacity region SA is, for example, a region of extremely low remaining capacity (extremely low SOC) less than the predetermined first remaining capacity SOC1 in the overdischarge state.

[0065] The second remaining capacity SOC2 is greater than the first remaining capacity SOC1, and is, for example, a threshold remaining capacity for determining whether each power storage device 25a, 25b is in an over-discharge state. The second remaining capacity region SB is, for example, a region of lower remaining capacity (low SOC) than the first remaining capacity SOC1 and less than the second remaining capacity SOC2 in the over-discharge state, and outside the first remaining capacity region SA.

[0066] The third remaining capacity SOC3 is greater than the second remaining capacity SOC2, and is, for example, a threshold remaining capacity for determining whether each power storage device 25a, 25b is in an overcharged state. The third remaining capacity region SC is, for example, a region of a remaining capacity (medium SOC) that is greater than the second remaining capacity SOC2 and less than the third remaining capacity SOC3, and is between an overdischarge state and an overcharge state. The fourth remaining capacity region SD is, for example, a region of a relatively high remaining capacity (high SOC) for an overcharged state greater than the third remaining capacity SOC3.

[0067] like Figure 4 As shown, the processing unit 13 sets the first rotation speed range NA and the second rotation speed range NB according to the predetermined rotation speed Nt, for example.

[0068] The specified rotation speed Nt is set based on the back electromotive force V that changes to an increasing trend as the rotation speed N of each rotating electrical machine 21a, 21b increases, for example. The specified rotation speed Nt is, for example, a rotation speed N corresponding to a specified back electromotive force Vt equivalent to the withstand voltage of the electrical equipment connected to each rotating electrical machine 21a, 21b. The first rotation speed region NA is, for example, a region of a relatively low rotation speed N (low rotation speed) that is less than the specified rotation speed Nt. The second rotation speed region NB is, for example, a region of a relatively high rotation speed N (high rotation speed) that is greater than the specified rotation speed Nt.

[0069] The processing unit 13, for example, causes the rotating electric machine (21a or 21b) on the abnormal side to perform a traction operation when the rotation speed N is less than a predetermined rotation speed Nt (first rotation speed region NA), the required torque TR is greater than or equal to a predetermined torque Tt, and the remaining capacity SOC is greater than or equal to a predetermined second remaining capacity SOC2 (third remaining capacity region SC and fourth remaining capacity region SD). The predetermined torque Tt is, for example, a torque that each rotating electric machine 21a, 21b can output as a single unit.

[0070] The processing unit 13 stops the rotating electric machine (21a or 21b) on the abnormal side or makes the torque of the rotating electric machine (21a or 21b) on the abnormal side zero, for example, when the rotational speed N is less than the specified rotational speed Nt (first rotational speed area NA), the required torque TR is greater than the specified torque Tt, and the remaining capacity SOC is less than the specified second remaining capacity SOC2 and greater than the specified first remaining capacity SOC1 (second remaining capacity area SB).

[0071] The stopping of each rotating motor 21a, 21b is, for example, a state where the power supply of each rotating motor 21a, 21b is stopped, and a state where the counter electromotive force is generated by the rotation of each rotating motor 21a, 21b under the action of external power. The state where the torque of each rotating motor 21a, 21b is made zero is, for example, a state where the power supply is performed so that the torque of each rotating motor 21a, 21b becomes zero.

[0072] The processing unit 13 stops the rotating electrical machine (21a or 21b) on the abnormal side when, for example, the rotation speed N is less than a specified rotation speed Nt (first rotation speed range NA), the required torque TR is greater than a specified torque Tt, and the remaining capacity SOC is less than a specified first remaining capacity SOC1 (first remaining capacity range SA).

[0073] The processing unit 13 stops the rotating electric machine (21a or 21b) on the abnormal side or sets the torque of the rotating electric machine (21a or 21b) on the abnormal side to zero, for example, when the rotational speed N is less than the specified rotational speed Nt (first rotational speed area NA), the required torque TR is less than the specified torque Tt, and the remaining capacity SOC is greater than the specified third remaining capacity SOC3 (fourth remaining capacity area SD).

[0074] The processing unit 13, for example, causes the rotating electric machine (21a or 21b) on the abnormal side to perform a regenerative operation when the rotation speed N is less than a predetermined rotation speed Nt (first rotation speed region NA), the required torque TR is less than a predetermined torque Tt, and the remaining capacity SOC is less than a predetermined third remaining capacity SOC3 (first remaining capacity region SA, second remaining capacity region SB, and third remaining capacity region SC). The processing unit 13, for example, increases the output of the fuel cell (23a or 23b) on the normal side, thereby ensuring the power required for the traction operation of the rotating electric machine (21a or 21b) on the normal side and the charging of the power storage device (25a or 25b) on the abnormal side.

[0075] The processing unit 13 causes the rotating electrical machine (21a or 21b) on the abnormal side to perform a traction action, for example, when the rotational speed N is greater than a specified rotational speed Nt (second rotational speed area NB), the required torque TR is greater than a specified torque Tt, and the remaining capacity SOC is greater than a specified second remaining capacity SOC2 (third remaining capacity area SC and fourth remaining capacity area SD).

[0076] The processing unit 13 makes the torque of the rotating electric machine (21a or 21b) on the abnormal side zero, for example, when the speed N is greater than the specified speed Nt (second speed area NB), the required torque TR is greater than the specified torque Tt, and the remaining capacity SOC is less than the specified second remaining capacity SOC2 and greater than the specified first remaining capacity SOC1 (second remaining capacity area SB).

[0077] The processing unit 13 stops the rotating electrical machine (21a or 21b) on the abnormal side or limits the rotational speed N of each rotating electrical machine 21a, 21b to less than the specified rotational speed Nt, for example, when the rotational speed N is greater than the specified rotational speed Nt (second rotational speed area NB), the required torque TR is greater than the specified torque Tt, and the remaining capacity SOC is less than the specified first remaining capacity SOC1 (first remaining capacity area SA).

[0078] The processing unit 13 makes the torque of the rotating electrical machine (21a or 21b) on the abnormal side zero, for example, when the rotational speed N is greater than a specified rotational speed Nt (second rotational speed range NB), the required torque TR is less than a specified torque Tt, and the remaining capacity SOC is greater than a specified third remaining capacity SOC3 (fourth remaining capacity range SD).

[0079] The processing unit 13, for example, causes the rotating electric machine (21a or 21b) on the abnormal side to perform a regenerative operation when the rotation speed N is higher than the predetermined rotation speed Nt (second rotation speed region NB), the required torque TR is lower than the predetermined torque Tt, and the remaining capacity SOC is lower than the predetermined third remaining capacity SOC3 (first remaining capacity region SA, second remaining capacity region SB, and third remaining capacity region SC). The processing unit 13, for example, increases the output of the fuel cell (23a or 23b) on the normal side, thereby ensuring the power required for the traction operation of the rotating electric machine (21a or 21b) on the normal side and the charging of the power storage device (25a or 25b) on the abnormal side.

[0080] As described above, according to the vehicle control device 10 and the vehicle control method of the embodiment, by controlling the operation of the rotating motor (the first rotating motor 21a or the second rotating motor 21b) of the abnormal power unit 11 according to the remaining capacity SOC and the speed N in the abnormal power unit 11, and the required torque TR, it is possible to increase the drivable distance during the abnormality and ensure the desired driving safety.

[0081] By the power-pulling operation of the rotating electric machine ( 21 a or 21 b ) on the abnormal side in the third remaining capacity area SC and the fourth remaining capacity area SD, it is possible to ensure a required torque TR equal to or greater than the predetermined torque Tt.

[0082] By stopping the rotating electric machine ( 21 a or 21 b ) on the abnormal side in the first remaining capacity area SA and the second remaining capacity area SB, it is possible to suppress a decrease in the remaining capacity SOC while allowing the generation of the back electromotive force.

[0083] By limiting the rotation speed N of the rotating electric machine ( 21 a or 21 b ) on the abnormal side in the first remaining capacity area SA, it is possible to suppress an increase in the back electromotive force and a decrease in the remaining capacity SOC.

[0084] By making the torque of the rotating electric machine ( 21 a or 21 b ) on the abnormal side zero in the second remaining capacity region SB, it is possible to suppress the generation of the back electromotive force while allowing a slight decrease in the remaining capacity SOC.

[0085] By stopping the rotating electric machine (21a or 21b) on the abnormal side in the fourth remaining capacity region SD, a required torque TR smaller than the predetermined torque Tt is ensured and generation of a slight back electromotive force is allowed, thereby suppressing a decrease in the remaining capacity SOC.

[0086] By making the torque of the rotating electric machine ( 21 a or 21 b ) on the abnormal side in the fourth remaining capacity region SD zero, it is possible to suppress the generation of the back electromotive force while ensuring the required torque TR smaller than the predetermined torque Tt.

[0087] By the regenerative operation of the rotating electric machine (21a or 21b) on the abnormal side in the first remaining capacity area SA, the second remaining capacity area SB, and the third remaining capacity area SC, the remaining capacity SOC can be increased while ensuring the required torque TR smaller than the prescribed torque Tt.

[0088] (Variation Example)

[0089] Hereinafter, a modification of the embodiment will be described. It should be noted that the same reference numerals are given to the same parts as those of the above-mentioned embodiment, and the description thereof will be omitted or simplified.

[0090] In the above-described embodiment, the plurality of power units 11 are connected to the drive wheels W via the differential mechanism D, but the present invention is not limited thereto. For example, each power unit 11 may be connected to each drive wheel W directly or via a disconnection and connection mechanism such as a clutch.

[0091] In the above embodiment, each fuel cell 23a, 23b constitutes each fuel cell system, but the present invention is not limited thereto. For example, each fuel cell 23a, 23b may constitute a fuel cell system in which each supply unit of fuel and oxidant and each discharge unit of exhaust gas and waste water are common.

[0092] The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the invention. These embodiments and their variations are included in the scope and purpose of the invention, and are included in the invention recorded in the patent technical solution and its equivalent scope.

Claims

1. A vehicle control device, wherein: The vehicle control device comprises: a plurality of power units, which are mounted on the vehicle; and a control unit, which controls the power unit, The plurality of power units respectively include: A rotating electric machine that transmits and receives torque to and from the wheels; Power storage devices and fuel cells, which are power sources; and a power control unit that controls the transfer of power between the rotating electrical machine, the power storage device, and the fuel cell, When an abnormality occurs in the fuel cell, the control unit controls the operation of the abnormal side rotating motor which is the rotating motor in the power unit with the abnormal fuel cell based on the remaining capacity of the power storage device in the power unit with the abnormal fuel cell, the rotational speed of the rotating motor, and the required torque of the vehicle.

2. The vehicle control device according to claim 1, wherein: The control unit causes the abnormal-side rotating electric machine to perform a traction operation when the rotation speed is lower than a predetermined rotation speed, the required torque is equal to or greater than a predetermined torque, and the remaining capacity is equal to or greater than a predetermined remaining capacity. The control unit stops the abnormal-side rotating electric machine or makes the torque of the abnormal-side rotating electric machine zero when the rotation speed is lower than the predetermined rotation speed, the required torque is higher than the predetermined torque, and the remaining capacity is lower than the predetermined remaining capacity.

3. The vehicle control device according to claim 1, wherein: the control unit stops the abnormal side rotating electric machine or makes the torque of the abnormal side rotating electric machine zero when the rotation speed is lower than a predetermined rotation speed, the required torque is lower than a predetermined torque, and the remaining capacity is equal to or greater than a predetermined remaining capacity, The control unit causes the abnormal-side rotating electric machine to perform a regenerative operation when the rotation speed is lower than the predetermined rotation speed, the required torque is lower than the predetermined torque, and the remaining capacity is lower than the predetermined remaining capacity.

4. The vehicle control device according to claim 1, wherein: The control unit causes the abnormal-side rotating electric machine to perform a traction operation when the rotation speed is lower than a predetermined rotation speed, the required torque is equal to or greater than a predetermined torque, and the remaining capacity is equal to or greater than a predetermined first remaining capacity. the control unit stops the abnormal side rotating electric machine or makes the torque of the abnormal side rotating electric machine zero when the rotation speed is lower than the specified rotation speed, the required torque is higher than the specified torque, and the remaining capacity is lower than the specified first remaining capacity and is higher than a specified second remaining capacity which is smaller than the specified first remaining capacity, the control unit stops the abnormal side rotating electric machine when the rotation speed is lower than the predetermined rotation speed, the required torque is higher than the predetermined torque, and the remaining capacity is lower than the predetermined second remaining capacity, the control unit stops the abnormal side rotating electric machine or makes the torque of the abnormal side rotating electric machine zero when the rotation speed is lower than the predetermined rotation speed, the required torque is lower than the predetermined torque, and the remaining capacity is equal to or larger than a predetermined third remaining capacity that is larger than the predetermined first remaining capacity, The control unit causes the abnormal-side rotating electric machine to perform a regenerative operation when the rotation speed is lower than the predetermined rotation speed, the required torque is lower than the predetermined torque, and the remaining capacity is lower than the predetermined third remaining capacity.

5. The vehicle control device according to claim 1, wherein: The control unit causes the abnormal-side rotating electric machine to perform a traction operation when the rotation speed is equal to or higher than a predetermined rotation speed, the required torque is equal to or higher than a predetermined torque, and the remaining capacity is equal to or higher than a predetermined remaining capacity. The control unit stops the abnormal-side rotating electric machine or makes the torque of the abnormal-side rotating electric machine zero when the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is equal to or higher than the predetermined torque, and the remaining capacity is smaller than the predetermined remaining capacity.

6. The vehicle control device according to claim 1, wherein: The control unit sets the torque of the abnormal-side rotating electric machine to zero when the rotation speed is equal to or higher than a predetermined rotation speed, the required torque is less than a predetermined torque, and the remaining capacity is equal to or higher than a predetermined remaining capacity, The control unit causes the abnormal-side rotating electric machine to perform a regenerative operation when the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is smaller than the predetermined torque, and the remaining capacity is smaller than the predetermined remaining capacity.

7. The vehicle control device according to claim 1, wherein: the control unit causes the abnormal-side rotating electric machine to perform a traction operation when the rotation speed is equal to or higher than a predetermined rotation speed, the required torque is equal to or higher than a predetermined torque, and the remaining capacity is equal to or higher than a predetermined first remaining capacity, the control unit sets the torque of the abnormal-side rotating electric machine to zero when the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is equal to or higher than the predetermined torque, and the remaining capacity is less than the predetermined first remaining capacity and equal to or higher than a predetermined second remaining capacity which is smaller than the predetermined first remaining capacity, the control unit stops the abnormal side rotating electrical machine or reduces the rotating speed of the rotating electrical machine to less than the prescribed speed when the rotating speed is greater than or equal to the prescribed speed, the required torque is greater than or equal to the prescribed torque, and the remaining capacity is less than the prescribed second remaining capacity, the control unit sets the torque of the abnormal-side rotating electric machine to zero when the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is lower than the predetermined torque, and the remaining capacity is equal to or higher than a predetermined third remaining capacity that is larger than the predetermined first remaining capacity, The control unit causes the abnormal-side rotating electric machine to perform a regenerative operation when the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is smaller than the predetermined torque, and the remaining capacity is smaller than the predetermined third remaining capacity.

8. The vehicle control device according to claim 4 or 7, wherein: When the remaining capacity is equal to or greater than the predetermined third remaining capacity, the power storage device is in an overcharged state. When the remaining capacity is smaller than the predetermined second remaining capacity, the power storage device is in an over-discharge state.

9. A vehicle control method, wherein a control unit for controlling a plurality of power units mounted on a vehicle executes the vehicle control method, wherein: The plurality of power units respectively include: A rotating electric machine that transmits and receives torque to and from the wheels; Power storage devices and fuel cells, which are power sources; and a power control unit that controls the transfer of power between the rotating electrical machine, the power storage device, and the fuel cell, The vehicle control method comprises the following steps: determining whether there is an abnormality in the fuel cell; as well as The operation of the rotating electric machine in the power unit having the abnormal fuel cell is controlled based on the remaining capacity of the power storage device in the power unit having the abnormal fuel cell, the rotation speed of the rotating electric machine, and the required torque of the vehicle.

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