Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device capable of increasing a travelable distance during abnormality and of achieving security of desired travel safety.SOLUTION: A vehicle control device 10 includes: a plurality of power units 11 mounted on a vehicle 1; and a processing part 13 controlling power units 11. Each of the plurality of power units 11 is provided with: respective rotary electric machines 21a, 21b giving / receiving torque to / from driving wheels W; respective power storage devices 25a, 25b and respective fuel cells 23a, 23b to be power sources; and respective power control parts 27a, 27b. The processing part 13 controls operation of a rotary electric machine (21a or 21b) in an abnormal power unit 11 according to a residual capacity SOC of the power storage device (25a or 25b) in the abnormal power units 11, the number of rotations N of the rotary electric machine (21a or 21b), and a request torque TR of the vehicle 1 when abnormality occurs to any of the fuel cell systems.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] In recent years, efforts to realize a low-carbon or carbon-free society have been intensified, and research and development into electrification technology has been conducted in order to reduce CO2 emissions and improve energy efficiency in vehicles as well. Conventionally, there is known an electric vehicle in which, when the power generation device of one of two parallel drive systems fails, the distribution of torque requests to the motors in the two drive systems is set according to the amount of charge stored in the battery of the drive system that has failed (for example, see Patent Document 1). When the electric vehicle is driven, the target charge amount of the battery in the failed drive system is increased compared to normal operation, and the motor is regeneratively controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-144366 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, in the technology related to electrification, it is an issue to ensure the desired driving safety while maintaining the amount of electric power required for driving the vehicle and driving the auxiliary devices even when, for example, an abnormality occurs in the system. For example, in the electric vehicle of the above-mentioned conventional technology, when the output shafts of the motors of the two drive systems are connected, if the power supply to the motor is stopped to reduce the power consumption of the drive system on the faulty side, a back electromotive force may be generated due to the drag of the motor of the drive system on the normal side. For example, if an excessive back electromotive force is generated during high speed rotation of the motor on the normal side, an abnormality may occur in various electric devices.

[0005] The present invention aims to solve the above problems by increasing the distance that a vehicle can travel during an abnormality and by ensuring the desired driving safety, which in turn contributes to improving energy efficiency. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the above object, the present invention employs the following aspects. (1): A vehicle control device according to one aspect of the present invention (e.g., vehicle control device 10 in the embodiment) includes a plurality of power units (e.g., power unit 11 in the embodiment) mounted on a vehicle (e.g., fuel cell vehicle 1 in the embodiment) and a control unit (e.g., processing unit 13 in the embodiment) that controls the power units. Each of the plurality of power units includes a rotating electric machine (e.g., first rotating electric machine 21a, second rotating electric machine 21b in the embodiment) that transmits and receives torque between the vehicle and wheels (e.g., drive wheels W in the embodiment), a power storage device (e.g., first power storage device 25a, second power storage device 25b in the embodiment) and a fuel cell (e.g., first fuel cell 23a, second fuel cell 23b in the embodiment) that is a power source. b), and a power control unit (e.g., first power control unit 27a, second power control unit 27b in the embodiments) that controls the exchange of power between the rotating electric machine, the power storage device, and the fuel cell, and when an abnormality occurs in the fuel cell, the control unit controls the operation of the abnormal side rotating electric machine (e.g., first rotating electric machine 21a or second rotating electric machine 21b in the embodiments), which is the rotating electric machine in the power unit having the abnormal fuel cell, in accordance with the remaining capacity of the power storage device (e.g., remaining capacity SOC in the embodiments) and the rotation speed of the rotating electric machine (e.g., rotation speed N in the embodiments) in the power unit having the abnormal fuel cell, and the required torque of the vehicle (e.g., required torque TR in the embodiments).

[0007] (2): In the vehicle control device described in (1) above, the control unit may power the abnormal side rotating electric machine when the rotational speed is less than a predetermined rotational speed (e.g., a predetermined rotational speed Nt in an embodiment), the required torque is equal to or greater than a predetermined torque (e.g., a predetermined torque Tt in an embodiment), and the remaining capacity is equal to or greater than a predetermined remaining capacity (e.g., a predetermined second remaining capacity SOC2 in an embodiment), and may stop the abnormal side rotating electric machine or set the torque of the abnormal side rotating electric machine to zero when the rotational speed is less than the predetermined rotational speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity.

[0008] (3): In the vehicle control device described in (1) above, the control unit may stop the abnormal side rotating electric machine or set the torque of the abnormal side rotating electric machine to zero when the rotational speed is less than a predetermined rotational speed (e.g., a predetermined rotational speed Nt in an embodiment), the required torque is less than a predetermined torque (e.g., a predetermined torque Tt in an embodiment), and the remaining capacity is equal to or greater than a predetermined remaining capacity (e.g., a predetermined third remaining capacity SOC3 in an embodiment), and may perform regenerative operation of the abnormal side rotating electric machine when the rotational speed is less than the predetermined rotational speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity.

[0009] (4): In the vehicle control device described in (1) above, the control unit causes the abnormal side rotating electric machine to perform a power running operation when the rotation speed is less than a predetermined rotation speed (e.g., a predetermined rotation speed Nt in the embodiment), the required torque is equal to or greater than a predetermined torque (e.g., a predetermined torque Tt in the embodiment), and the remaining capacity is equal to or greater than a predetermined first remaining capacity (e.g., a predetermined second remaining capacity SOC2 in the embodiment), and stops the abnormal side rotating electric machine or performs a power running operation when the rotation speed is less than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined first remaining capacity and equal to or greater than a predetermined second remaining capacity (e.g., a predetermined first remaining capacity SOC1 in the embodiment) that is smaller than the predetermined first remaining capacity. and the torque of the abnormal side rotating electric machine is set to zero, and the abnormal side rotating electric machine is stopped if the rotation speed is less than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined second remaining capacity, and the abnormal side rotating electric machine is stopped or the torque of the abnormal side rotating electric machine is set to zero, and the abnormal side rotating electric machine is operated in a regenerative manner if the rotation speed is less than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined third remaining capacity (for example, a predetermined third remaining capacity SOC3 in an embodiment) that is greater than the predetermined first remaining capacity.

[0010] (5): In the vehicle control device described in (1) above, the control unit may power the abnormal side rotating electric machine when the rotational speed is equal to or greater than a predetermined rotational speed (e.g., a predetermined rotational speed Nt in an embodiment), the required torque is equal to or greater than a predetermined torque (e.g., a predetermined torque Tt in an embodiment), and the remaining capacity is equal to or greater than a predetermined remaining capacity (e.g., a predetermined second remaining capacity SOC2 in an embodiment), and may stop the abnormal side rotating electric machine or set the torque of the abnormal side rotating electric machine to zero when the rotational speed is equal to or greater than the predetermined rotational speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity.

[0011] (6): In the vehicle control device described in (1) above, the control unit may set the torque of the abnormal side rotating electric machine to zero when the rotation speed is equal to or greater than a predetermined rotation speed (e.g., a predetermined rotation speed Nt in the embodiment), the required torque is less than a predetermined torque (e.g., a predetermined torque Tt in the embodiment), and the remaining capacity is equal to or greater than a predetermined remaining capacity (e.g., a third predetermined remaining capacity SOC3 in the embodiment), and may cause the abnormal side rotating electric machine to perform a regenerative operation when the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity. When setting the torque to zero, control may be performed to set the output of the abnormal side rotating electric machine to zero, or this may be achieved by current control of the phase current of the rotating electric machine by a power control unit. In addition, driving (power running) and regeneration may be repeated instantaneously and in the short term, but the total power may be zero when viewed over a long period.

[0012] (7): In the vehicle control device described in (1) above, the control unit causes the abnormal side rotating electric machine to perform a power running operation when the rotation speed is equal to or higher than a predetermined rotation speed (e.g., a predetermined rotation speed Nt in the embodiment), the required torque is equal to or higher than a predetermined torque (e.g., a predetermined torque Tt in the embodiment), and the remaining capacity is equal to or higher than a predetermined first remaining capacity (e.g., a predetermined second remaining capacity SOC2 in the embodiment), and 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 (e.g., a predetermined first remaining capacity SOC1 in the embodiment), When the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined second remaining capacity, the abnormal side rotating electric machine may be stopped or the rotation speed of the rotating electric machine may be reduced to less than the predetermined rotation speed, and when the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is equal to or greater than a predetermined third remaining capacity (for example, a predetermined third remaining capacity SOC3 in an embodiment) that is greater than the predetermined first remaining capacity, the torque of the abnormal side rotating electric machine may be reduced to zero, and when the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined third remaining capacity, the abnormal side rotating electric machine may be operated in a regenerative manner.

[0013] (8): In the vehicle control device described in (4) or (7) above, when the remaining capacity is equal to or greater than the predetermined third remaining capacity, the storage device may be in an overcharged state, and when the remaining capacity is less than the predetermined second remaining capacity, the storage device may be in an overdischarged state.

[0014] (9): A vehicle control method according to one aspect of the present invention is a vehicle control method executed by a control unit (e.g., processing unit 13 in the embodiment) that controls a plurality of power units (e.g., power unit 11 in the embodiment) mounted on a vehicle (e.g., fuel cell vehicle 1 in the embodiment), in which each of the plurality of power units includes a rotating electric machine (e.g., first rotating electric machine 21a, second rotating electric machine 21b in the embodiment) that transmits and receives torque between the rotating electric machine and a wheel (e.g., drive wheel W in the embodiment), a power storage device (e.g., first power storage device 25a, second power storage device 25b in the embodiment) and a fuel cell (e.g., first fuel cell 23a, second fuel cell 23b in the embodiment) that is a power source, and a power storage device that stores the power of the rotating electric machine and the power storage device. The power unit includes a power control unit (e.g., first power control unit 27a, second power control unit 27b in the embodiments) that controls the power supply and reception of power to and from the fuel cell, and includes a step of determining whether or not there is an abnormality in the fuel cell (e.g., step S01 in the embodiments), and a step of controlling the operation of the rotating electric machine in the power unit having the abnormal fuel cell (e.g., steps S02 to S04 in the embodiments) in accordance with the remaining capacity of the power storage device in the power unit having the abnormal fuel cell (e.g., remaining capacity SOC in the embodiments) and the rotation speed of the rotating electric machine (e.g., rotation speed N in the embodiments), and the required torque of the vehicle (e.g., required torque TR in the embodiments). Effect of the Invention

[0015] According to the above (1), by providing a control unit that controls the operation of the abnormal rotating motor in accordance with the remaining capacity of the storage device and the rotation speed of the rotating motor in the power unit having an abnormal fuel cell, and the required torque of the vehicle, it is possible to increase the driving distance in the event of an abnormality while ensuring the desired driving safety.

[0016] In the above case of (2), if the remaining capacity is equal to or greater than a predetermined remaining capacity, the required torque equal to or greater than a predetermined torque can be ensured by the powering operation of the abnormal rotating electric machine. If the remaining capacity is less than the predetermined remaining capacity, the decrease in the remaining capacity can be suppressed by stopping the abnormal rotating electric machine or setting the torque to zero.

[0017] In the above case of (3), if the remaining capacity is equal to or greater than a predetermined remaining capacity, the decrease in remaining capacity can be suppressed by stopping the abnormal rotating electric machine or setting the torque to zero. If the remaining capacity is less than the predetermined remaining capacity, the remaining capacity can be increased by the regenerative operation of the abnormal rotating electric machine.

[0018] In the above case (4), a required torque equal to or greater than a predetermined torque can be ensured by the powering operation of the abnormal side rotating electric machine. A decrease in the remaining capacity can be suppressed by stopping the abnormal side rotating electric machine when the remaining capacity is less than the predetermined first remaining capacity. A slight decrease in the remaining capacity can be tolerated while suppressing the occurrence of a back electromotive voltage by setting the torque of the abnormal side rotating electric machine to zero when the remaining capacity is less than the predetermined first remaining capacity. A decrease in the remaining capacity can be suppressed while ensuring a required torque less than the predetermined torque by stopping or setting the torque of the abnormal side rotating electric machine to zero when the remaining capacity is equal to or greater than a predetermined third remaining capacity. A regenerative operation of the abnormal side rotating electric machine when the remaining capacity is less than the predetermined third remaining capacity can increase the remaining capacity while ensuring a required torque less than the predetermined torque.

[0019] In the above case of (5), if the remaining capacity is equal to or greater than a predetermined remaining capacity, the required torque equal to or greater than a predetermined torque can be ensured by the powering operation of the abnormal rotating electric machine. If the remaining capacity is less than the predetermined remaining capacity, the decrease in the remaining capacity can be suppressed by stopping the abnormal rotating electric machine or setting the torque to zero.

[0020] In the above case of (6), if the remaining capacity is equal to or greater than a predetermined remaining capacity, the occurrence of a back electromotive force can be suppressed by setting the torque of the abnormal rotating electric machine to zero. If the remaining capacity is less than the predetermined remaining capacity, the remaining capacity can be increased by the regenerative operation of the abnormal rotating electric machine.

[0021] In the above case (7), a required torque equal to or greater than a predetermined torque can be ensured by the powering operation of the abnormal side rotating electric machine. A decrease in the remaining capacity can be suppressed by stopping or restricting the rotation speed of the abnormal side rotating electric machine when the remaining capacity is less than the predetermined first remaining capacity. A slight decrease in the remaining capacity can be tolerated while suppressing the occurrence of a back electromotive voltage by setting the torque of the abnormal side rotating electric machine to zero when the remaining capacity is less than the predetermined first remaining capacity. A required torque less than a predetermined torque can be ensured while suppressing the occurrence of a back electromotive voltage by setting the torque of the abnormal side rotating electric machine to zero when the remaining capacity is equal to or greater than a predetermined third remaining capacity. A required torque less than a predetermined torque can be increased by the regenerative operation of the abnormal side rotating electric machine when the remaining capacity is less than the predetermined third remaining capacity.

[0022] In the above case (8), the required torque in the overcharged state can be ensured, and the decrease in remaining capacity in the overdischarged state can be suppressed.

[0023] According to the above (9), by controlling the operation of the abnormal rotating electric machine in accordance with the remaining capacity of the storage device and the rotation speed of the rotating electric machine in the power unit having the abnormal fuel cell and the required torque of the vehicle, it is possible to increase the driving distance in the event of an abnormality while ensuring the desired driving safety. [Brief description of the drawings]

[0024] [Figure 1] 1 is a configuration diagram of a fuel cell vehicle equipped with a vehicle control device according to an embodiment of the present invention. [Diagram 2] 3 is a flowchart showing an operation of the vehicle control device according to the embodiment of the present invention. [Diagram 3] 5 is a diagram showing a region setting of the remaining capacity of the power storage device by the vehicle control device according to the embodiment of the present invention. FIG. [Figure 4] 4 is a diagram showing range setting of the rotation speed of a rotating electric machine by the vehicle control device according to the embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control device and a vehicle control method according to an embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a configuration diagram of a fuel cell vehicle 1 equipped with a vehicle control device 10 according to an embodiment. As shown in FIG. 1, a vehicle control device 10 mounted on a fuel cell vehicle 1 includes, for example, a plurality of power units 11, a processing unit 13 that controls the plurality of power units 11, and a sensor 15.

[0026] The power units 11 are, for example, a first power unit 11a and a second power unit 11b. The power units 11 are directly connected to each other and are connected to drive wheels W via a differential mechanism D, for example. The multiple power units 11 have, for example, the same configuration as each other. The first power unit 11a includes, for example, a first rotating electrical machine 21a, a first fuel cell 23a, a first power storage device 25a, and a first power control unit 27a. The second power unit 11b includes, for example, a second rotating electric machine 21b, a second fuel cell 23b, a second power storage device 25b, and a second power control unit 27b.

[0027] Each of the rotating electric machines 21a, 21b is, for example, a three-phase brushless DC motor. Each of the rotating electric machines 21a, 21b transmits and receives torque to and from the driving wheels W via, for example, a differential mechanism D. Each of the rotating electric machines 21a, 21b is connected to each of the power control units 27a, 27b. Each of the fuel cells 23a, 23b is, for example, a polymer electrolyte fuel cell or a solid oxide fuel cell that is a power source for the fuel cell vehicle 1. Each of the fuel cells 23a, 23b constitutes a fuel cell system together with, for example, fuel and oxidant supply units, exhaust and wastewater discharge units, various sensors, etc. Each of the fuel cells 23a, 23b is connected, for example, to each of the power storage devices 25a, 25b and each of the power control units 27a, 27b. Each of the power storage devices 25a, 25b is, for example, a high-voltage battery that is a power source for the fuel cell vehicle 1. Each of the power storage devices 25a, 25b is connected, for example, to each of the fuel cells 23a, 23b and each of the power control units 27a, 27b. Each of the power storage devices 25a, 25b is charged, for example, by each of the fuel cells 23a, 23b, and exchanges electric power with each of the rotating electric machines 21a, 21b via each of the power control units 27a, 27b.

[0028] Each of the power control units 27a, 27b includes a power conversion module formed of, for example, a plurality of switching elements, rectifying elements, etc. Each of the power control units 27a, 27b controls the exchange of power between each of the power storage devices 25a, 25b or each of the fuel cells 23a, 23b and each of the rotating electric machines 21a, 21b by, for example, bidirectional power conversion between DC power and AC power.

[0029] The processing unit 13 is a software function unit that functions by a processor such as a CPU (Central Processing Unit) executing a predetermined program. The software function unit is an ECU that includes a processor such as a CPU, a ROM (Read Only Memory) that stores programs, a RAM (Random Access Memory) that temporarily stores data, and electronic circuits such as a timer. At least a part of the processing unit 13 may be an integrated circuit such as an LSI (Large Scale Integration).

[0030] For example, the processing unit 13 acquires detection value signals output from various sensors 15. The various sensors 15 include, for example, an operation amount sensor that detects whether or not an accelerator operator and a brake operator are operated by the driver of the fuel cell vehicle 1 and the amount of operation thereof, current sensors, voltage sensors, and temperature sensors in each of the rotating electric machines 21a, 21b and each of the power storage devices 25a, 25b, a rotation angle sensor in each of the rotating electric machines 21a, 21b, a pressure sensor and a flow rate sensor in each of the fuel cell systems, and the like. The processing unit 13 controls each of the first power unit 11a and the second power unit 11b, for example, based on detection value signals output from various sensors 15. For example, when an abnormality occurs in the fuel cell system of any of the power units 11, the processing unit 13 controls the operation of each of the rotating electric machines 21a, 21b of each power unit 11 according to the remaining capacity of the power storage device (25a or 25b) and the rotation speed of the rotating electric machine (21a or 21b) in the abnormal power unit 11, and the required torque of the fuel cell vehicle 1.

[0031] An example of the operation of the vehicle control device 10 in the embodiment, that is, a vehicle control method, will be described below. FIG. 2 is a flowchart showing the operation of the vehicle control device 10 in the embodiment. As shown in FIG. 2, first, the processing unit 13 determines whether or not there is an abnormality in the fuel cell system of any of the power units 11 (step S01). If the result of this determination is "NO", the processing unit 13 advances the process to the end. On the other hand, if the result of this determination is "YES", the processing unit 13 advances the process to step S02.

[0032] Next, the processing unit 13 acquires the remaining capacity SOC (State Of Charge) of the storage device (first storage device 25a or second storage device 25b) in the abnormal power unit 11 based on signals output from, for example, a current sensor, a voltage sensor, a temperature sensor, etc. of the sensor 15 (step S02). Next, the processing unit 13 acquires a required torque TR of the fuel cell vehicle 1 according to a request from the driver or a predetermined control, for example, based on a signal output from an operation amount sensor of the sensor 15. The processing unit 13 acquires a 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, for example, based on a signal output from a rotation angle sensor of the sensor 15 (step S03).

[0033] Next, the processing unit 13 controls the operation of each of the rotating electrical machines 21a, 21b of each of the power units 11, for example, in accordance with 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 advances the process to the end. The processing unit 13 instructs the rotating electric machine (the first rotating electric machine 21a or the second rotating electric machine 21b) of the abnormal power unit 11 to operate in a predetermined state, for example, as shown in Table 1 below.

[0034] [Table 1]

[0035] Fig. 3 is a diagram showing range setting of the remaining capacity SOC of each of the power storage devices 25a, 25b by the vehicle control device 10 of the embodiment. Fig. 4 is a diagram showing range setting of the rotation speed N of each of the rotating electric machines 21a, 21b by the vehicle control device 10 of the embodiment. As shown in FIG. 3, the processing unit 13 sets a first remaining capacity area SA, a second remaining capacity area SB, a third remaining capacity area SC and a fourth remaining capacity area SD, for example, based on a predetermined first remaining capacity SOC1, a predetermined second remaining capacity SOC2 and a predetermined third remaining capacity SOC3. The predetermined first remaining capacity SOC1 is, for example, a remaining capacity near zero. 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 an overdischarge state.

[0036] The predetermined second remaining capacity SOC2 is larger than the predetermined first remaining capacity SOC1, and is, for example, a threshold remaining capacity for determining whether each of the power storage devices 25a, 25b is in an overdischarged state. The second remaining capacity region SB is, for example, a region of low remaining capacity (low SOC) other than the first remaining capacity region SA that is equal to or larger than the predetermined first remaining capacity SOC1 and smaller than the predetermined second remaining capacity SOC2 in the overdischarged state. The predetermined third remaining capacity SOC3 is larger than the predetermined second remaining capacity SOC2, and is, for example, a threshold remaining capacity for determining whether each of the power storage devices 25a, 25b is in an overcharged state. The third remaining capacity region SC is, for example, equal to or larger than the predetermined second remaining capacity SOC2 and smaller than the predetermined third remaining capacity SOC3, and is a region of intermediate remaining capacity (medium SOC) between an overdischarged state and an overcharged state. The fourth remaining capacity region SD is, for example, a region of high remaining capacity (high SOC) that is equal to or larger than the predetermined third remaining capacity SOC3 and is in an overcharged state.

[0037] As shown in FIG. 4, the processing unit 13 sets a first rotation speed region NA and a second rotation speed region NB, for example, by a predetermined rotation speed Nt. The predetermined rotation speed Nt is set, for example, based on the back electromotive voltage V that changes with an increasing tendency as the rotation speed N of each of the rotating electric machines 21a, 21b increases. The predetermined rotation speed Nt is, for example, the rotation speed N corresponding to a predetermined back electromotive voltage Vt that corresponds to the withstand voltage of an electric device connected to each of the rotating electric machines 21a, 21b. The first rotation speed region NA is, for example, a region of low rotation speeds N (low rotation speeds) that are less than the predetermined rotation speed Nt. The second rotation speed region NB is, for example, a region of high rotation speeds N (high rotation speeds) that are equal to or greater than the predetermined rotation speed Nt.

[0038] For example, when the rotation speed N is less than a predetermined rotation speed Nt (first rotation speed region NA), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is equal to or greater than a predetermined second remaining capacity SOC2 (third remaining capacity region SC and fourth remaining capacity region SD), the processing unit 13 powers the abnormal rotating electric machine (21a or 21b). The predetermined torque Tt is, for example, a torque that each of the rotating electric machines 21a, 21b can output by itself.

[0039] For example, when the rotation speed N is less than a predetermined rotation speed Nt (first rotation speed region NA), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is less than a predetermined second remaining capacity SOC2 and equal to or greater than a predetermined first remaining capacity SOC1 (second remaining capacity region SB), 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. The stopping of each of the rotating electric machines 21a, 21b is, for example, a state in which the power supply to each of the rotating electric machines 21a, 21b is stopped, and a back electromotive voltage is generated when the rotating electric machines 21a, 21b are rotated by an external power. The state in which the torque of each of the rotating electric machines 21a, 21b is made zero is, for example, a state in which power supply is performed so that the torque of each of the rotating electric machines 21a, 21b becomes zero.

[0040] The processing unit 13 stops the abnormal rotating electric machine (21a or 21b), for example, when the rotation speed N is less than a predetermined rotation speed Nt (first rotation speed region NA), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is less than a predetermined first remaining capacity SOC1 (first remaining capacity region SA).

[0041] For example, 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 equal to or greater than a predetermined third remaining capacity SOC3 (fourth remaining capacity region SD), 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.

[0042] For example, 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 causes the abnormal rotating electric machine (21a or 21b) to perform regenerative operation. For example, the processing unit 13 increases the output of the normal fuel cell (23a or 23b) to ensure the power required for the power running operation of the normal rotating electric machine (21a or 21b) and for charging the abnormal side power storage device (25a or 25b).

[0043] The processing unit 13, for example, when the rotation speed N is equal to or greater than a predetermined rotation speed Nt (second rotation speed region NB), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is equal to or greater than a predetermined second remaining capacity SOC2 (third remaining capacity region SC and fourth remaining capacity region SD), causes the rotating electric machine (21a or 21b) on the abnormal side to perform power running.

[0044] The processing unit 13 sets the torque of the abnormal rotating electric machine (21a or 21b) to zero, for example, when the rotation speed N is equal to or greater than a predetermined rotation speed Nt (second rotation speed region NB), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is less than a predetermined second remaining capacity SOC2 and equal to or greater than a predetermined first remaining capacity SOC1 (second remaining capacity region SB).

[0045] For example, when the rotation speed N is equal to or greater than a predetermined rotation speed Nt (second rotation speed region NB), the required torque TR is equal to or greater than a predetermined torque Tt, and the remaining capacity SOC is less than a predetermined first remaining capacity SOC1 (first remaining capacity region SA), the processing unit 13 stops the abnormal rotating electric machine (21a or 21b) or regulates the rotation speed N of each rotating electric machine 21a, 21b to be less than the predetermined rotation speed Nt.

[0046] The processing unit 13 sets the torque of the abnormal rotating electric machine (21a or 21b) to zero, for example, when the rotation speed N is equal to or greater than a predetermined rotation speed Nt (second rotation speed region NB), the required torque TR is less than a predetermined torque Tt, and the remaining capacity SOC is equal to or greater than a predetermined third remaining capacity SOC3 (fourth remaining capacity region SD).

[0047] The processing unit 13 performs regenerative operation on the abnormal rotating electric machine (21a or 21b) when, for example, the rotation speed N is equal to or higher than a predetermined rotation speed Nt (second rotation speed region NB), 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 secures the power required for the power running operation of the normal rotating electric machine (21a or 21b) and for charging the abnormal side power storage device (25a or 25b) by, for example, increasing the output of the normal fuel cell (23a or 23b).

[0048] As described above, according to the vehicle control device 10 and vehicle control method of the embodiment, the operation of the rotating electric machine (the first rotating electric machine 21a or the second rotating electric machine 21b) of the abnormal power unit 11 is controlled in accordance with the remaining capacity SOC and rotation speed N of the abnormal power unit 11 and the required torque TR, thereby making it possible to increase the driving distance in the event of an abnormality while ensuring the desired driving safety.

[0049] A required torque TR equal to or greater than the predetermined torque Tt can be ensured by the power running operation of the abnormal rotating electric machine (21a or 21b) in the third remaining capacity region SC and the fourth remaining capacity region SD. By stopping the abnormal rotating electric machine (21a or 21b) in the first remaining capacity region SA and the second remaining capacity region SB, it is possible to suppress a decrease in the remaining capacity SOC while allowing the occurrence of a back electromotive voltage. By restricting the rotation speed N of the abnormal rotating electric machine (21a or 21b) in the first remaining capacity region SA, it is possible to suppress an increase in the back electromotive voltage and a decrease in the remaining capacity SOC. By making the torque of the abnormal rotating electric machine (21a or 21b) zero in the second remaining capacity region SB, it is possible to suppress the occurrence of a back electromotive force while allowing a slight decrease in the remaining capacity SOC.

[0050] By stopping the abnormal rotating electric machine (21a or 21b) in the fourth remaining capacity region SD, it is possible to suppress a decrease in the remaining capacity SOC while ensuring a required torque TR less than the predetermined torque Tt and allowing the generation of a slight back electromotive force. By setting the torque of the abnormal rotating electric machine (21a or 21b) to zero in the fourth remaining capacity region SD, it is possible to suppress the occurrence of a back electromotive voltage while ensuring a required torque TR less than the predetermined torque Tt. By the regenerative operation of the abnormal rotating electric machine (21a or 21b) in the first remaining capacity region SA, the second remaining capacity region SB, and the third remaining capacity region SC, the remaining capacity SOC can be increased while ensuring a required torque TR less than the predetermined torque Tt.

[0051] (Modification) Modifications of the embodiment will be described below. Note that the same parts as those in the above-described embodiment will be denoted by the same reference numerals and descriptions thereof will be omitted or simplified. In the above-described embodiment, the multiple power units 11 are connected to the drive wheels W via the differential mechanism D, but this is not limited to the above. For example, each power unit 11 may be connected to each drive wheel W directly or via a connecting / disconnecting mechanism such as a clutch. In the above-described embodiment, each of the fuel cells 23a, 23b constitutes a fuel cell system, but this is not limited to the above. For example, each of the fuel cells 23a, 23b may constitute a fuel cell system that shares the fuel and oxidant supply parts and the exhaust and wastewater discharge parts.

[0052] 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 forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention. [Explanation of symbols]

[0053] 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 electric machine (rotating electric machine), 21b...second rotating electric machine (rotating electric machine), 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).

Claims

1. A plurality of power units mounted on a vehicle; A control unit for controlling the power unit; Equipped with Each of the plurality of power units is A rotating electric machine that transmits and receives torque between the wheels; A power storage device and a fuel cell as a power source; a power control unit that controls the electric rotating machine, the power storage device, and the fuel cell; Equipped with The control unit is When an abnormality occurs in the fuel cell, the operation of the abnormal side rotating electric machine, which is the rotating electric machine in the power unit having the abnormal fuel cell, is controlled according to the remaining capacity of the power storage device and the rotation speed of the rotating electric machine in the power unit having the abnormal fuel cell and the required torque of the vehicle. Vehicle control device.

2. The control unit is When the rotation speed is less 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 abnormal rotating electric machine is operated in a power running mode, When the rotation speed is less than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity, the abnormal side rotating electric machine is stopped or the torque of the abnormal side rotating electric machine is set to zero. The vehicle control device according to claim 1.

3. The control unit is When the rotation speed is less than a predetermined rotation speed, the required torque is less than a predetermined torque, and the remaining capacity is equal to or greater than a predetermined remaining capacity, the abnormality side rotating electric machine is stopped or the torque of the abnormality side rotating electric machine is set to zero, When the rotation speed is less than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity, the abnormal rotating electric machine is caused to perform a regenerative operation. The vehicle control device according to claim 1.

4. The control unit is When the rotation speed is less 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 first predetermined remaining capacity, the abnormality-side rotating electric machine is operated in a power running mode, When the rotation speed is less than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined first remaining capacity and equal to or greater than a predetermined second remaining capacity that is smaller than the predetermined first remaining capacity, the abnormal side rotating electric machine is stopped or the torque of the abnormal side rotating electric machine is set to zero, When the rotation speed is less than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the second predetermined remaining capacity, the abnormal side rotating electric machine is stopped; When the rotation speed is less than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is equal to or greater than a predetermined third remaining capacity that is greater than the predetermined first remaining capacity, the abnormality side rotating electric machine is stopped or the torque of the abnormality side rotating electric machine is set to zero, When the rotation speed is less than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the third predetermined remaining capacity, the abnormal side rotating electric machine is caused to perform a regenerative operation. The vehicle control device according to claim 1.

5. The control unit is When the rotation speed is equal to or greater 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 abnormal rotating electric machine is operated in a power running mode, When the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity, the abnormal side rotating electric machine is stopped or the torque of the abnormal side rotating electric machine is set to zero. The vehicle control device according to claim 1.

6. The control unit is 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 torque of the abnormal side rotating electric machine is set to zero, When the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the predetermined remaining capacity, the abnormal side rotating electric machine is caused to perform a regenerative operation. The vehicle control device according to claim 1.

7. The control unit is When the rotation speed is equal to or greater 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 abnormality-side rotating electric machine is operated in a powering operation; 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 that is smaller than the predetermined first remaining capacity, the torque of the abnormal side rotating electric machine is set to zero, When the rotation speed is equal to or greater than the predetermined rotation speed, the required torque is equal to or greater than the predetermined torque, and the remaining capacity is less than the second predetermined remaining capacity, the abnormal side rotating electric machine is stopped or the rotation speed of the rotating electric machine is reduced to less than the predetermined rotation speed, When the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is less 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 torque of the abnormal side rotating electric machine is set to zero, When the rotation speed is equal to or higher than the predetermined rotation speed, the required torque is less than the predetermined torque, and the remaining capacity is less than the third predetermined remaining capacity, the abnormal side rotating electric machine is caused to perform a regenerative operation. The vehicle control device according to claim 1.

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

9. A vehicle control method executed by a control unit that controls a plurality of power units mounted on a vehicle, comprising: Each of the plurality of power units is A rotating electric machine that transmits and receives torque between the wheels; A power storage device and a fuel cell as a power source; a power control unit that controls the electric rotating machine, the power storage device, and the fuel cell; Equipped with determining whether or not there is an abnormality in the fuel cell; controlling the operation of the rotating electric machine in the power unit having the abnormal fuel cell according to the remaining capacity of the power storage device and the rotation speed of the rotating electric machine in the power unit having the abnormal fuel cell, and the required torque of the vehicle; Includes A vehicle control method.

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