Control device of moving body and program

Abstract

To be able to suppress comfortableness of an occupant from deteriorating while a moving body is standing-by at a stand-by place.SOLUTION: In an ECU 40, a reaching possibility / impossibility determining part 42 determines whether an own vehicle can reach a charging facility. When the it is determined that the own vehicle cannot reach the charging facility, a stand-by position setting part 43 sets a position closer to the own vehicle than the charging facility, as a stand-by position for the own vehicle. A stand-by time setting part 44 sets, as a stand-by time, a time required for the own vehicle to move to the stand-by position and wait for rescue. An energy consumption setting part 45 sets energy consumption that is required for the own vehicle to move to the stand-by position and for an auxiliary machine of the own vehicle to be driven in the stand-by time. An upper limit value calculating part 46 calculates an energy consumption upper limit value per a unit time in a period of time until the stand-by time elapses, on the basis of residual energy of a battery 10 and the energy consumption set by the energy consumption setting part 45.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a control device and a program for a moving object. [Background technology]

[0002] For example, in an electric vehicle having a driving motor, the driving motor is driven by power supplied from a battery to drive the vehicle. In addition, in an electric vehicle, when the battery runs out of energy to drive and the vehicle is unable to drive to an energy replenishment facility, the vehicle may wait for a rescue vehicle at a predetermined waiting location. For example, in the technology described in Patent Document 1, when it is determined that the vehicle is unable to drive to an energy replenishment facility, a location where the difference between the time when the auxiliary equipment becomes unusable and the time when the rescue vehicle arrives is minimized if the vehicle continues to use the auxiliary equipment is notified to the vehicle occupant as a recommended waiting location for the rescue vehicle. This minimizes the time when the auxiliary equipment becomes unusable, thereby suppressing a decrease in the comfort of the occupant. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-150045 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in the above Patent Document 1 is intended to minimize the time from when the auxiliary equipment becomes unavailable to when a rescue vehicle arrives, but since it does not assume the use of the auxiliary equipment after the vehicle has reached the waiting location, there is a concern that the comfort of the occupants of the vehicle may not be ensured after the vehicle has reached the waiting location. For example, there is a concern that the comfort of the occupants waiting in the vehicle may decrease in a low or high temperature environment.

[0005] The present invention has been made in consideration of the above-mentioned problems, and its object is to provide a control device and program for a mobile body that makes it possible to suppress a decrease in passenger comfort while waiting at the mobile body's waiting area. [Means for solving the problem]

[0006] In order to solve the above problems, the present disclosure provides: A control device applied to a moving body that can move by energy stored in an energy source, a determination unit that determines whether the moving object is capable of moving to an energy replenishment location; a waiting place setting unit that sets a position closer to the energy replenishment place as a waiting place for the moving body when it is determined that the moving body cannot move to the energy replenishment place; a standby time setting unit that sets a time required for the moving body to move to the standby place and to wait for rescue as a standby time; an energy consumption setting unit that sets an energy consumption required for moving the moving body to the waiting place and for driving an auxiliary device of the moving body during the waiting time; an upper limit value calculation unit that calculates an upper limit value of energy consumption per unit time within a period until the standby time has elapsed, based on the remaining energy of the energy source and the energy consumption amount set by the energy consumption amount setting unit; Equipped with.

[0007] According to the above configuration, when it is determined that the moving body cannot move to the energy replenishment location, the energy consumption required for moving the moving body to the waiting location and for driving the accessories of the moving body during the waiting time is set. In other words, the energy consumption is set in anticipation of the energy consumption after the moving body reaches the waiting location. Then, based on the energy consumption and the remaining energy of the energy source, the upper limit of energy consumption per unit time during the period until the waiting time has elapsed is calculated. In this case, it is possible to continuously drive the accessories while limiting the energy consumption during the period including after the moving body reaches the waiting location. As a result, it is possible to suppress a decrease in the comfort of the occupants while the moving body is waiting at the waiting location. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic configuration diagram of a vehicle system. [Diagram 2] FIG. 2 is a functional block diagram for explaining the functions of an ECU. [Diagram 3] FIG. 13 is a diagram for explaining energy allocation according to priority order. [Figure 4] 4 is a flowchart showing a processing procedure for energy limit control of a vehicle. [Diagram 5] 11 is a flowchart showing a process of determining an energy allocation amount for each function. [Figure 6] 5 is a time chart for explaining the energy limit control process in more detail; [Figure 7] 10 is a flowchart showing a process of energy limit control in another example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The vehicle system in this embodiment will be described below. In this embodiment, an electric vehicle (hereinafter, referred to as the subject vehicle) that runs on electric energy is assumed as the moving body, and the vehicle system installed in the subject vehicle will be described with reference to the drawings. Fig. 1 is a schematic configuration diagram of the vehicle system.

[0010] 1, the vehicle system includes a battery 10, a BMU 20 (Battery Management Unit) as a battery monitoring device that monitors the state of the battery 10, a motor 31 and auxiliary machinery 32 that can receive power from the battery 10, and an ECU 40 (Electronic Control Unit) that controls the operation of the motor 31 and auxiliary machinery 32. The battery 10 is a rechargeable storage battery (secondary battery), such as a lithium-ion storage battery. The battery 10 is capable of storing electric energy at a voltage of, for example, 100 V or more. The battery 10 corresponds to an energy source that stores electric energy.

[0011] The BMU 20 acquires the terminal voltage of the battery 10 and the current flowing through the battery 10, and appropriately calculates the state of charge (SOC) and state of health (SOH) of the battery 10 based on the information on the voltage, current, etc. The BMU 20 calculates the SOC of the battery 10 based on, for example, an open circuit voltage (OCV) of the battery 10 and an integrated value of the charge and discharge current in a powered state. The BMU 20 is capable of communicating with the ECU 40.

[0012] The motor 31 is provided as a drive source for the vehicle, and the vehicle runs when driven by the motor 31. The auxiliary devices 32 include an air conditioner 32a for heating and cooling the vehicle interior, and a plurality of other auxiliary devices 32b and 32c. The auxiliary devices 32b and 32c are a display audio, lamps, a wiper device, etc.

[0013] The motor 31 is an in-vehicle main engine, and is capable of transmitting power between the motor 31 and drive wheels (not shown). The motor 31 has a power running function and a regenerative power generation function. The motor 31 is provided with an inverter 31a having a plurality of switching elements, and the inverter 31a adjusts the current flowing through the multi-phase stator coil of the motor 31. The switching elements are semiconductor switching elements such as IGBTs and MOSFETs. The motor control device 31b performs switching control of the inverter 31a based on detection information such as the rotation angle and current of the motor 31 and a drive request from the ECU 40. This drives the motor 31 to run the vehicle. The inverter 31a and the motor control device 31b may be provided integrally with the motor 31, or may be provided separately.

[0014] Although details are omitted, the air conditioner 32a is provided with an air conditioning control device that controls cooling and heating in the vehicle cabin. Similarly, each of the other auxiliary devices 32b, 32c may be provided with a control device.

[0015] The ECU 40 is a vehicle control device that manages electric energy in the vehicle. The ECU 40 is capable of inputting and outputting information between the motor 31 and the auxiliary devices 32. The ECU 40 is configured with a microcomputer including a CPU, ROM, RAM, etc., and controls the energy supply to the motor 31 and the auxiliary devices 32 in the vehicle by executing a program stored in the ROM. In particular, the ECU 40 executes a process of setting an energy amount (e.g., an upper limit output power) that is an output upper limit of the battery 10 based on the remaining energy of the battery 10, a process of distributing electric energy to the motor 31 and the auxiliary devices 32, etc.

[0016] The ECU 40 receives input of information about the battery 10 from the BMU 20, as well as input of navigation information from a navigation device 51 that provides map information and information about various facilities. The ECU 40 is also capable of acquiring information from an external server 52 by wireless communication. The external server 52 is, for example, a device that transmits weather information such as temperature, humidity, rainfall, and snowfall, or a device provided in a road service or dealer that provides rescue for broken-down vehicles. When a breakdown or the like occurs in the vehicle, a rescue request is transmitted to the external server 52, and in response, the external server 52 returns information such as whether rescue is possible and the arrival time of the rescue.

[0017] Incidentally, when the remaining energy of the battery 10 decreases while the vehicle is traveling, it becomes impossible to travel to the next charging facility (energy refilling location), and the vehicle may have to wait at a waiting location to wait for rescue. In this case, for example, in a low or high temperature environment, there is a concern that the passengers waiting inside the vehicle may feel uncomfortable. In addition, if the auxiliary devices such as the display audio in the vehicle become unavailable, there is a concern that, for example, small children may get bored while waiting.

[0018] Therefore, in this embodiment, when it is determined that the vehicle cannot travel to the charging facility, a location closer than the charging facility is set as a waiting location for the vehicle, and the amount of energy consumption required for traveling the vehicle to the waiting location (driving the motor 31) and driving the auxiliary equipment during standby is calculated, and an upper limit of energy consumption per unit time within the period until the standby time has elapsed is calculated based on the amount of energy consumption and the remaining energy of the battery 10. This allows the auxiliary equipment to be used continuously during standby while waiting for rescue, and prevents a decrease in the comfort of the occupants. The energy restriction process when an energy shortage occurs in the vehicle is described in detail below.

[0019] Fig. 2 is a functional block diagram for explaining the control functions in the ECU 40. Fig. 2 shows functions in the ECU 40 related to energy management of the host vehicle.

[0020] The ECU 40 includes a remaining energy amount acquiring unit 41 , a reachability determining unit 42 , a waiting place setting unit 43 , a waiting time setting unit 44 , an energy consumption setting unit 45 , and an upper limit calculating unit 46 .

[0021] The remaining energy amount acquiring unit 41 acquires the SOC of the battery 10 from the BMU 20 as the remaining energy amount of the battery 10.

[0022] The reachability determination unit 42 determines whether the host vehicle can reach the nearest charging facility by driving from the host vehicle. Specifically, the reachability determination unit 42 searches for charging facilities around the host vehicle based on information from the navigation device 51, and calculates the distance to the nearest charging facility among the charging facilities around the host vehicle. Then, based on the SOC, which is the remaining energy of the battery 10, and the distance to the nearest charging facility, it determines whether the host vehicle can drive to the charging facility. In this case, if the SOC of the battery 10 is insufficient, it is determined that the host vehicle cannot drive to the charging facility.

[0023] The reachability determination unit 42 may be configured to calculate the amount of electric energy required for traveling from the vehicle to the nearest charging facility, and determine whether the vehicle can travel to the charging facility based on the amount of electric energy and the SOC of the battery 10. In this case, the amount of electric energy required for traveling to the charging facility may be calculated by combining not only the amount of energy required for driving the motor 31, but also the amount of energy required for driving the electric loads (air conditioners and auxiliary machines) that are currently in a driving state.

[0024] When it is determined that the host vehicle cannot travel to the charging facility, the waiting place setting unit 43 sets a position closer than the charging facility as a waiting place for the host vehicle. Specifically, the waiting place setting unit 43 acquires rescue information from the external server 52, and sets a waiting place where the host vehicle will wait based on the rescue information.

[0025] The waiting time setting unit 44 sets the time required for the vehicle to travel to the waiting place and wait for rescue as the waiting time. Specifically, the waiting time setting unit 44 acquires rescue information from the external server 52, and sets the waiting time until rescue arrives based on the rescue information. The waiting time is the sum of the time until the vehicle reaches the waiting place (travel time) and the time to wait for rescue at the waiting place.

[0026] The energy consumption setting unit 45 sets the energy consumption required for driving the vehicle to the waiting place set by the waiting place setting unit 43 and for driving the auxiliary machines of the vehicle during the waiting time set by the waiting time setting unit 44. For example, the energy consumption setting unit 45 sets the energy consumption required for continuously driving the motor 31 for driving the vehicle and the auxiliary machines 32 currently being driven during the period from the current time until the waiting time has elapsed. That is, the energy consumption setting unit 45 sets the amount of energy consumed during the waiting time according to the vehicle functions that require power supply. It is to be noted that, with regard to the air conditioning equipment 32a, the energy consumption may include the driving energy thereof regardless of whether it is currently driven or not.

[0027] The energy consumption setting unit 45 may acquire information on a route to a waiting location from the navigation device 51, and set the energy consumption required for driving the motor to travel the vehicle based on the route information. The route information includes, for example, the vehicle speed, traffic congestion information, and road gradient information.

[0028] In this embodiment, the energy consumption setting unit 45 sets the energy consumption and priority order individually for each function including the driving of the vehicle to the waiting place and the driving of each auxiliary device until rescue. For example, as shown in FIG. 3, functions to be supplied with power are selected, and the energy consumption is set individually for each function and a priority order is assigned. In FIG. 3, as an example, the air conditioning function is assigned priority order 1 (highest priority), followed by the motor drive priority order 2, auxiliary device function 1 priority order 3, auxiliary device function 2 priority order 4, etc. In addition, the energy consumption X is determined for each of these functions. For example, auxiliary device function 1 is the display audio function, and auxiliary device function 2 is the lamp function.

[0029] It is preferable that the air conditioning device 32a among the auxiliary machines 32 is set to the highest priority, but it is also possible to determine the priority of the air conditioning function depending on whether the air conditioning function is being used at the time when it is determined that the vehicle cannot reach the charging facility. Also, it is possible to determine the priority of the air conditioning function depending on the outside temperature, humidity, and weather.

[0030] The energy consumption X of each function may be set based on the distance to the waiting place and the waiting time. In this case, the longer the distance to the waiting time, the larger the calculated energy consumption X. Also, the longer the waiting time, the larger the calculated energy consumption X. However, since the motor drive function is not necessary after arriving at the waiting place, the energy consumption X of the motor drive function may be set based only on the distance to the waiting place among the distance to the waiting place and the waiting time. The energy consumption X required for the motor drive function for moving the host vehicle is set as the total amount of energy required until the host vehicle reaches the waiting place, and the energy consumption X required for driving the auxiliary machinery 32 including the air conditioning function is set as the total amount of energy required for the combined period until the host vehicle reaches the waiting place and the period of waiting for rescue at the waiting place.

[0031] The upper limit calculation unit 46 calculates the energy consumption upper limit Z per unit time within the period until the standby time has elapsed based on the SOC (energy remaining amount) of the battery 10 and the energy consumption amount set by the energy consumption amount setting unit 45. In detail, the upper limit calculation unit 46 allocates the energy remaining amount of the battery 10 based on the energy consumption amount X of each function set by the energy consumption amount setting unit 45 and the priority order, and calculates the energy allocation amount Y for each function. Then, the energy consumption upper limit Z is calculated for each function by dividing the energy allocation amount Y of each function by the standby time. The energy consumption upper limit Z is the maximum amount of energy available per unit time. For example, the energy consumption upper limit Z can be corrected by travel route information such as the legal speed limit of the road, traffic congestion information, and road gradient information. For the motor drive function for moving the vehicle, the energy consumption upper limit Z may be calculated by dividing the energy allocation amount Y of the motor drive function by the moving time of the vehicle during the standby time.

[0032] Specifically, it is possible to allocate the remaining energy of the battery 10 to each function as shown in Fig. 3. In Fig. 3, the magnitude of the energy is shown by a number, which indicates the degree of the energy amount, for example, a value corresponding to the SOC. Also, the remaining energy of the battery 10 is the allocatable energy amount E, which is specifically set to "20".

[0033] In Figure 3, Energy consumption X of the air conditioning function with priority 1 is set to "5", Energy consumption X of the motor drive function with priority 2 is set to "10", Energy consumption X of auxiliary function 1 with priority 3 is set to "3", The energy consumption X of the auxiliary function 2 with the fourth priority is set to "3". The energy consumption X of each of these functions may be set variably according to the distance to the waiting location and the waiting time. The energy consumption X of each function may be set as an amount of energy with a more limited energy consumption than in normal times (i.e., when it is not determined that the charging facility cannot be reached) in order to suppress energy depletion during waiting. For example, the energy consumption X of the air conditioning function may be set based on environmental conditions such as the outside temperature, humidity, and weather.

[0034] In this case, for the air conditioning function with priority 1, the result of subtracting the energy consumption X from the allocatable energy amount E is "EX>0", so energy allocation is possible, and the energy allocation amount Y of the air conditioning function is "5", that is, the same value as the energy consumption X. Similarly, for the motor drive function and auxiliary function 1 with priority 2 and 3, the result is "EX>0", so energy allocation is possible, and the energy allocation amount Y is "10" and "3", respectively, that is, the same value as the energy consumption X. In contrast, for the auxiliary function 2 with priority 4, the result is "EX<0", so energy allocation is not possible, and the energy allocation amount Y is "0". The same applies to priority 4 and onwards. In the example of FIG. 3, the energy allocation amount Y is calculated to be other than 0 for each function with priority 1 to 3, and the upper limit value Z of energy consumption per unit time is calculated based on the energy allocation amount Y.

[0035] The energy consumption upper limit value Z calculated by the upper limit value calculation unit 46 is transmitted to the motor 31, the air conditioner 32a, and each auxiliary device 32b. As a result, while the vehicle travels to the waiting place and waits at the waiting place, the motor 31 and the auxiliary devices 32 are continuously driven while the consumption of electric energy of the battery 10 is limited.

[0036] Each function shown in Fig. 2 may be realized by the processing of the following flowchart executed by the ECU 40. Fig. 4 is a flowchart showing the processing procedure of the energy limit control of the vehicle. This processing is repeatedly executed by the ECU 40 at a predetermined cycle.

[0037] 4, in step S11, the current remaining energy amount of the battery 10 is acquired. Specifically, the ECU 40 acquires the SOC of the battery 10 from the BMU 20. After that, in step S12, the ECU 40 searches for the nearest charging facility from the vehicle based on the map information of the navigation device 51, and calculates the distance to the charging facility.

[0038] In step S13, it is determined whether or not the host vehicle can reach the closest charging facility among the charging facilities around the host vehicle, based on the SOC acquired in step S11 and the distance to the charging facility calculated in step S12. If it is determined that the host vehicle can reach the charging facility, this process is temporarily terminated, and if it is determined that the host vehicle cannot reach the charging facility, the process proceeds to step S14.

[0039] In step S14, the driver of the vehicle is notified that the vehicle should wait for rescue due to insufficient energy in the battery 10. The notification may be made by a display or a voice message in the vehicle cabin.

[0040] Then, in step S15, a rescue request is transmitted to the external server 52, and in the following step S16, it is determined whether or not rescue information has been received from the external server 52 after the rescue request has been transmitted. In this case, if rescue information has not been received from the external server 52, the process proceeds to step S17, where it is determined whether or not a predetermined time has elapsed since the rescue request. The predetermined time may be, for example, a few minutes (approximately 1 to 3 minutes).

[0041] Then, if rescue information is received from the external server 52 before a predetermined time has elapsed since the rescue request, the process proceeds to step S18. In step S18, a waiting location where the vehicle will wait is set based on the rescue information from the external server 52. In this case, if a recommended waiting location is specified as the rescue information, the ECU 40 sets that location as the waiting location. If multiple recommended waiting locations are specified as the rescue information, the ECU 40 may select a waiting location from among the multiple recommended waiting locations according to traffic conditions, the wishes of the occupants, and the like.

[0042] In addition, the rescue request sent in step S15 may include the desired waiting location desired by the ECU 40 (the vehicle's side), and the rescue information received from the external server 52 may include a response as to whether or not it is okay to set the desired waiting location as the waiting location.

[0043] Thereafter, in step S19, the waiting time is set to the time required for the vehicle to travel to the waiting location and wait for rescue based on the rescue information from the external server 52. In this case, if the rescue information from the external server 52 includes a rescue arrival time, the waiting time is set based on the rescue arrival time. In other words, the waiting time is set to the time from the current time to the rescue arrival time. Alternatively, the ECU 40 can set the waiting time based on the waiting location and the current position included in the rescue information.

[0044] When the waiting location and waiting time are set, the information may be notified to the occupants by display on a display inside the vehicle or by voice.

[0045] Then, in step S20, an energy allocation amount Y is determined for each function to be executed during the period from the current time until the standby time has elapsed. At this time, an energy consumption amount X required for driving the motor 31 for vehicle travel and for driving the auxiliary machinery 32 to be used during rescue waiting is set, and an energy allocation amount Y for each function to be supplied with power is determined based on the energy consumption amount X and the remaining energy amount of the battery 10. Step S20 will be described in detail later.

[0046] Then, in step S21, an upper limit energy consumption Z per unit time is calculated for each function based on the energy allocation Y for each function. At this time, the upper limit energy consumption Z for each function is calculated by dividing the energy allocation Y for each function by the standby time. In addition, in step S22, the upper limit energy consumption Z for each function is output to the motor 31 and the auxiliary machines 32.

[0047] Furthermore, if a predetermined time has elapsed without receiving rescue information from the external server 52 after the rescue request was sent (if step S16 is NO and step S17 is YES), the process proceeds to step S23. In step S23, a waiting location where the vehicle will wait is set using map information from the navigation device 51. In this case, for example, the ECU 40 may specify a waiting location around the vehicle and guide the vehicle to the waiting location by displaying the display or by voice. Alternatively, a plurality of candidate waiting locations within a predetermined distance from the vehicle may be displayed on the display, and the occupant may select a waiting location from among the plurality of candidate locations.

[0048] Thereafter, in step S24, the time required for the vehicle to travel to the waiting location and wait for rescue is set as the waiting time. In this case, since the time when rescue will arrive is unknown, a predetermined time is preferably set as the waiting time. It is also possible to set the waiting time based on the distance between the waiting location set in step S23 and the location of the rescue supporter. For example, if the rescue supporter is assumed to be an employee of a dealer or road service, the waiting time is preferably set based on the distance between the waiting location and the dealer or road service.

[0049] After the standby location and standby time are set, the process proceeds to step S20. In steps S20 to S22, as described above, an energy allocation amount Y is determined for each function to be executed during the period from the current time until the standby time has elapsed. In addition, based on the energy allocation amount Y for each function, an upper limit energy consumption value Z per unit time is calculated for each function, and the upper limit energy consumption value Z is output to the motor 31 and the auxiliary machines 32. As a result, power is supplied to the motor 31 and each auxiliary machine within a range not exceeding the upper limit energy consumption value Z, and the motor 31 and each auxiliary machine are driven.

[0050] 5 is a flowchart showing a process for determining the energy allocation amount for each function. This process is executed in step S20 in FIG.

[0051] In FIG. 5, in step S31, N functions to be supplied with power are selected, and an energy consumption X and a priority level are set for each selected function. The energy consumption X of each function is set as an amount of energy that is more restricted than that in normal times (i.e., when it is not determined that the charging facility cannot be reached). At this time, the degree of energy restriction on the energy consumption X may be made different between a case where the standby time is set based on rescue information received from the external server 52 and a case where the standby time is set to a predetermined time without receiving rescue information from the external server 52. That is, the degree of energy restriction may be made different between a case where the standby time is set in step S19 in FIG. 4 and a case where the standby time is set in step S24. Specifically, the degree of energy restriction on the energy consumption X when rescue information is not received may be made larger than that when rescue information is received.

[0052] In step S32, the energy allocation amounts Y of the functions selected in step S31 are all set to 0. In step S33, m indicating the priority is set to 1, and the allocatable energy amount E is set to the remaining energy level (SOC) of the battery 10 at the current time.

[0053] Then, in step S34, the energy consumption X(m) for the function with priority level m is obtained, and in the following step S35, the value "EX(m)" obtained by subtracting the energy consumption X(m) from the allocatable energy amount E is set as the remaining allocatable energy amount E.

[0054] In step S36, it is determined whether the allocable energy amount E calculated in step S35 is greater than 0. This determination process is for determining whether the energy consumption amount X required for each function up to the priority level m can be allocated, and if the result in step S35 is negative, the process proceeds to step S37, and if the result is positive, the process proceeds to step S38.

[0055] In step S37, the amount of allocatable energy E remaining at that time is set as the energy consumption amount X(m) of the function with the priority level m, and then the process proceeds to step S40.

[0056] On the other hand, in step S38, it is determined whether m = N. That is, it is determined whether the energy distribution for all N functions selected in step S31 is completed. If m < N, the process proceeds to step S39, and if m = N, the process proceeds to step S40. In step S39, m is incremented by 1, and then the process returns to step S34. Then, the processes after step S34 are executed again. After that, m is incremented by 1 one by one until it is determined in step S36 that the allocable energy amount E is 0 or less, or it is determined in step S38 that m = N, and the energy consumption X(m) of each of the m functions is calculated in order.

[0057] In step S40, based on the energy consumption X(m) of each function calculated in step S35, the energy allocation amount Y is determined for each function. At this time, the energy consumption X is calculated as the energy allocation amount Y for each of the m functions.

[0058] Here, when the process proceeds to step S40 via step S37 after step S36 is denied, energy distribution is performed for the functions from the highest priority to priority m among all N functions selected in step S31. However, when step S36 is denied, only a part of the energy consumption X(m) of the function with priority m can be allocated. Therefore, it is also possible not to perform energy distribution for the function with priority m when step S36 is denied. In this case, energy distribution is performed for the functions from the highest priority to priority m - 1 among all N functions.

[0059] Also, when the process proceeds to step S40 after step S38 is denied, energy distribution is performed for all N functions selected in step S31.

[0060] FIG. 6 is a time chart for explaining the process of the energy restriction control of the vehicle in more detail. In FIG. 6, timing t1 is the timing when it is determined that the host vehicle cannot reach the nearest charging facility, timing t2 is the timing when the host vehicle arrives at the waiting place, and timing t3 is the timing when rescue arrives at the waiting place. The time from timing t1 to t3 corresponds to the waiting time. Also, in FIG. 6, four functions, namely, a motor drive function, an air conditioning function, and two auxiliary functions, are illustrated as examples of the functions of the host vehicle, and the energy consumption upper limit values ​​Z of these functions are Z1, Z2, Z3, and Z4, respectively.

[0061] 6, before timing t1, the remaining energy of the battery 10 is greater than the energy required for the host vehicle to reach the nearest charging facility, and therefore it is determined that the host vehicle can reach the nearest charging facility.

[0062] In contrast, at timing t1, as the remaining energy decreases, it is determined that the host vehicle cannot reach the nearest charging facility. At timing t1, a waiting place is set at a position closer than the charging facility, and the time required to wait for rescue is set as the waiting time. At this time, if rescue information is received from the external server 52 after the host vehicle transmits a rescue request, the waiting place and waiting time are set based on the rescue information. If rescue information is not received, the waiting place and waiting time determined by the host vehicle are set.

[0063] At timing t1, functions to be implemented in the vehicle are extracted based on the remaining energy of the battery 10 at that time and the priority of each function. Then, an upper energy consumption limit Z is set for each function based on the energy allocation of each function.

[0064] In Fig. 6, after timing t1, among the four functions shown (motor drive function, air conditioning function, and two auxiliary functions), energy is allocated to each of these three functions so that the motor drive function, the air conditioning function, and one auxiliary function can be continuously driven, and energy consumption upper limit values ​​Z1 to Z3 are set according to the energy allocation amount of each function. Note that no energy is allocated to one of the four functions shown (auxiliary 2 in the figure), and the energy consumption upper limit value Z4 is set to 0.

[0065] After that, at time t2, the vehicle reaches the waiting location. After time t2, among the four functions shown in the figure, energy is allocated to each of the air conditioning function and one auxiliary function so that these functions can be continuously driven, and the energy consumption upper limits Z2 and Z3 are set according to the energy allocation amount of each function. This allows the desired auxiliary function to be continuously used until time t3 when rescue arrives at the waiting location.

[0066] The energy consumption upper limit values ​​Z2 and Z3 may remain set even after the timing t3. This allows the auxiliary device to continue to be driven even if rescue does not arrive at the scheduled arrival time as long as there is battery energy remaining. After the timing t3, only the air conditioning function may be enabled.

[0067] According to the present embodiment described above in detail, the following excellent effects can be obtained.

[0068] When it is determined that the host vehicle cannot move to the charging facility, an energy consumption amount X required for moving the host vehicle to the waiting location and for driving the auxiliary equipment of the host vehicle during the waiting time is set. That is, the energy consumption amount X is set in anticipation of the energy consumption amount after the host vehicle reaches the waiting location. Then, based on the energy consumption amount X and the remaining energy amount of the battery 10, an upper limit value Z of energy consumption per unit time during the period until the waiting time has elapsed is calculated. In this case, it is possible to continuously drive the auxiliary equipment while limiting the energy consumption during the period including after the host vehicle reaches the waiting location. As a result, it is possible to suppress a decrease in the comfort of the occupants while the host vehicle is waiting at the waiting location.

[0069] When it is determined that the vehicle cannot move to the charging facility, the energy consumption amount X and the priority order are set individually for each function including the driving of the vehicle to the waiting place and the driving of each auxiliary device until rescue, and the remaining energy of the battery 10 is allocated based on the energy consumption amount X and the priority order of each function, and the energy consumption upper limit value Z is calculated for each function. This makes it possible to perform appropriate energy management according to the priority order of power supply while the vehicle is waiting.

[0070] While the vehicle is waiting, the air conditioner 32a is given top priority and the auxiliary devices are driven, which makes it possible to prevent the passengers waiting in the vehicle from becoming unwell in a low or high temperature environment.

[0071] When it is determined that the vehicle cannot travel to the charging facility, a rescue request is transmitted to the external server 52, and then the standby time is set based on the rescue information received from the external server 52. In this case, since the time when rescue will arrive can be known, the standby time can be set correctly, and the energy consumption of the battery 10 can be appropriately used without excessively restricting it.

[0072] When it is determined that the vehicle cannot reach the charging facility, the energy consumption amount X is set while restricting the energy for the movement of the vehicle and the drive of the auxiliary machines, and further, when rescue information is not received from the external server 52, the degree of the energy restriction is set to be larger than when rescue information is received from the external server 52. This makes it possible to prevent the drive of the auxiliary machines from being unintentionally interrupted even when rescue information cannot be received from the external server 52 and therefore the arrival time of rescue cannot be correctly ascertained, which may result in a long time until rescue arrives.

[0073] (Other embodiments) The above embodiment may be modified, for example, as follows.

[0074] As the process of energy limit control, the ECU 40 may execute the process of Fig. 7. In Fig. 7, in step S51, it is determined whether or not the inaccessible flag is 0. The inaccessible flag is a flag that is set to 1 when it is determined that the host vehicle cannot reach the charging facility, and being 0 means that it has not been determined that the host vehicle cannot reach the charging facility before the current time. If the inaccessible flag is 0, the process proceeds to step S52, and if the inaccessible flag is 1, the process proceeds to step S56.

[0075] In step S52, it is determined whether or not the vehicle can reach the charging facility. The process of step S52 may be the same as steps S11 to S13 in Fig. 4. If the result of step S52 is affirmative, the process proceeds to step S53.

[0076] In step S53, the reachability flag is set to 1. In step S54, the current remaining energy amount (SOC of battery 10) is allocated based on the energy consumption X and priority of each function executed during standby (the period from when it is determined that the charging facility cannot be reached to the end of the standby time), and an energy consumption upper limit value Z is calculated for each function. This process may be the same as steps S20 and S21 in FIG. 4. Thereafter, in step S55, the energy consumption upper limit value Z of each function is output to the motor 31 and the auxiliary machines 32.

[0077] In step S56, it is determined whether or not the host vehicle has reached a waiting location. If step S56 is positive, the process proceeds to step S57, where it is determined whether or not to add a function to be executed in the host vehicle from the current time point onward based on the remaining energy amount at the current time point, i.e., the remaining energy amount at the time point when the host vehicle has reached the waiting location. If step S57 is positive, the process proceeds to step S58, where a function to be executed in the host vehicle from the current time point onward is added. In this case, it is permitted to increase the number of accessories to be supplied with energy compared to the functions set when it was determined that the host vehicle could not move to the charging facility.

[0078] In short, after it is determined that the vehicle cannot reach the charging facility, energy is limited by the energy consumption upper limit value Z, and in some cases, it is considered that the remaining energy amount is greater than initially expected when the vehicle reaches the waiting place. Also, when the vehicle reaches the waiting place, the motor drive is stopped, and the energy consumption is reduced accordingly. In view of this, it is possible to add an auxiliary function to be executed by the vehicle when the vehicle reaches the waiting place. In steps S57 and S58, it is determined whether the remaining energy amount is greater than initially expected based on the current remaining energy amount and the energy consumption X of each function to be executed from the current time point, and if there is a remaining energy amount, a function is added (an auxiliary to which energy is supplied is added).

[0079] Then, in step S59, the current remaining energy amount is allocated again based on the energy consumption X and priority order of each function executed during standby (the period from arrival at the standby location to the end of the standby time), and the energy consumption upper limit value Z is calculated for each function. Then, in step S55, the energy consumption upper limit value Z of each function is output to the auxiliary machinery 32. Note that the processes of steps S57 and S58 may be omitted.

[0080] When it is determined that the vehicle cannot reach the charging facility and energy is limited by the energy consumption upper limit value Z for each function, the battery energy is consumed below the consumption upper limit value, so that it is considered that the remaining energy amount may be greater than initially expected when the vehicle arrives at the waiting location. In consideration of this, when it is determined that the vehicle cannot reach the charging facility and when the vehicle reaches the waiting location, the remaining energy amount at each time point is allocated based on the energy consumption amount X and priority of each function, and the energy consumption upper limit value Z is calculated for each function. As a result, when the energy consumption from when it is determined that the vehicle cannot reach the charging facility to when the vehicle arrives at the waiting location is less than expected, excessive restriction on the use of the auxiliary equipment at the waiting location is suppressed, and comfort during the period waiting for rescue can be improved.

[0081] If the energy consumption from when it is determined that the vehicle cannot reach the charging facility until the vehicle arrives at the waiting location is less than expected, there will be more energy remaining at the waiting location than initially expected. In this regard, when the vehicle reaches the waiting location, the number of auxiliary units to which energy is supplied is allowed to be increased from the number of auxiliary units to which energy was supplied when it was determined that the vehicle cannot move to the charging facility. This improves comfort during the period of waiting for rescue.

[0082] When a destination is set in the vehicle by the navigation device 51 or the like, the nearest charging facility may be searched for on the driving route to the destination or at a position close to the driving route. Also, the waiting location of the vehicle may be set to the destination or on the driving route to the searched charging facility or at a position close to the driving route.

[0083] The vehicle as a moving body may be other than an electric vehicle, for example, a hybrid vehicle having an internal combustion engine and a motor as a power source for running, or an engine vehicle having an internal combustion engine as a power source for running. In a hybrid vehicle, the electric energy stored in the battery and the fuel in the fuel tank correspond to the "energy stored in the energy source", and in an engine vehicle, the fuel in the fuel tank corresponds to the "energy stored in the energy source".

[0084] The moving object may be something other than a vehicle, such as a ship or an aircraft. In the case of a ship or an aircraft, if it is determined that the moving object cannot move to the energy replenishment location, a waiting location and waiting time may be set, and the energy consumption amount and the upper limit of energy consumption may be calculated appropriately for each function.

[0085] The technical ideas extracted from the above-described embodiments will be described below. [Configuration 1] A control device (40) applied to a moving body that can move by energy stored in an energy source (10), comprising: a determination unit that determines whether the moving object is capable of moving to an energy replenishment location; a waiting place setting unit that sets a position closer to the energy replenishment place as a waiting place for the moving body when it is determined that the moving body cannot move to the energy replenishment place; a standby time setting unit that sets a time required for the moving body to move to the standby place and to wait for rescue as a standby time; an energy consumption setting unit that sets an energy consumption required for moving the moving body to the waiting place and for driving an auxiliary device of the moving body during the waiting time; an upper limit value calculation unit that calculates an upper limit value of energy consumption per unit time within a period until the standby time has elapsed, based on the remaining energy of the energy source and the energy consumption amount set by the energy consumption amount setting unit; A control device for a moving object comprising: [Configuration 2] The moving body has a plurality of auxiliary machines as the auxiliary machines, the energy consumption setting unit sets the energy consumption and sets priorities for each function, including the movement of the moving body to the standby location and the drive of each auxiliary machine during the standby time; 2. The control device for a moving body according to claim 1, wherein the upper limit value calculation unit allocates the remaining energy of the energy source based on the energy consumption of each of the functions set by the energy consumption amount setting unit and the priority order, and calculates the energy consumption upper limit value for each of the functions. [Configuration 3] The mobile body has a plurality of devices including an air conditioner (32a) as the auxiliary devices, 3. The control device for a moving body according to configuration 2, wherein the energy consumption setting unit sets the priority order by giving the air conditioner the highest priority among the plurality of auxiliary machines. [Configuration 4] The upper limit calculation unit When it is determined that the moving body cannot move to the energy replenishment location, the remaining energy amount at the time of the determination is allocated based on the energy consumption amount of each of the functions set by the energy consumption amount setting unit and the priority order, and the energy consumption upper limit value is calculated for each of the functions. 4. The control device for a moving body according to configuration 2 or 3, wherein, when the moving body reaches the waiting location, the remaining energy amount at that time is reallocated based on the energy consumption of each of the functions set by the energy consumption setting unit and the priority order, and the energy consumption upper limit value is calculated for each of the functions. [Configuration 5] The control device for a moving body described in configuration 4, wherein the upper limit value calculation unit allows the number of auxiliary machines to which energy is supplied when the moving body reaches the waiting location to be increased beyond the number of auxiliary machines to which energy was supplied when it was determined that the moving body was not capable of moving to the energy replenishment location. [Configuration 6] a transmitter that transmits a rescue request to an external device (52) when it is determined that the moving body cannot move to the energy replenishment location, 6. The control device for a moving body according to any one of configurations 1 to 5, wherein the standby time setting unit sets the standby time based on rescue information received from the external device after the rescue request is transmitted. [Configuration 7] the standby time setting unit, when receiving the rescue information from the external device after transmitting the rescue request, sets the standby time based on the rescue information, and when not receiving the rescue information, sets a predetermined time as the standby time; The control device for a moving body described in configuration 6, wherein the energy consumption setting unit sets the energy consumption while imposing energy restrictions on the movement of the moving body and the drive of the auxiliary machinery when it is determined that the moving body cannot move to the energy replenishment location, and when the rescue information is not received, the degree of the energy restriction is increased compared to when the rescue information is received. [Explanation of symbols]

[0086] 10: battery, 40: ECU, 42: reachability determination unit, 43: waiting location setting unit, 44: waiting time setting unit, 45: energy consumption setting unit, 46: upper limit calculation unit.

Claims

1. A control device (40) applied to a moving body that can move using energy stored in an energy source (10), comprising: a determination unit that determines whether the moving object is capable of moving to an energy replenishment location; a waiting place setting unit that sets a position closer to the energy replenishment place as a waiting place for the moving body when it is determined that the moving body cannot move to the energy replenishment place; a standby time setting unit that sets a time required for the moving body to move to the standby place and to wait for rescue as a standby time; an energy consumption setting unit that sets an energy consumption required for moving the moving body to the waiting place and for driving an auxiliary device of the moving body during the waiting time; an upper limit value calculation unit that calculates an upper limit value of energy consumption per unit time within a period until the standby time has elapsed, based on the remaining energy of the energy source and the energy consumption amount set by the energy consumption amount setting unit; A control device for a moving object comprising:

2. The moving body has a plurality of auxiliary machines as the auxiliary machines, the energy consumption setting unit sets the energy consumption and sets priorities for each function, including the movement of the moving body to the standby location and the drive of each auxiliary machine during the standby time; 2. The control device for a mobile body according to claim 1, wherein the upper limit value calculation unit allocates the remaining energy of the energy source based on the energy consumption of each of the functions set by the energy consumption amount setting unit and the priority order, and calculates the energy consumption upper limit value for each of the functions.

3. The moving body has a plurality of devices including an air conditioning device (32a) as the auxiliary devices, The control device for a moving body according to claim 2 , wherein the energy consumption setting unit sets the priority order by giving the air conditioner the highest priority among the plurality of auxiliary machines.

4. The upper limit calculation unit When it is determined that the moving body cannot move to the energy replenishment location, the remaining energy amount at the time of the determination is allocated based on the energy consumption amount of each of the functions set by the energy consumption amount setting unit and the priority order, and the energy consumption upper limit value is calculated for each of the functions.

4. The control device for a mobile body according to claim 2 or 3, wherein, when the mobile body reaches the waiting location, the remaining energy amount at that time is reallocated based on the energy consumption of each of the functions and the priority order set by the energy consumption setting unit, and the energy consumption upper limit value is calculated for each of the functions.

5. The control device for a moving body as described in claim 4, wherein the upper limit value calculation unit allows the number of auxiliary machines to which energy is supplied when the moving body reaches the waiting location to be increased beyond the number of auxiliary machines to which energy was supplied when it was determined that the moving body was not capable of moving to the energy replenishment location.

6. a transmitter that transmits a rescue request to an external device (52) when it is determined that the moving body cannot move to the energy replenishment location; The control device for a moving body according to claim 1 , wherein the standby time setting unit sets the standby time based on rescue information received from the external device after the rescue request is transmitted.

7. the standby time setting unit, when receiving the rescue information from the external device after transmitting the rescue request, sets the standby time based on the rescue information, and when not receiving the rescue information, sets a predetermined time as the standby time; The control device for a mobile body as described in claim 6, wherein the energy consumption setting unit sets the energy consumption while imposing energy restrictions on the movement of the mobile body and the drive of the auxiliary machinery when it is determined that the mobile body is not able to move to the energy replenishment location, and when the rescue information is not received, the degree of the energy restriction is increased compared to when the rescue information is received.

8. A program applied to a mobile object capable of moving using energy stored in an energy source (10) and executed by a computer, a determination process for determining whether the moving object is capable of moving to an energy replenishment location; a standby location setting process for setting a location closer to the energy replenishment location as a standby location for the moving body when it is determined that the moving body cannot move to the energy replenishment location; a standby time setting process for setting a time required for the moving body to move to the standby place and wait for rescue as a standby time; an energy consumption setting process for setting an energy consumption required for moving the moving body to the waiting place and for driving an auxiliary device of the moving body during the waiting time; an upper limit value calculation process for calculating an upper limit value of energy consumption per unit time within a period until the waiting time has elapsed, based on the remaining energy of the energy source and the energy consumption amount set by the energy consumption amount setting process; A program that includes:

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