Control system

Abstract

To provide a technique that enables proper control of input and output of energy in an entire vehicle.SOLUTION: A control system 100, 100a, 100b includes: a plurality of sub-power managers sm1-sm5; and an integrated power manager EM that performs integrated control of output power in an entire vehicle by exchanging information. The plurality of subsystems respectively correspond to a plurality of domains D1-D5 that include one or more apparatuses and a storage unit. Information that is exchanged between the plurality of sub-power managers and the integrated power manager is information that enables calculation of a physical quantity that is expressed by at least one of a power dimension and an energy dimension. The integrated power manager determines an input / output-power limit value of each subsystem by performing arbitration of requested power values that are received from the sub-power managers based on subsystem priority levels that are priority levels of the plurality of subsystems.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a control system for controlling power supply in a vehicle.

Background Art

[0002] Conventionally, a control system for controlling the supply of energy in a plurality of devices mounted on a vehicle has been proposed. Patent Document 1 discloses a control system that supplies energy (electric power) to a plurality of electric drive devices mounted on a vehicle according to priorities set based on the magnitudes of outputs from various sensors such as a brake sensor and a throttle sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Generally, in a vehicle, various types of energy exchange are carried out, not limited to electric power, such as kinetic energy, thermal energy, and chemical energy (energy associated with fuel combustion). However, in a configuration that controls only electric power, like the control system of Patent Document 1 above, it is not easy to appropriately adjust the energy input and output of the entire vehicle. For example, when energy as electric power is supplied to a certain electric drive device, the temperature of the cooling water can rise due to the heat released. However, in a configuration that supplies heat to the cooling water based only on the current temperature of the cooling water without considering such a future temperature rise of the cooling water, the temperature of the cooling water cannot be appropriately controlled, and wasteful energy is consumed. Therefore, a technology that can appropriately control the energy input and output of the entire vehicle is desired.

Means for Solving the Problems

[0005] As one aspect of the present disclosure, a control system for controlling power supply in a vehicle is provided. This control system includes a plurality of sub-power managers that control the output power in each of a plurality of subsystems that realize each function of the vehicle, and an integrated power manager that integrates and controls the output power of the entire vehicle by exchanging information with the plurality of sub-power managers. The plurality of subsystems respectively correspond to a plurality of domains including one or more devices mounted on the vehicle and a storage unit that exchanges a predetermined type of energy with the one or more devices. Information exchanged between the plurality of sub-power managers and the integrated power manager is information capable of calculating a physical quantity represented by at least one of a power dimension and an energy dimension. Information transmitted from the plurality of sub-power managers to the integrated power manager includes a required power value in the subsystem and a power supply available value from at least one sub-power manager that supplies energy among the plurality of sub-power managers. Information transmitted from the integrated power manager to the plurality of sub-power managers includes an input / output power limit value in the subsystem. The integrated power manager determines the input / output power limit value in each subsystem by performing arbitration according to the subsystem priority, which is the priority of the plurality of subsystems, for the required power value received from each sub-power manager. The plurality of sub-power managers transmit to the integrated power manager information for dividing the required power value into a plurality of sub-required power values with different power priorities set for each other. The integrated power manager divides the required power value received from the plurality of sub-power managers into the plurality of sub-required power values using the information for division, and sets the divided sub-required power values as the targets of the arbitration. Moreover, the plurality of sub-request power values include a first sub-request power value (m1-m5) with a high power priority and a second sub-request power value (w1-w5) with a low power priority. For the plurality of the first sub-request power values for the plurality of subsystems and the plurality of the second sub-request power values for the plurality of subsystems, independent subsystem priorities are set respectively. 。

[0006] According to the control system of this form, the integrated power manager executes mediation according to the subsystem priority, which is the priority of a plurality of subsystems, for the required power values received from each sub-power manager, thereby determining the input / output power limit values in each subsystem. Therefore, the input / output power in each subsystem can be controlled within an appropriate range, and by continuously performing appropriate control of such input / output power, the energy input and output in each subsystem can be appropriately controlled. For this reason, the energy input and output of the entire vehicle can be appropriately controlled.

Brief Description of Drawings

[0007]

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Mode for Carrying Out the Invention

[0008] A. First Embodiment: A1. System Configuration: The control system 100 of the embodiment of the present disclosure is mounted on and used in the vehicle 10 shown in FIG. 1. The control system 100 controls the power supply in the vehicle 10. First, the vehicle 10 will be described.

[0009] In this embodiment, the vehicle 10 is an electric vehicle (so-called "EV vehicle"), drives the motor generator d23 with the electric power stored in the battery d21, and transmits the driving force output from the motor generator d23 to the tire d12 via the transmission d11 to run.

[0010] The control system 100 of the present embodiment manages each component constituting the vehicle 10 by dividing them into a plurality of domains. A domain means a target range for energy management by sub-managers (sub-managers sm1 to sm5) described later. Also, a domain is a concept including a group of devices that exchange the same type of energy with each other and the medium of that energy. Each domain includes one or more devices and a storage unit that exchanges a predetermined type of energy with one or more devices. As shown in FIG. 1, a total of five domains are set in the vehicle 10. Specifically, a motion domain D1, a battery domain D2, an accessory domain D3, a cooling water domain D4, and an air conditioning (hereinafter referred to as "air conditioning") domain D5 are set.

[0011] The motion domain D1 includes a group of devices and a storage unit that exchange kinetic energy with each other. Note that the above-mentioned kinetic energy may include potential energy described later. Specifically, the motion domain D1 includes a transmission d11, a tire d12, a vehicle body d13, a brake d14, a position d15, and a motor generator d23. The transmission d11 converts the driving force output from the motor generator d23 into torque and rotational speed and transmits it to the tire d12 via a shaft. The tire d12 moves the vehicle body d13 back and forth by the frictional force with the road surface. The vehicle body d13 includes various members such as a chassis, side members, and cross members. The brake d14 controls the rotation of the friction brake by an actuator (not shown) to generate a braking force. That is, the brake d14 converts the kinetic energy stored in the vehicle body d13 into frictional heat in the tire d12 and the like. The position d15 means the position of the vehicle 10. In the present embodiment, the position means the source of potential energy, that is, the position of the vehicle 10 in the height direction, that is, the elevation. The vehicle body d13 and the position d15 with hatching in the motion domain D1 exchange energy and correspond to the above-mentioned "storage unit". The vehicle body d13 stores kinetic energy in a moving state and loses kinetic energy when decelerating. The position d15 stores more energy at a higher position. The motor generator d23 is also included in the battery domain D2 described later, and details will be described later.

[0012] The battery domain D2 includes a group of devices that exchange electrical energy with each other and a storage unit. Specifically, the battery domain D2 includes a battery d21, an inverter d22, a motor generator d23, an electric compressor d24, and a DC-DC converter d31. The battery d21 can output a high voltage of about 300V, for example. The inverter d22 converts the DC current output from the battery d21 into an AC current and supplies it to the motor generator d23. Conversely, the inverter d22 also converts the AC regenerative current generated by the motor generator d23 into DC and supplies it to the battery d21. The inverter d22 generates heat when it operates. In this embodiment, such heat is given to the cooling water d42 described later. Therefore, the inverter d22 is included in the battery domain D2 and also in the cooling water domain D4 described later. The motor generator d23 rotates by the power supplied from the inverter d22. Also, it converts the rotation (kinetic energy) input from the transmission d11 into electric power (electrical energy). As described above, the motor generator d23 converts electrical energy into kinetic energy and also converts kinetic energy into electrical energy. Further, the motor generator d23 generates heat due to its rotational operation. And in this embodiment, similar to the inverter d22, the heat generated from the motor generator d23 is given to the cooling water d42 described later. Therefore, the motor generator d23 is included in the battery domain D2 and also in the cooling water domain D4 described later. The electric compressor d24 is driven by receiving the power supplied from the battery d21 and compresses the refrigerant (refrigerant d53 described later) in the refrigeration cycle. Thereby, heat is given to the refrigerant d53. Therefore, the electric compressor d24 is included in the battery domain D2 and also in the air conditioning domain D5 described later. The DC-DC converter d31 will be described later. In the battery domain D2, the battery d21 corresponds to the "storage unit". Also, in the battery d21, Joule heat is generated inside by inputting and outputting electric power. From this, the battery d21 may be added as a new storage of thermal energy.The Joule heat generated in the battery d21 is given to the cooling water d42 for cooling the battery d21.

[0013] The accessory domain D3 includes a group of devices and a storage unit that exchange electrical energy with each other. Specifically, the accessory domain D3 includes a DC-DC converter d31, a 12V battery d32, and a 12V electrical load d33. The DC-DC converter d31 is connected to the battery d21 and converts the high-voltage power supplied from the battery d21 into 12V low-voltage power. The 12V battery d32 is connected to the DC-DC converter d31 and stores electricity with the power supplied from the DC-DC converter d31. Also, the 12V battery d32 can be discharged and supplies 12V power to the 12V electrical load d33. The 12V electrical load d33 operates by receiving power supply either through the DC-DC converter d31 or from the 12V battery d32. The 12V electrical load d33 corresponds to, for example, lighting devices such as interior lights and headlamps, as well as the navigation device 201, GPS device 202, communication modules of the external communication unit 210, and the user interface unit 220 including a touch panel, etc., which will be described later. In the accessory domain D3, the 12V battery d32 corresponds to the "storage unit".

[0014] The cooling water domain D4 includes a group of devices and a storage unit that exchange thermal energy with each other. Specifically, the cooling water domain D4 includes a chiller d41, cooling water d42, a heater core d43, a heat exchanger d44, the above-described motor generator d23, and an inverter d22. The chiller d41 cools the cooling water d42 by performing heat exchange between the battery d21 and the cooling water d42. The cooling water d42 mediates heat between the chiller d41, the heater core d43, the heat exchanger d44, the inverter d22, the motor generator d23, and a radiator (not shown). As described above, the inverter d22 and the motor generator d23 generate heat during operation. By causing such heat to be absorbed by the cooling water d42 and cooled by the chiller d41 or a radiator (not shown), the battery d21, the inverter d22, and the motor generator d23 are cooled, suppressing the battery d21, the inverter d22, and the motor generator d23 from malfunctioning due to heat generation. Also, the cooling water d42 warms the cabin d51 via the heater core d43. In the cooling water domain D4, the cooling water d42 corresponds to the "storage unit".

[0015] The air conditioning domain D5 includes a group of devices and a storage unit that exchange thermal energy with each other for air conditioning. Specifically, the air conditioning domain D5 includes a cabin d51, an evaporator d52, a refrigerant d53, the above-described electric compressor d24, and a heater core d43. The cabin d51 is cooled by a refrigeration cycle. Note that the cabin d51 may be warmed by an indoor condenser (not shown). The evaporator d52 takes latent heat from the cabin d51 with the refrigerant d53 in a low-temperature and low-pressure mist state that has passed through an indoor condenser (not shown), an outdoor condenser, a receiver, and an expansion valve that constitute the refrigeration cycle, cools the cabin d51, and sends the vaporized refrigerant d53 to the electric compressor d24. In the air conditioning domain D5, the cabin d51 corresponds to the "storage unit".

[0016] The control system 100 is electrically connected to each device included in each domain and various sensors for grasping the operating state of each device in each domain, configured to communicate with each device and acquire the detection results of each sensor. As the various sensors, for example, in the case of the motion domain D1, sensors for detecting the depression amount of the accelerator pedal, sensors for detecting the vehicle speed, sensors for detecting the rotation speed of the motor generator d23, sensors for detecting the position (altitude) of the vehicle 10, etc. are applicable. In the case of the battery domain D2, sensors for detecting the SOC (State Of Charge) of the battery d21, sensors for detecting the supply current to the motor generator d23, etc. are applicable. In the case of the accessory domain D3, sensors for detecting the SOC of the 12V battery d32, sensors for measuring the supply current to each electrical load, etc. are applicable. In the case of the cooling water domain D4, sensors for detecting the temperature of the cooling water d42, etc. are applicable. In the case of the air conditioning domain D5, sensors for detecting the temperature inside the cabin d51, sensors for detecting the rotation speed of the electric compressor d24, etc. are applicable.

[0017] As shown in FIG. 2, the control system 100 includes a plurality of ECUs (Electronic Control Unit) and an input / output interface unit 170 that are connected to each other via a CAN (Controller Area Network) 190. The input / output interface unit 170 has an interface for the plurality of ECUs to exchange data with the navigation device 201, GPS device 202, and external communication unit 210 described later via the CAN. The plurality of ECUs means the energy manager ECU 110, the motor generator ECU 130, the battery ECU 140, the accessory ECU 150, and the air conditioning ECU 160.

[0018] The energy manager ECU 110 includes an energy manager EM as a functional unit. That is, the CPU included in the energy manager ECU 110 functions as the energy manager EM by executing a control program stored in the memory included in the energy manager ECU 110. The energy manager EM integrates and controls the output power of the entire vehicle 10 by exchanging information with a plurality of sub-managers sm1-sm5 described later. The energy manager EM is also called the "integrated power manager". The energy manager EM executes power and energy management processing described later and exchanges information with a plurality of sub-managers sm1-sm5 in such processing. Details of such information will be described later. The plurality of sub-managers sm1-sm5 control the output power in a plurality of subsystems that realize each function of the vehicle 10. The sub-manager is also called the "sub-power manager". In the present embodiment, the "plurality of subsystems" corresponds to the five domains D1-D5 described above. Details of the sub-managers sm1-sm5 will be described later.

[0019] The motor generator ECU 130 controls the operation of the motor generator d23. The motor generator d23 includes a motion sub-manager sm1 as a functional unit. The motion sub-manager sm1 corresponds to the motion domain D1 and controls the output power in a subsystem that realizes driving and braking of the vehicle 10. In the present embodiment, the "control of output power" means a process of specifying a required value of output power (hereinafter, also referred to as "required power value") in a device included in a subsystem, determining the power output from each device, and transmitting an instruction to an actuator that operates each device so as to output such power.

[0020] The battery ECU 140 controls the charging and discharging of the battery d21. The battery ECU 140 includes a battery sub-manager sm2 as a functional unit. The battery sub-manager sm2 corresponds to the battery domain D2 and controls the output power and input power in a subsystem that realizes supply of high-voltage power and storage of regenerative power. In the present embodiment, "control of input power" means a process of specifying a required value of input power (hereinafter also referred to as "required power value") to a storage unit included in a subsystem and transmitting an instruction to an actuator that operates each device so as to store energy with such power.

[0021] The accessory ECU 150 controls the operation of accessories. The accessory ECU 150 includes an accessory manager sm3 as a functional unit. The accessory manager sm3 corresponds to the accessory domain D3 and controls the output power and input power in a subsystem composed of accessories (12V electrical loads d33).

[0022] The air-conditioning ECU 160 controls air-conditioning. The air-conditioning ECU 160 includes a cooling-water sub-manager sm4 and an air-conditioning sub-manager sm5 as functional units. The cooling-water sub-manager sm4 corresponds to the cooling-water domain D4 and controls the output power and input power in a subsystem that realizes heat exchange between the cooling water and the outside and circulation of the cooling water. The air-conditioning sub-manager sm5 corresponds to the air-conditioning domain D5 and controls the output power in a subsystem that realizes air-conditioning.

[0023] The navigation device 201 shown in FIG. 2 is provided with map information, and based on the input information of the destination input via the user interface unit 220 and the information of the current location of the vehicle 10 obtained from the GPS device 202, it obtains candidate routes and causes a display unit (not shown) of the user interface unit 220 to display the route information. Further, among the route information displayed on the display unit, the current position is specified along the route selected by the user and displayed on the display unit. Note that the map information may be configured to be possessed by an external device such as a server device on a cloud network instead of the navigation device 201. In such a configuration, the navigation device 201 may communicate with the server device to acquire the map information. The GPS device 202 specifies the current position based on a signal output from a GPS (Global Positioning System) satellite. Note that instead of the GPS device 202, a device capable of realizing any type of GNSS (Global Navigation Satellite System(s)) such as Galileo or Beidou may be used. The external communication unit 210 is a functional unit for communicating with the outside of the vehicle 10. For example, it may be a functional unit such as an antenna, an amplifier, and a functional unit for performing encoding and decoding, and may be a functional unit capable of realizing 4G (fourth generation) communication, 5G (fifth generation) communication, satellite communication, or the like. The user interface unit 220 has an operation unit (not shown) such as a button or a touch panel and a display unit (not shown) such as a liquid crystal display, and allows various inputs from the user and outputs various information.

[0024] As shown in FIG. 3, when the vehicle 10 starts, in other words, when a start button (not shown) is pressed, the energy manager EM is periodically transmitted with the "request power value", "actual power value", "availability", and "accumulated energy amount value" from each of the sub-managers sm1-sm5.

[0025] The "required power value" means the total power value required by the subsystem (domain) managed by the sub-manager. In each domain D1 - D5, the sub-managers sm1 - sm5 calculate the required power in each domain based on the operating state of each device, the user intention input from the user interface unit 220 or an accelerator pedal (not shown), etc., and obtain the required power value. In this embodiment, the "required power value" transmitted from each sub-manager sm1 - sm5 to the energy manager EM is the "required power value as the power in the final usage form". The "required power value as the power in the final usage form" means the required value of the power corresponding to the form of energy exchanged in each domain, for example, thermal energy, kinetic energy, and electrical energy. The power corresponding to thermal energy means, for example, the amount of temperature change per unit time. The power corresponding to kinetic energy means, for example, the change amount of acceleration (current speed) per unit time or the change amount of position (altitude) per unit time. The power corresponding to electrical energy means, for example, the change amount of power storage per unit time.

[0026] The "actual power value" means the power value actually output or input in the subsystem (domain) managed by the sub-manager. Such a power value is calculated based on the values of various sensors. For example, the actual power value in the motion domain D1 can be calculated by obtaining the acceleration (deceleration) of the vehicle 10 from the detection value of the vehicle speed sensor. The actual power value in the battery domain D2 can be calculated from the detection value of the current sensor. The actual power value in the accessory domain D3 can be calculated from the detection value of a current sensor (not shown) provided in the accessory domain D3 and the detection value of the SOC sensor. The actual power value in the cooling water domain D4 can be calculated from the detection value of the temperature sensor that detects the temperature of the cooling water d42. The actual power value in the air conditioning domain D5 can be calculated from the detection value of the temperature sensor that detects the temperature inside the cabin d51.

[0027] "Availability" means the amount of input and output possible (upper and lower limit values) in each domain. Availability includes "energy availability", "power availability", and "equipment availability".

[0028] "Energy availability" means the limit value of the amount of energy that can be input and output in each domain. For example, in the motion domain D1, the upper and lower limit values of the output of kinetic energy apply. The upper limit value of the output of kinetic energy is determined, for example, in consideration of safety requirements (such as legal speed for vehicle 10), component protection requirements, etc. Also, the lower limit value of the output of kinetic energy is determined, for example, in addition to safety requirements (such as the legal minimum speed on a highway) and comfort requirements (such as a speed obtained by subtracting a predetermined value from the legal speed), taking into account the difference in potential energy obtained from the elevation difference between the current location and the destination. Also, the upper and lower limits of the output of cooling water can be determined as the energy obtained from the difference between the upper and lower limits within the allowable range of water temperature and the current water temperature.

[0029] "Power availability" means the limit value of the power that can be input and output in each domain (the amount of energy that can be input and output per unit time). In the case of the motion domain D1, it means the motion power of the vehicle body d13. As the output limit value of such motion power, safety requirements (such as excessive acceleration and deceleration that may compromise safety, and acceleration and deceleration that the tire grip can withstand), component protection requirements, comfort requirements (such as discomfort caused to the user by excessive acceleration and deceleration), etc. are considered and determined. In the case of the battery domain D2, it means the chargeable power to the battery d21 and the dischargeable power from the battery d21. These are mainly determined from component protection requirements. In the case of the cooling water domain D4, it means the heat absorption power to the cooling water d42 and the heat dissipation power from the cooling water d42. In the case of the air conditioning domain D5, it means the heat absorption power to the cabin d51 and the heat dissipation power from the cabin d51. The limit value of the heat absorption power of the cabin d51 can be determined empirically, for example, from the rate of temperature change that the passengers do not feel uncomfortable.

[0030] "Device Availability" means the limit value of input / output power in each device. Such limit values are preset for each device. For example, the motor generator ECU 130 restricts the output torque value of the motor generator d23 according to the detected value of the temperature sensor that detects the temperature of the motor generator d23 in order to avoid burnout. Therefore, the value obtained by multiplying such torque value by the rotational speed corresponds to the device availability of the motor generator d23. Note that when the corresponding device is malfunctioning, the availability may be set to "0" (zero).

[0031] "Stored Energy Quantity Value" means the energy storage amount (holding amount) in each domain. In the case of the motion domain D1, it means the total value of the kinetic energy and potential energy stored in the storage part (vehicle body d13) of the motion domain D1. In the case of the battery domain D2, it means the power storage amount and SOC of the battery d21. In the case of the accessory domain D3, it means the power storage amount and SOC of the 12V battery d32. In the case of the cooling water domain D4, it means the amount of thermal energy of the cooling water d42. In the case of the air conditioning domain D5, it means the amount of thermal energy of the air in the cabin d51.

[0032] When the vehicle 10 starts, as shown in FIG. 3, the energy manager EM periodically transmits an "input / output power proposed value" and an "input / output power limit value" to each of the sub-managers sm1-sm5.

[0033] In this embodiment, the "input / output power proposed value" means a value obtained by the energy manager EM as an optimal input / output power value based on the policy of "reducing the energy consumption amount". The method for obtaining such an input / output power proposed value will be described later. This input / output power proposed value is merely a proposed value from the energy manager EM. Therefore, each of the sub-managers sm1-sm5 merely uses this input / output power proposed value as a reference value, and is not forced to control each device to such a value.

[0034] The "input / output power limit value" is used as the limit value when each sub-manager sm1-sm5 in each domain restricts the input power and output power. In other words, each sub-manager sm1-sm5 can control the devices included in each domain within the range of the input / output power limit value, while it cannot control the devices in each domain to output power or input power exceeding this input / output power limit value. The method for obtaining the input / output power limit value will be described later.

[0035] In the control system 100 having the above configuration, by executing the power and energy management process described later, the input / output power of the entire vehicle 10 can be appropriately controlled.

[0036] A2. Power and Energy Management Process: The power and energy management process shown in FIG. 4 is a process for managing the input / output power and input / output energy in each domain D1-D5. The power and energy management process is executed in the control system 100 when the vehicle 10 starts. As shown in FIG. 4, in the power and energy management process, a storage plan (step S10), instantaneous power optimization (step S20), and power arbitration (step S30) are executed in this order. Note that after the power arbitration, instantaneous power optimization may be executed again in consideration of the upper and lower limit constraints.

[0037] A2-1: Storage Plan: As shown in FIG. 5, the storage plan (step S10) includes a subroutine consisting of steps S105 - S145. The energy manager EM acquires future route information of the vehicle 10 (step S105). Specifically, the vehicle 10 acquires its current position from the GPS device 202 and the route information set by the navigation device 201, and based on this information, acquires future route information. In the present embodiment, the route information includes information about latitude, longitude, and gradient. The information about the gradient is used to calculate the driving load. It may also be used to specify the altitude. Note that when the route is not set in the navigation device 201, that is, when the route guidance function is not functioning, etc., a route that can be traveled without turning right or left from the currently traveled route may be set as the future route. Also, by learning the route of daily driving, if the vehicle 10 is traveling on that route, the learned route may be set as the future route.

[0038] The energy manager EM acquires speed limit information on the future route indicated by the future route information acquired in step S105 (step S110). In the present embodiment, such speed limit information is acquired from the map information possessed by the navigation device 201.

[0039] The energy manager EM acquires traffic jam information on the future route indicated by the future route information acquired in step S105 (step S115). Specifically, the energy manager EM acquires it from an external device via the external communication unit 210, for example, a device that manages and transmits traffic jam information. The energy manager EM predicts the time series (change) of the vehicle speed of the vehicle 10 in the future using the information acquired in steps S105 - S115 (step S120).

[0040] In FIG. 6, the horizontal axis represents the distance from the current position, and the vertical axis represents the vehicle speed of vehicle 10. The change L1 indicated by the dashed line in FIG. 6 shows the change in the speed limit on the map. Also, the change L2 indicated by the thick solid line in FIG. 6 shows the change in the final speed limit. The "final speed limit" means the speed limit considering stops due to signals. Further, the change L3 indicated by the thin solid line in FIG. 6 shows the time-series prediction (predicted vehicle speed) of the vehicle speed obtained as a result of step S120.

[0041] The energy manager EM identifies the change L1 from the speed limit information on the future route obtained in step S110. However, such a change L1 only shows the change in the speed limit when the traffic signal is lit in a color indicating go and there is no traffic jam, and does not consider the case when the traffic signal is lit in a color indicating stop (red in Japan) and the case when a traffic jam has occurred. Therefore, the energy manager EM considers the case when the traffic signal becomes a color indicating stop. Specifically, the energy manager EM identifies the location (distance from the current position) where the traffic signal is installed from the map information. And it predicts the traffic signal that will be a color indicating stop. Such a prediction may be determined randomly from all the traffic signals on the future route, for example, or the cycle information of the change of the traffic signal at the current time may be obtained from the traffic signal and estimated based on such cycle information. In a configuration where it is determined randomly from all the traffic signals on the future route, for example, it may be predicted that 50% of the traffic signals are those that will be a color indicating stop. In the example of FIG. 6, it represents the case where there are six traffic signals on the future route and two of these traffic signals are in a color indicating stop (red). When such a traffic signal that is a color indicating stop is identified in this way, as shown by the change L2, at such a traffic signal, the vehicle speed becomes "0" (zero). And the energy manager EM obtains the predicted vehicle speed as shown by the change L3 using the estimated values of acceleration and deceleration under the assumption that "the user drives so as to reach the final speed limit".

[0042] As shown in FIG. 5, the energy manager EM calculates the future driving power (step S125). Specifically, the driving force F is based on the following formula (1)drv Obtain the driving force F drv Multiply the current vehicle speed v obtained in step S120 by the driving force F to calculate the driving power. [Number]

[0043] In the above formula (1), F rl (v) is a function of the vehicle speed v and represents the running resistance. ΔF rl (v, r) is a function of the vehicle speed v and the curve radius r and represents the increase in running resistance. The variable m represents the total weight of the vehicle 10, the variable g represents the gravitational acceleration, and the variable θ represents the road gradient. Note that the increase in running resistance may be obtained by a function ΔF rl (v, r, wv) of the wind speed (wv) in addition to the vehicle speed v and the curve radius r.

[0044] As shown in FIG. 5, the energy manager EM acquires weather information (step S130). Specifically, the energy manager EM acquires information on the weather such as future weather and temperature from an external device (such as a server device on a cloud network) that manages and distributes the weather information via the external communication unit 210. Note that instead of the external device, a sensor for predicting or measuring the weather, temperature, etc. may be provided in the vehicle 10, and the weather information may be obtained based on the detection value of such a sensor.

[0045] The energy manager EM uses the weather information acquired in step S130 to predict the future air-conditioning power (step S135). The air-conditioning power means the power required for air-conditioning. In the present embodiment, the air-conditioning power used for the weather information in advance is stored as a table, and the table is referred to using the acquired weather information as a key to predict the air-conditioning power. Note that in this prediction, the prediction may be made on the premise that the air-conditioning power does not change for a predetermined time.

[0046] The energy manager EM predicts the future auxiliary power (step S140). The auxiliary power means the power required for the auxiliary equipment. Such prediction is made using the information obtained from step S105 to step S135. For example, when the future route has many curves, it is expected that the number of steering operations will increase. In this case, it is expected that the power required for the power steering device as an auxiliary equipment will increase. Also, for example, when it is specified that it is evening, night, or dawn using the current time and the detection result of an illuminance sensor that detects external brightness (not shown), various lighting devices are turned on, and it is expected that the power required for these lighting devices will increase. Note that, considering that there are no variable factors in the future, the current power consumption of the auxiliary equipment may be predicted as the future auxiliary power.

[0047] The energy manager EM adds the future driving power calculated in step S125, the future air-conditioning power predicted in step S135, and the future auxiliary power predicted in step S140 to obtain the total output power, and plans the storage (energy storage amount) in each domain based on such total output power (step S145). In the present embodiment, under the policy of "minimizing power consumption", in the modeled vehicle 10 with the power consumption as the objective function, various degrees of freedom, for example, the charge / discharge amount of the battery d21, the charge / discharge amount of the 12V battery d32, the type of gear used in the transmission d11, the rotation speed of the motor generator d23, etc. are varied in various ways, and a simulation is performed in advance using a mathematical optimization technique for optimizing the distribution of the total output power to each domain, and such simulation results are stored in advance in the energy manager ECU110 as a table. Alternatively, in this optimization, optimization may be achieved in real time using a mathematical optimization technique based on various information. Then, in step S145, with the obtained total output power as a key, the table is referred to, the power distribution in each domain is specified, and the storage in each domain is planned. Note that the storage to be planned indicates the accumulated amount of energy input and output in each domain. For example, in the case of the motion domain D1, it indicates the speed and position of the vehicle body d13 showing the total value of the kinetic energy and potential energy. Also, for example, in the case of the cooling water domain D4, it indicates the temperature of the cooling water d42 showing the thermal energy stored in the cooling water d42.

[0048] A2-2. Instantaneous Power Optimization: Instantaneous power optimization (step S20) means a process of optimizing the power input and output in each domain. Therefore, this process is performed for each domain, and in FIG. 7, the processing content for the cooling water domain D4 is illustrated as an example.

[0049] As shown in Fig. 7, the instantaneous power optimization includes a subroutine consisting of steps S205 and S210. The energy manager EM compares the temperature of the cooling water d42 at the current time in the storage plan obtained by step S145 of the above storage plan, that is, the plan of the accumulated amount of thermal energy in the cooling water domain D4 (the temperature plan of the cooling water d42), with the current actual temperature of the cooling water d42 corresponding to the accumulated energy amount value received from the cooling water sub-manager sm4, and identifies the temperature difference ΔT (step S205). Based on the temperature difference ΔT identified in step S205, the energy manager EM determines the required power values (power input required value and power output required value) in the cooling water domain D4 (cooling water subsystem) (step S210). The required power value determined in step S210 can be said to be the optimal power value along the storage plan as the power instantaneously input or output in the cooling water domain D4. However, it is only the optimal power value in terms of the plan and is not necessarily the optimal value based on the actual driving.

[0050] The instantaneous power optimization as shown in Fig. 7 is not limited to the cooling water domain D4, but is similarly executed in the other four domains D1 - D3, D5. That is, based on the difference between the current energy accumulation amount derived from the storage plan in each of the domains D1 - D3, D5 and the actual energy accumulation amount, the optimized power is obtained by referring to a predetermined table. However, in this embodiment, the required power obtained by the instantaneous power optimization executed for the cooling water domain D4 is used as the required power to be arbitrated in power arbitration (step S20), and the required power obtained for the other domains D1 - D3, D5 is not used as the required power to be arbitrated. Details will be described later.

[0051] A2 - 3. Power Arbitration: Power arbitration (step S30) means a process of arbitrating input / output power among domains so that appropriate input / output power is performed throughout the vehicle 10 in accordance with a predetermined policy. The input / output power (instantaneously outputtable energy) available for the entire vehicle 10 is called "system availability" in the present embodiment and is a finite value. Therefore, when the total value of the required power of each domain exceeds the system availability, at least some domains must input or output only power that is less than the required value as input / output power. Therefore, it is necessary to determine how much input / output power to allow for each domain, and such a process corresponds to power arbitration (step S30).

[0052] As shown in FIG. 8, power arbitration includes a subroutine consisting of steps S305 and S310. The energy manager EM performs arbitration according to the subsystem priority for the required power calculated in step S210 for the cooling water domain D4 (cooling subsystem) and the required power values received from the submanagers sm1-sm3, sm5 of the other domains D1-D3, D5 (other subsystems) (step S305). The subsystem priority is a priority for determining superiority or inferiority among each subsystem (each domain), and in the present embodiment, it is fixedly set in advance in the energy manager ECU110. In the present embodiment, it is set as follows. Note that such a setting is merely an example, and any other arbitrary setting may be used. Auxiliary domain D3 > Battery domain D2 > Motion domain D1 > Cooling water domain D4 > Air conditioning domain D5

[0053] As shown in the upper left of FIG. 9, the required power value RP1 received from the motion submanager sm1, the required power value RP2 received from the battery submanager sm2, the required power value RP3 received from the auxiliary manager sm3, the required power value RP4 determined in step S210 of instantaneous power optimization for the cooling water domain D4, and the required power value RP5 received from the air conditioning submanager sm5 are the targets of arbitration.

[0054] The energy manager EM arranges the five required power values RP1 - RP5 to be arbitrated in the order of the priorities of the subsystems. As a result, as shown in the upper right of FIG. 9, they are arranged in the order of RP3, RP2, RP1, RP4, RP5 from the highest priority to the lowest priority. The energy manager EM adds up the arranged required power values in order from the required power value with the highest priority, and excludes the required power after that point when the system availability SA is reached. In the example in the upper right of FIG. 9, all the required power values from the required power value RP3 with the first priority to the required power value RP4 with the fourth priority are included within the system availability SA. On the other hand, a part of the required power value RP5 is excluded. In this way, based on the system availability SA, the required power values included within the system availability SA are determined as the input / output power limit values in each domain.

[0055] Specifically, as shown in the lower left of FIG. 9, the same value as the required power value RP1 is determined as the input / output power limit value lm1 for the motion domain D1. Similarly, the same value as the required power value RP2 is determined as the input / output power limit value lm2 for the battery domain D2. Also, the same value as the required power value RP3 is determined as the input / output power limit value lm3 for the auxiliary machine domain D3, and the same value as the required power value RP4 is determined as the input / output power limit value lm4 for the cooling water domain D4. Further, among the required power value RP5, the remaining power value excluding the power value excluded by comparison with the system availability SA is determined as the input / output power limit value lm5 for the air conditioning domain D5.

[0056] As shown in FIG. 8, the energy manager EM transmits the input / output power limit value determined by the negotiation in step S305 and the input / output power proposed value to each of the sub-managers sm1-sm5 (step S310). In the present embodiment, the required power value determined in step S210 of the instantaneous power optimization is used as the input / output power proposed value. When step S310 is completed, the power and energy management process ends, and when the next cycle time arrives, the power and energy management process is executed again. In step S310, in each of the sub-managers sm1-sm5 that have received the input / output power limit value and the input / output power proposed value, the received information is used to control the operations of the devices and the storage unit included in each domain.

[0057] (1-1) According to the control system 100 of the first embodiment described above, the energy manager EM exchanges information (required power value, actual power value, availability, accumulated energy amount, input / output power proposed value, input / output power limit value) including information capable of calculating a physical quantity represented by at least one of the power dimension and the energy dimension with the plurality of sub-managers sm1-sm5, thereby integrating and controlling the output power of the entire vehicle 10. Therefore, the power of the entire vehicle 10 can be appropriately controlled.

[0058] (1-2) Further, since the plurality of subsystems respectively correspond to the plurality of domains D1-D5 including the storage unit, the energy manager EM can transmit information (input / output power limit value) for integrally controlling the output power of the entire vehicle 10 to each of the sub-managers sm1-sm5 in consideration of the energy transfer in the storage unit included in each subsystem. Also, for example, even if there is an excess or deficiency in the supply power to the subsystem temporarily, the error between the target input / output power and the actual input / output power can be compensated by using the storage unit included in the subsystem.

[0059] (1-3) Also, since the information transmitted from the plurality of sub-managers sm1-sm5 to the energy manager EM includes the required power value, the measured value of the output power (actual power value), and the stored energy amount value, the energy manager EM can accurately identify the power-related situation in each subsystem and each domain.

[0060] (1-4) Also, since the information transmitted from the energy manager EM to each of the plurality of sub-managers sm1-sm5 includes the input / output power proposed value and the input / output power limit value, each sub-manager sm1-sm5 can appropriately control the input / output power in each subsystem by using the information received from the energy manager EM.

[0061] (2-1) Also, the energy manager EM executes arbitration according to the subsystem priority, which is the priority of the plurality of subsystems, for the required power value received from each sub-manager sm1-sm5, thereby determining the input / output power limit value in each subsystem (each domain). Therefore, the input / output power in each subsystem can be controlled within an appropriate range, and by continuously performing such appropriate control of the input / output power, the energy flowing in and out of each subsystem can be appropriately controlled. For this reason, the energy flow in and out of the entire vehicle 10 can be appropriately controlled.

[0062] (2-2) Also, for at least one subsystem, arbitration is executed for the required power calculated based on the storage plan. Therefore, on the premise that the storage plan is appropriately set, for at least the cooling water domain D4, an appropriate required power value along the storage plan is used in the arbitration.

[0063] (3-1) Further, the energy manager EM exchanges information with sub-managers sm1-sm5 of a plurality of subsystems respectively corresponding to a plurality of domains D1-D5, which include one or more devices mounted on the vehicle 10 and a storage unit that exchanges energy of a predetermined type with the one or more devices, to integrally control the output power of the entire vehicle 10. Also, since the energy manager EM plans the amount of stored energy in the storage units of the respective domains D1-D5, even in a configuration where a plurality of different types of energy (kinetic energy, electrical energy, thermal energy) are exchanged with the storage units in the respective domains D1-D5, it is possible to plan the amount of energy across the plurality of types of stored energy in the storage units of the respective domains D1-D5.

[0064] (3-2) Further, the energy manager EM acquires driving-related information such as weather, temperature, and gradient, and route information, and plans the amount of stored energy using the acquired information, so that it is possible to plan an appropriate amount of stored energy according to the driving state and driving environment of the vehicle and the planned driving route.

[0065] (3-3) Further, for the subsystem of the cooling water domain D4, which is at least one of the subsystems (each domain) of each subsystem, the energy manager EM calculates a required power value based on the planned amount of stored energy, and performs arbitration on such a required power value and the required power values received from other subsystems, thereby determining the input / output power limit values to be transmitted to each of the plurality of sub-managers sm1-sm5. Therefore, it is possible to cause an appropriate amount of power corresponding to the amount of energy planned across the plurality of types of stored energy in the storage units of the respective domains D1-D5 to be exchanged in the cooling water domain D4.

[0066] B. Second Embodiment: The vehicle 10a of the second embodiment shown in FIG. 10 is configured as a hybrid vehicle. The vehicle 10a of the second embodiment is different from the vehicle 10 of the first embodiment shown in FIG. 1 in that it includes a fuel domain D6, an engine d16 in the motion domain D1, an electric heater d25 in the battery domain D2, the inverter d22 and the motor generator d23 are not included in the cooling water domain D4, and the chiller d41 and the heat exchanger d44 are omitted. Other configurations of the vehicle 10a in the second embodiment are the same as those of the vehicle 10 in the first embodiment. Therefore, the same reference numerals are assigned to the same components, and detailed descriptions thereof are omitted. Note that the vehicle 10a of the second embodiment includes the same control system 100 as the vehicle 10 of the first embodiment. Therefore, power and energy management processing is executed in the same manner as in the first embodiment.

[0067] The fuel domain D6 includes a group of devices and a storage unit that exchange chemical energy with each other. Specifically, the fuel domain D6 includes fuel d61. In addition to the fuel d61, the fuel domain D6 also includes other devices (not shown) related to the input and output of fuel, such as a fuel tank, a fuel pump, and a fuel pipe. Here, as the input / output power proposed value and the input / output power limit value, which are information transmitted from the energy manager EM to the fuel domain D6 (the fuel sub-manager sm6 described later), for example, they can be used by applying a geofencing (exhaust gas prohibition in residential areas, etc.) function. That is, when arriving at a specific area such as a residential area by GPS, the output power of the fuel domain D6 may be set to "0" (zero).

[0068] The engine d16 is driven by burning the fuel d61. The engine d16 is included in the motion domain D1 and is also included in the cooling water domain D4 and the fuel domain D6. That is, the engine d16 provides kinetic energy, and the thermal energy generated by the operation of the engine d16 is absorbed by the cooling water d42.

[0069] The electric heater d25 operates by power supply from the battery d21 and heats the cooling water d42. The heater core d43 uses the cooling water d42 heated by the engine d16 to apply heat to the cabin d51. In other words, the heater core d43 performs heat exchange between the cooling water d42 and the inside of the cabin d51.

[0070] As shown in FIG. 11, the control system 100a of the second embodiment is different from the control system 100 of the first embodiment shown in FIG. 2 in that it includes an engine ECU 120, and other configurations are the same as those of the control system 100. The engine ECU 120 controls the operation of the engine d16. The engine ECU 120 includes a fuel sub-manager sm6 as a functional unit. The fuel sub-manager sm6 corresponds to the fuel domain D6 and controls the output power and input power in the fuel subsystem.

[0071] The control system 100a of the second embodiment described above has the same effects as the control system 100 of the first embodiment. In the second embodiment, a cooling water system different from the cooling water system using the cooling water d42 may be provided for cooling the inverter d22 and the motor generator d23.

[0072] C. Third Embodiment: The control system 100 of the third embodiment is different from the first embodiment in the specific method of arbitration in step S305 in power arbitration. Since other configurations in the control system 100 of the third embodiment are the same as those of the control system 100 of the first embodiment, the same reference numerals are given to the same components and the same procedures, and detailed descriptions thereof are omitted.

[0073] As shown on the left side in FIG. 12, the required power values PR1a, PR2a, PR3a, PR5a received from each of the sub-managers sm1-3, sm5 and the required power value PR4a determined in step S210 of the instantaneous power optimization for the cooling water domain D4 each consist of two types (two levels) of sub-required power values with different power priorities set for each other. In the present embodiment, the sub-required power value with a higher power priority set is called the first sub-required power value, and in FIG. 12, it is represented with hatching. Also, the sub-required power value with a lower power priority set is called the second sub-required power value, and in FIG. 12, it is represented without hatching. In the present embodiment, the first sub-required power means the minimum necessary power value (Must-have input / output power) in each domain. The second sub-required power value means a power value (desired input / output power: Want) that it is desirable to satisfy if there is a margin.

[0074] In each of the sub-managers sm1 - sm5, two types (two levels) of sub-request power values, namely a first sub-request power value and a second sub-request power value, are obtained in advance, and together with the power priority information, the request power value is transmitted to the energy manager EM. In this embodiment, the subsystem priority is preset among all domains for each power priority. That is, the subsystem priority among domains is preset for a high power priority (the first sub-request power value), and independently of that, the subsystem priority among domains is preset for a low power priority (the second sub-request power value). In the example of FIG. 12, the sub-manager sm1 transmits the first sub-request power value m1 and the second sub-request power value w1 to the energy manager EM as the request power value PR1a. Similarly, the battery sub-manager sm2 transmits the first sub-request power value m2 and the second sub-request power value w2 to the energy manager EM as the request power value PR2a. Also, the accessory manager sm3 transmits the first sub-request power value m3 and the second sub-request power value w3 to the energy manager EM as the request power value PR3a. Further, the air-conditioning sub-manager sm5 transmits the first sub-request power value m4 and the second sub-request power value w5 to the energy manager EM as the request power value PR5a. In step S210 of the instantaneous power optimization in this embodiment, the first sub-request power value m5 and the second sub-request power value w4 are determined, and these are used in the energy manager EM as the request power value PR4a in the cooling water domain D4. Note that the numbers "1" - "5" in each of the first sub-request power values m1 - m5 indicate the subsystem priority for the high power priority. Also, the numbers "1" - "5" in each of the second sub-request power values w1 - w5 indicate the subsystem priority for the low power priority.

[0075] The energy manager EM arranges the first secondary required power values m1 - m5 and the second secondary required power values w1 - w5 subject to mediation based on power priority and subsystem priority. The rules at this time include both the rule that a secondary required power value with a higher power priority is prioritized over a secondary required power value with a lower power priority, and the rule that among the secondary required power values with the same power priority, a secondary required power value with a higher subsystem priority is prioritized over a secondary required power value with a lower subsystem priority. In the example of FIG. 12, under such rules, from the side with the higher priority (the overall priority) to the lower side, the first secondary required power value m1, the first secondary required power value m2, the first secondary required power value m3, the first secondary required power value m4, the first secondary required power value m5, the second secondary required power value w1, the second secondary required power value w2, the second secondary required power value w3, the second secondary required power value w4, and the second secondary required power value w5 will be arranged in this order. Then, similar to the first embodiment, the energy manager EM adds up the arranged required power values in order from the required power value with the highest priority, and excludes the required power after that point when the system availability SA is reached. As a result, in the example of FIG. 12, a part of the second secondary required power value w4 and all of the second secondary required power value w5 are excluded. The energy manager EM transmits the value obtained by adding the first secondary required power value m1 and the second secondary required power value w1 to the motion sub - manager sm1 as the input / output power limit value lm1a for the motion domain D1. Also, the energy manager EM transmits the value obtained by adding the first secondary required power value m2 and the second secondary required power value w2 to the battery sub - manager sm2 as the input / output power limit value lm2a for the battery domain D2. Also, the energy manager EM transmits the value obtained by adding the first secondary required power value m3 and the second secondary required power value w3 to the auxiliary equipment manager sm3 as the input / output power limit value lm3a for the auxiliary equipment domain D3. Also, the energy manager EM transmits the first secondary required power value m5 and a part of the second secondary required power value w4 to the cooling water sub - manager sm4 as the input / output power limit value lm4a. Also, the energy manager EM transmits the first secondary required power value m4 to the air - conditioning manager sm5 as the input / output power limit value lm5a for the air - conditioning domain D5.

[0076] Thus, in the third embodiment, when the system availability SA is greater than each of the first sub-request power values m1 - m5, at least the first sub-request power values m1 - m5 can be transmitted as the input / output power limit values for each of the domains D1 - D5. Therefore, the minimum necessary power value (required input / output power: Must) can be input / output in each domain.

[0077] The control system 100 of the third embodiment described above has the same effect as the control system 100 of the first embodiment.

[0078] (2 - 4) In addition, since the energy manager EM mediates the first and second sub-request power values received from the plurality of sub-managers sm1 - sm3, sm5 and the first and second sub-request power values obtained by instantaneous power optimization based on the storage plan for the cooling water domain D4, compared with a configuration that mediates the required power values received from each of the sub-managers sm1 - sm3 and the required power values determined by instantaneous power optimization based on the storage plan for the cooling water domain D4 as single values respectively, the required power for each subsystem can be mediated more precisely.

[0079] (2 - 5) Also, since independent subsystem priorities are set for the plurality of first sub-request power values for the plurality of subsystems (domains) and the plurality of second sub-request power values for the plurality of subsystems (domains), it is possible to provide a priority order among the subsystems for each sub-request power value (first sub-request power value, second sub-request power value) according to the power priority. Therefore, for example, for power (sub-request power) with a high priority, the priority of a certain subsystem can be adjusted to be the highest, and for power (sub-request power) with a low priority, the priority of another subsystem can be adjusted to be the highest, realizing a more detailed adjustment of power (sub-request power).

[0080] (2-6) Also, among the first secondary required power value and the second secondary required power value, since the first secondary required power value is the minimum required power value in the subsystem, at least for the minimum required power value, it can be adjusted according to the priority among subsystems. Also, since the minimum required power value is set to a higher power priority, in each subsystem (domain), the minimum required power can be preferentially negotiated.

[0081] D. Fourth Embodiment: The control system 100b of the fourth embodiment shown in FIG. 13 differs from the control system 100 of the first embodiment shown in FIG. 2 in that the energy manager EM includes a priority adjustment unit 111, the subsystem priority is not a fixed value but can be set and changed, and the subsystem priority is set (adjusted) according to an instruction from an external device. Other configurations in the control system 100b of the fourth embodiment are the same as those in the control system 100 of the first embodiment, so the same components are denoted by the same reference numerals and their detailed descriptions are omitted.

[0082] The priority adjustment unit 111 shown in FIG. 13 sets the subsystem priority. The priority adjustment unit 111 adjusts (sets) the subsystem priority according to an instruction from an external communication device input via the input / output interface unit 170 and the external communication unit 210.

[0083] For example, as shown in FIG. 14, while the vehicle 10 traveling on the general road rd1 is passing through the interchange 900 in order to enter the highway rd2, the subsystem priority may be set (adjusted). Specifically, within the building 510 installed at a distance from the vehicle 10 passing through the interchange 900 and within a distance where wireless communication with the vehicle 10 is possible near the interchange 900, a device 500 for instructing the change of the subsystem priority (hereinafter referred to as the "priority adjustment instruction device 500") is arranged. When this device 500 identifies that the vehicle 10 has entered the area Ar1 within a predetermined distance range from the device 500, for example, based on the received signal strength of the wireless signal, etc., it transmits a predetermined subsystem priority to the vehicle 10. Then, in the control system 100, the priority adjustment unit 111 sets the received subsystem priority as the subsystem priority used for arbitration. As the subsystem priority set at this time, since it is necessary to sufficiently accelerate the vehicle 10 when entering the highway rd2, a sub-priority can be set such that the subsystem priority for the motion domain D1 becomes higher. On the other hand, while traveling on the general road rd1, for example, for the purpose of improving the comfort of the user with respect to temperature, a sub-priority can be set such that the subsystem priority for the air-conditioning domain D5 becomes higher. Note that the device 500 notifies the control system 100 that it is currently passing through the interchange 900, and the energy manager EM in the control system 100 that has received such a notification may determine to change the subsystem priority.

[0084] Note that in the present embodiment, the input / output interface unit 170 corresponds to the "input interface" in the present disclosure.

[0085] The control system 100b of the fourth embodiment described above has the same effects as the control system 100 of the first embodiment.

[0086] (2-7) In addition, since the subsystem priorities can be adjusted without being fixed values, the subsystem priorities can be set according to changes in the state and driving environment of the vehicle 10, such as the driving environment of the vehicle 10 including weather, outside air temperature, altitude, driving time zone, total driving distance, etc., and the control of the energy input and output of the entire vehicle 10 can be appropriately performed according to changes in the state and driving environment of the vehicle 10.

[0087] (2-8) Further, since the priority adjustment unit 111 adjusts the subsystem priorities set for a plurality of subsystems (domains) to the subsystem priorities input from the external communication unit 210 via the input / output interface unit 170, by inputting appropriate priorities from the input / output interface unit 170 (in this embodiment, more precisely, from the priority adjustment instruction device 500), the control of the energy input and output of the entire vehicle 10 can be appropriately performed according to changes in the state and driving environment of the vehicle 10.

[0088] (2-9) Further, since the input interface unit has a communication interface, appropriate priorities can be input from outside the control system 100b.

[0089] E. Fifth Embodiment: Since the control system 100 of the fifth embodiment has the same configuration as the control system 100 of the first embodiment, the same reference numerals are assigned to the same components, and the detailed description thereof is omitted. The tables used in the storage plan (step S10), instantaneous power optimization (step S20), and power adjustment (step S30) performed by the energy manager EM can vary greatly depending on the types and capabilities of the devices and storage units included in each domain. Therefore, in the control system 100 of the fifth embodiment, when the devices and storage units are modified, or even when the number of subsystems (domains) themselves increases or decreases, the information regarding these devices and storage units is rewritten.

[0090] The energy manager EM of the fifth embodiment has in advance the device list Ls1 shown in FIGS. 15 and 16, and information (efficiency, maximum output, etc.) of each device described in the device list Ls1. The device list Ls1 is a list that records each device and subsystem that can be mounted in the vehicle 10 and information indicating whether it is actually mounted (presence or absence). In the example of FIG. 15, the electric heater 2 is recorded as not being mounted. However, when the electric heater 2 is added to the vehicle 10, as shown in FIG. 16, the presence / absence flag for the electric heater 2 changes to "1" indicating "present". Therefore, the energy manager EM can perform instantaneous power optimization and the like in consideration of the presence of this electric heater 2.

[0091] Also, as a modification of the fifth embodiment, the energy manager EM may have the device list Ls3 shown in FIG. 17. In the device list Ls3, in addition to the capabilities (efficiency, maximum output, minimum output) of each device, information indicating from which of the domains D1 - D5 the device receives energy supply (IN) and to which domain the device supplies energy (OUT) is recorded. Regarding the capabilities of each device, a scalar value may be recorded, or a map may be recorded separately and information that can identify such a map may be recorded. This device list Ls3 records in the list all types of devices that are assumed to be mounted in the vehicle 10 in advance, and addition, deletion, or change of the relevant device may be performed by adding, deleting, or changing the information indicating "IN" and the information indicating "OUT".

[0092] Each sub - manager sm - sm5 may notify the energy manager EM of information on the type and capabilities (efficiency, maximum output, minimum output, etc.) of the modified device or subsystem when the device or subsystem is modified. Also, the information to be notified may include at least a part of the type, maximum input power, and maximum output power of the device or subsystem.

[0093] F. Other Embodiments: (F1) In the first embodiment, the subsystem priority is fixedly set. Depending on the magnitude of the system availability SA, for domains with low priority, a value smaller than the required power value is always set as the input / output power limit value, resulting in a constant limitation on the input / output power. Therefore, for example, when a part is excluded as in the required power value RP5 in FIG. 9 and the input / output power limit value lm5 is set, the difference between the limited power value, that is, the required power value and the input / output power limit value, may be integrated, and the subsystem priority may be changed according to the integrated value. For example, when the integrated value exceeds a threshold, processes such as raising the subsystem priority by one level or setting the subsystem priority to the highest level may be performed. Note that instead of the integrated value of the difference, the subsystem priority may be adjusted according to any type of statistical value of the difference, such as the average value of the difference or the maximum value of the difference within a predetermined time. (2-11) According to such a configuration, since the subsystem priority is adjusted according to the statistical value of the difference between the required power value received from each sub-manager and the input / output power limit value transmitted to each sub-manager, as a result of mediation according to the priority, it is possible to suppress the continuation of an excess or deficiency of supply power in a specific subsystem.

[0094] (F2) In each embodiment, the mapping between the energy manager EM and each sub-manager sm1-sm5 and each ECU110-160 can be arbitrarily performed. For example, the energy manager ECU110 may be omitted, and the motor generator ECU130 may be configured to include the energy manager EM as a functional unit. Also, for example, a new cooling water ECU may be provided, and such a cooling water ECU may be configured to include the cooling water sub-manager sm4 as a functional unit.

[0095] (F3) In each embodiment, instead of, or in addition to, the actual power value transmitted from each of the sub-managers sm1-sm5 to the energy manager EM, the current power estimated value may be transmitted. For example, in a configuration where there is no sensor capable of directly measuring the actual power, the actual power may be calculated (estimated) using the detection value of a sensor that detects a value capable of calculating such actual power, and such an estimated value may be transmitted to the energy manager EM.

[0096] (F4) In each embodiment, as information transmitted from each of the sub-managers sm1-sm5 to the energy manager EM, the amount of energy that can be further stored in the storage units of each of the domains D1-D5 may be transmitted to the energy manager EM. The "amount of energy that can be further stored" means, that is, the difference value between the maximum amount of energy that can be stored in the storage unit and the current amount of energy stored. Note that the above-described stored energy amount value corresponds to the "amount of energy that can be further released".

[0097] (F5) In the fourth embodiment, the subsystem priority could be adjusted, but this may be applied to the power priority in the third embodiment. That is, in the third embodiment, instead of, or in addition to, the subsystem priority, the power priority may also be configured to be adjustable. Even in such a configuration, the same effects as in the third and fourth embodiments can be achieved.

[0098] (F6) In the fourth embodiment, the subsystem priority was adjusted according to an instruction input from the priority adjustment instruction device 500 via the input / output interface unit 170 and the external communication unit 210, but the present disclosure is not limited to this. The subsystem priority may be adjusted according to an instruction regarding the subsystem priority input by the user from the user interface unit 220. According to such a configuration, the user can input an appropriate priority using the user interface unit 220.

[0099] (F7) In each embodiment, each subsystem corresponded one-to-one to each of the domains D1 - D5, but the present disclosure is not limited to this. For example, the cooling water domain D4 and the air conditioning domain D5 may be regarded as one subsystem.

[0100] (F8) In each embodiment, the information transmitted from the energy manager EM to each of the sub-managers sm1 - sm5 was the input / output power proposed value and the input / output power limit value, but the input / output power proposed value may be omitted.

[0101] (F9) In each embodiment, for the cooling water domain D4, different from the other domains D1 - D3, D5, the required power obtained as a result of instantaneous power optimization was used for mediation, but the present disclosure is not limited to this. Instead of or in addition to the cooling water domain D4, for at least some of the other domains D1 - D3, D5, the required power obtained as a result of instantaneous power optimization may be used for mediation. Conversely, for all of the domains D1 - D5, a configuration may be adopted in which the required power values received from each of the sub-managers sm1 - sm5 are used for mediation.

[0102] (F10) In each embodiment, the subsystem priority was set in the energy manager EM, but the subsystem priority may be set in each of the sub-managers sm1 - sm5. In such a configuration, each of the sub-managers sm1 - sm5 may transmit information indicating the subsystem priority together with the required power value to the energy manager EM.

[0103] (F11) In the third embodiment, each of the sub-managers sm1-sm5 transmitted information on power priority together with the first sub-request power value and the second sub-request power value. However, the present disclosure is not limited to this. For example, each of the sub-managers sm1-sm5 may transmit to the energy manager EM the total power value of the first sub-request power value and the second sub-request power value, and information indicating the ratio between the first sub-request power value and the second sub-request power value among such total power values. Even in such a configuration, the energy manager EM can identify the first sub-request power value and the second sub-request power value in each of the domains D1-D5. In such a configuration, the "information indicating the ratio between the first sub-request power value and the second sub-request power value" can also be referred to as information (division information) for dividing the request power value into a plurality of sub-request power values with different power priorities set for each other. Even in such a configuration, the same effects as those of the third embodiment can be achieved.

[0104] (F12) The ECUs 110-160 and the methods described in the present disclosure may be implemented by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the ECUs 110-160 and the methods described in the present disclosure may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the ECUs 110-160 and the methods described in the present disclosure may be implemented by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executable by a computer.

[0105] The present disclosure is not limited to the above-described embodiments, and can be implemented in various configurations without departing from the spirit thereof. For example, the technical features in each embodiment corresponding to the technical features in the form described in the summary of the invention can be appropriately replaced or combined in order to solve some or all of the above-described problems, or to achieve some or all of the above-described effects. Further, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Description of Reference Numerals

[0106] 10…Vehicle, 100, 100a, 100b…Control system, sm1-sm5…Sub-manager, EM…Energy manager, D1-D5…Domain

Claims

1. A control system (100, 100a, 100b) for controlling power supply in a vehicle (10), a plurality of sub - power managers (sm1 - sm5) for controlling output power in each of a plurality of subsystems that realize each function of the vehicle, an integrated power manager (EM) for integrating and controlling output power of the entire vehicle by exchanging information with the plurality of sub - power managers, comprising: the plurality of subsystems respectively correspond to a plurality of domains (D1 - D5) including one or more devices mounted on the vehicle and a storage unit for exchanging a predetermined type of energy with the one or more devices, the information exchanged between the plurality of sub - power managers and the integrated power manager is information capable of calculating a physical quantity represented by at least one of a power dimension and an energy dimension, the information transmitted from the plurality of sub - power managers to the integrated power manager includes a required power value in the subsystem and a power supply - capable value from at least one sub - power manager that supplies energy among the plurality of sub - power managers, the information transmitted from the integrated power manager to the plurality of sub - power managers includes an input / output power limit value in the subsystem, the integrated power manager determines the input / output power limit value in each subsystem by performing mediation according to the subsystem priority, which is the priority of the plurality of subsystems, for the required power value received from each sub - power manager, the plurality of sub - power managers transmit to the integrated power manager splitting information, which is information for splitting the required power value into a plurality of sub - required power values with different power priorities set for each other, The integrated power manager divides the requested power value received from the plurality of sub - power managers into a plurality of sub - requested power values by using the division information, and subjects the divided sub - requested power values to the mediation. The plurality of sub - requested power values include a first sub - requested power value (m1 - m5) with a high power priority and a second sub - requested power value (w1 - w5) with a low power priority. A control system in which independent subsystem priorities are set for a plurality of the first sub - requested power values for the plurality of subsystems and a plurality of the second sub - requested power values for the plurality of subsystems.

2. A control system (100, 100a, 100b) for controlling power supply in a vehicle (10), A plurality of sub - power managers (sm1 - sm5) for controlling the output power in each of a plurality of subsystems that implement each function of the vehicle, An integrated power manager (EM) that integrates and controls the output power of the entire vehicle by exchanging information with the plurality of sub - power managers, Comprising The plurality of subsystems respectively correspond to a plurality of domains (D1 - D5) including one or more devices mounted on the vehicle and a storage unit that exchanges a predetermined type of energy with the one or more devices, The information exchanged between the plurality of sub - power managers and the integrated power manager is information capable of calculating a physical quantity represented by at least one of a power dimension and an energy dimension. The information transmitted from the plurality of sub - power managers to the integrated power manager includes a requested power value in the subsystem and a power supply - capable value from at least one of the sub - power managers that supply energy among the plurality of sub - power managers. The information transmitted from the integrated power manager to the plurality of sub - power managers includes an input / output power limit value in the subsystem. The integrated power manager determines the input / output power limit values in each subsystem by performing mediation according to the subsystem priorities, which are the priorities of the plurality of subsystems, for the required power values received from the respective sub-power managers, The plurality of sub-power managers transmit, to the integrated power manager, a plurality of sub-requested power values having different power priorities as the required power values, The integrated power manager targets the plurality of sub-requested power values received from the plurality of sub-power managers for the mediation, The plurality of sub-requested power values include a first sub-requested power value (m1 - m5) with a high power priority and a second sub-requested power value (w1 - w5) with a low power priority, A control system in which independent subsystem priorities are set for the plurality of first sub-requested power values for the plurality of subsystems and the plurality of second sub-requested power values for the plurality of subsystems, respectively.

3. A control system (100, 100a, 100b) for controlling power supply in a vehicle (10), A plurality of sub-power managers (sm1 - sm5) for controlling the output power in each of a plurality of subsystems that realize each function of the vehicle, An integrated power manager (EM) that integrates and controls the output power of the entire vehicle by exchanging information with the plurality of sub-power managers, comprising The plurality of subsystems respectively correspond to a plurality of domains (D1 - D5) including one or more devices mounted on the vehicle and a storage unit that exchanges a predetermined type of energy with the one or more devices, Information exchanged between the plurality of sub-power managers and the integrated power manager is information capable of calculating a physical quantity represented by at least one of a power dimension and an energy dimension, The information transmitted from the plurality of sub-power managers to the integrated power manager includes a required power value in the subsystem and a power supply available value from at least one sub-power manager that supplies energy among the plurality of sub-power managers. The information transmitted from the integrated power manager to the plurality of sub-power managers includes an input / output power limit value in the subsystem. The integrated power manager determines the input / output power limit value in each subsystem by performing mediation according to the subsystem priority, which is the priority of the plurality of subsystems, for the required power value received from each sub-power manager. The control system further includes a priority adjustment unit (111) for adjusting the subsystem priority. The transmission of the required power value from the plurality of sub-power managers to the integrated power manager and the transmission of the input / output power limit value from the integrated power manager to the plurality of sub-power managers are repeatedly executed. The priority adjustment unit obtains the difference between the required power value received from each sub-power manager and the input / output power limit value transmitted to each sub-power manager, and adjusts the subsystem priority according to the statistical value of such a difference.

4. In the control system according to any one of claims 1 to 3, The integrated power manager creates an energy plan, which is a plan for energy generation and utilization, for at least one subsystem among each subsystem, calculates a required power value for the at least one subsystem based on the energy plan, For the at least one subsystem, instead of the required power value received from the sub-power manager of the subsystem, the required power value calculated based on the energy plan is the subject of the mediation.

5. In the control system according to claim 1 or claim 2, A control system, wherein the plurality of sub-request power values include the minimum required power value in the corresponding subsystem.

6. In the control system according to claim 3, Further comprising an input interface unit (170) that allows input of the subsystem priority, The priority adjustment unit adjusts the subsystem priority set for the plurality of subsystems to the subsystem priority input from the input interface unit. A control system.

7. In the control system according to claim 6, The input interface unit inputs the subsystem priority via an external communication unit (210) that allows input of the subsystem priority by communication from outside the control system. A control system.

8. In the control system according to claim 6, The input interface unit inputs the subsystem priority via a user interface (220) that allows a user to input the priority of the subsystem. A control system.

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