Hybrid vehicle control device

Abstract

To provide a control apparatus of a hybrid vehicle capable of suppressing consumption power from increasing.SOLUTION: A control apparatus of a hybrid vehicle that includes a motor and an internal combustion engine as a power source includes: a diagnostic part for diagnosing a component of the hybrid vehicle during a fuel cut of the internal combustion engine; an estimation part for estimating a time required for the diagnostic part to diagnose; an upper-limit setup part for setting an upper limit of a time for executing the fuel cut; and a motor control part for controlling the motor. Further, in a case where the time estimated by the estimation part is equal to or less than the upper limit, the motor control part permits a power assist by the motor during the fuel cut, whereas in a case where the time estimated by the estimation part is longer than the upper limit, the motor control part limits the power assist by the motor during the fuel cut.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a control device for a hybrid vehicle. [Background technology]

[0002] In a hybrid vehicle, there are cases where a self-diagnosis is performed on, for example, an air-fuel ratio sensor during a fuel cut (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-127004 Summary of the Invention [Problem to be solved by the invention]

[0004] During fuel cut, the motor outputs driving force (motor assist). If the self-diagnosis is not completed, fuel cut and motor assist are repeated. This increases the number of motor assists, resulting in increased power consumption. Therefore, the objective is to provide a control device for a hybrid vehicle that can suppress increases in power consumption. [Means for solving the problem]

[0005] The above object can be achieved by a control device for a hybrid vehicle having a motor and an internal combustion engine as power sources, the control device comprising: a diagnosis unit that diagnoses parts of the hybrid vehicle during a fuel cut of the internal combustion engine; an estimation unit that estimates the time required for the diagnosis by the diagnosis unit; an upper limit setting unit that sets an upper limit for the time for executing the fuel cut; and a motor control unit that controls the motor, wherein if the time estimated by the estimation unit is equal to or less than the upper limit, the motor control unit allows power assist by the motor during the fuel cut, and if the time estimated by the estimator is longer than the upper limit, the motor control unit limits power assist by the motor during the fuel cut.

[0006] A filter may be provided in an exhaust path of the internal combustion engine, and the upper limit setting unit may set the upper limit based on an amount of particulate matter deposited on the filter and a temperature of the filter.

[0007] The vehicle may further include a first measuring unit that measures the number of times the diagnosis by the diagnosing unit is not completed, and if the number of times the diagnosis by the diagnosing unit is not completed is equal to or greater than a predetermined number and the time estimated by the estimating unit is longer than the upper limit, the motor control unit may limit the power assist by the motor during the fuel cut.

[0008] The device may include a second measuring unit that measures the time that elapses during the fuel cut, and if the number of times that the diagnosis by the diagnosis unit is not completed is equal to or greater than the predetermined number of times and the time that elapsed during the diagnosis by the diagnosis unit is less than the predetermined time, the motor control unit may limit the power assist by the motor during the fuel cut, and if the number of times that the diagnosis by the diagnosis unit is not completed is equal to or greater than the predetermined number of times and the time that elapsed during the diagnosis by the diagnosis unit is equal to or greater than the predetermined time, the motor control unit may allow the power assist by the motor during the fuel cut. [Effects of the Invention]

[0009] A control device for a hybrid vehicle that can suppress an increase in power consumption can be provided. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram illustrating a hybrid vehicle. [Figure 2] FIG. 2 is a schematic diagram illustrating an engine. [Figure 3] FIG. 3 is a diagram illustrating an example of an upper limit of the fuel cut time. [Figure 4] FIG. 4 is a flowchart illustrating the processing in the first embodiment. [Figure 5] FIG. 5 is a flowchart illustrating the processing in the second embodiment. [Figure 6] FIG. 6 is a diagram illustrating a time chart. DETAILED DESCRIPTION OF THE INVENTION

[0011] First Embodiment 1 is a block diagram illustrating a hybrid vehicle 100. The hybrid vehicle (hereinafter sometimes simply referred to as a vehicle) 100 includes an ECU 10, a battery 12, a converter 14, an inverter 16, a motor generator (MG) 18, a motor generator (MG) 20, a power split mechanism 22, a reduction gear 24, drive wheels 26, and an engine 30 (internal combustion engine).

[0012] The engine 30 and the MG 20 function as a power source for driving the vehicle. The MG 20 is also used, for example, to start the engine 30. The MG 18 functions as a generator for charging the battery 12.

[0013] The power split mechanism 22 transmits the driving power of the engine 30 and the MG 20 to the reducer 24. The distribution of the power of the engine 30 and the power of the MG 20 can be changed as desired by the power split mechanism 22. The power split mechanism 22 is composed of a planetary gear set including, for example, a sun gear, a planetary carrier, and a ring gear.

[0014] When MG18 or MG20 functions as a motor, the DC power discharged from battery 12 is boosted by converter 14 and converted into AC power by inverter 16. This AC power is supplied to MG18 or MG20.

[0015] When charging the battery 12, the MG 18 or MG 20 functions as a generator. The AC power generated by the MG 18 or MG 20 is converted into DC power by the inverter 16, and the voltage is reduced by the converter 14, after which it is supplied to the battery 12.

[0016] (Engine outline) FIG. 2 is a schematic diagram illustrating an engine 30. As shown in FIG. 2, a combustion chamber 33 is formed inside an engine body 32 of the engine 30. A piston 34, a connecting rod 35, and a crankshaft 36 are arranged inside the engine body 32. The piston 34 is connected to the crankshaft 36 by the connecting rod 35. The engine body 32 is provided with a rotation speed sensor 37, an ignition plug 38, and a fuel injection valve 39. The rotation speed sensor 37 detects the rotation speed of the engine 30. The fuel injection valve 39 supplies fuel to the combustion chamber 33 (in-cylinder injection). The spark plug 38 ignites the air-fuel mixture in the combustion chamber 33. The fuel injection valve 39 is provided in an intake path 40, and port injection may be performed.

[0017] An intake path 40 and an exhaust path 41 are connected to the engine body 32. An intake valve 46 and an exhaust valve 47 are opened and closed by rotation of a camshaft (not shown).

[0018] An air cleaner 42, an air flow meter 43, and a throttle valve 44 are provided in the intake path 40, from upstream to downstream. The air cleaner 42 removes dust and other particles from the air flowing in from the outside. The air flow meter 43 acquires the amount of intake air. The throttle valve 44 is driven, for example, by an actuator (not shown) to adjust the amount of intake air. When the opening of the throttle valve 44 increases, the amount of intake air increases, and when the opening decreases, the amount of intake air decreases.

[0019] When intake valve 46 opens, air is introduced from intake path 40 into combustion chamber 33. Fuel injected from fuel injection valve 39 forms an air-fuel mixture with the air, which is compressed by piston 34, and spark plug 38 ignites the mixture. Upon ignition, piston 34 moves up and down within combustion chamber 33, causing crankshaft 36 to rotate. Exhaust gas after combustion is discharged through exhaust path 41.

[0020] The exhaust path 41 is provided with an air-fuel ratio sensor 48, a pressure sensor 53, a filter 45, and a pressure sensor 54, in this order from upstream to downstream. The air-fuel ratio sensor 48 detects the air-fuel ratio of the gas flowing through the exhaust path 41. The filter 45 is, for example, a gasoline particulate filter (GPF). The filter 45 is a porous ceramic structure in which the front and rear ends of adjacent cells are alternately sealed. Exhaust gas flows into cells with open upstream ends of the filter 45 and passes through the porous walls between adjacent cells, capturing PM (particulate matter) in the exhaust gas. The filter 45 may be supported with a precious metal such as platinum. During filter regeneration, the precious metal promotes the oxidation reaction of accumulated PM.

[0021] The pressure sensor 53 detects the pressure in the exhaust path 41 upstream of the filter 45. The pressure sensor 54 detects the pressure in the exhaust path 41 downstream of the filter 45.

[0022] A temperature sensor 49 is provided in the exhaust path 41 near the filter 45. The temperature sensor 49 detects the temperature of the filter 45. The exhaust path 41 may be provided with a component for purifying the exhaust gas, such as a three-way catalyst.

[0023] One end of the EGR path 50 is connected to the exhaust path 41, and the other end is connected to the intake path 40. An EGR valve 52 is provided midway through the EGR path 50. A portion of the exhaust gas (EGR gas) flows into the intake path 40 through the EGR path 50 and is introduced back into the combustion chamber 33. As the opening of the EGR valve 52 increases, the flow rate of the EGR gas increases, and as the opening decreases, the flow rate of the EGR gas decreases. The EGR path 50 may be provided with, for example, an EGR cooler that cools the EGR gas.

[0024] The ECU (Electric Control Unit) 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a storage device, etc., and performs various controls by executing programs stored in the ROM and the storage device. The ECU 10 is an example of a control device for the vehicle 100.

[0025] The ECU 10 acquires the rotation speed detected by the rotation speed sensor 37, the intake air amount detected by the air flow meter 43, the temperature of the filter 45 detected by the temperature sensor 49, and the air-fuel ratio detected by the air-fuel ratio sensor .

[0026] The ECU 10 acquires the pressure detected by the pressure sensor 53 and the pressure detected by the pressure sensor 54. The ECU 10 calculates the difference (differential pressure) between the pressure detected by the pressure sensor 53 and the pressure detected by the pressure sensor 54. The ECU 10 acquires the amount of PM deposited on the filter 45 based on the differential pressure. The greater the amount of PM deposited, the greater the differential pressure becomes.

[0027] ECU 10 functions as a motor control unit that controls MGs 18 and 20. ECU 10 controls engine 30, MG 18, and MG 20 so that the vehicle can switch between electric driving (EV driving) in which the vehicle runs without operating engine 30, and hybrid driving (HV driving) in which the vehicle runs with operating engine 30. ECU 10 controls charging and discharging of battery 12, etc. Instead of ECU 10, for example, both an engine ECU that controls engine 30 and a motor ECU that controls MGs 18 and 20, battery 12, etc. may be provided. In this case, the engine ECU and motor ECU are examples of control devices of vehicle 100.

[0028] The ECU 10 adjusts the ignition timing of the spark plug 38, the amount and timing of fuel injection from the fuel injection valve 39, and the opening of the throttle valve 44 and the EGR valve 52. The ECU 10 can stop the supply of fuel from the fuel injection valve 39 to the engine 30 (fuel cut). During fuel cut, the ECU 10 operates, for example, the MG 20 as a motor and causes the MG 20 to output power (motor assist).

[0029] The ECU 10 functions as a diagnostic unit that performs self-diagnosis (OBD processing, On Board Diagnosis) of components of the hybrid vehicle 100 during fuel cut. The components include, for example, the air-fuel ratio sensor 48 and the EGR valve 52. For example, when diagnosing the air-fuel ratio sensor 48, since exhaust from the engine main body 32 becomes the atmosphere upon the start of fuel cut, the presence or absence of a malfunction of the air-fuel ratio sensor 48 can be determined by monitoring whether the value of the sensor signal from the air-fuel ratio sensor 48 becomes an air-fuel ratio value equivalent to that of the atmosphere after a predetermined time has elapsed since the start of fuel cut control. When diagnosing the EGR valve 52, since load fluctuations on the engine 30 are extremely small during fuel cut control, if the EGR valve 52 is normal, the intake pressure fluctuates relatively greatly as the EGR valve 52 opens and closes. Therefore, when fuel cut control is performed, the presence or absence of a malfunction of the EGR valve 52 can be determined by determining whether the difference between the intake pressure when the EGR valve 52 is forcibly fully opened and the intake pressure when the EGR valve 52 is forcibly fully closed exceeds a preset threshold.

[0030] The ECU 10 functions as an estimation unit that estimates the time required from the start to the completion of OBD (OBD time) based on, for example, the air flow rate, the type of part, and the like.

[0031] When PM accumulates on the filter 45, the ECU 10 performs a regeneration process for the filter 45. For example, the ECU 10 cuts fuel. As a result of the fuel cut, air containing a large amount of oxygen flows into the exhaust path 41. The PM accumulated on the filter 45 is burned and removed.

[0032] During the filter regeneration process, the temperature of the filter 45 rises. The more oxygen is supplied to the filter 45, the greater the amount of PM accumulated, and the higher the temperature of the filter 45, the greater the amount of heat generated by the combustion of the PM. The filter 45 may be damaged by the heat. The ECU 10 functions as an upper limit setting unit that sets an upper limit for the time (F / C time) for which fuel cut is performed. When the F / C time reaches the upper limit, the ECU 10 stops the fuel cut and resumes the supply of fuel. By limiting the fuel cut time, damage to the filter 45 can be suppressed.

[0033] When the fuel cut time reaches its upper limit, the fuel cut is forcibly ended even if the self-diagnosis has not been completed, and the self-diagnosis is also ended without being completed. Even if motor assist was performed during the fuel cut, the fuel cut may end without the self-diagnosis being completed. The motor assist during the fuel cut will be wasted. To ensure an opportunity for self-diagnosis, the fuel cut is performed again. Repeated motor assist in response to the fuel cut increases power consumption. In the first embodiment, the number of times motor assist is performed is limited.

[0034] FIG. 3 is a diagram illustrating the upper limit of fuel cut time. The horizontal axis represents the amount of PM deposited on the filter 45. The vertical axis represents the temperature of the filter 45. ECU 10 sets the upper limit TL of the fuel cut time (F / C time in the diagram) according to the amount of PM deposited and the temperature of the filter 45. Four upper limits TL1, TL2, TL3, and TL4 are shown in FIG. 3. The greater the amount of PM deposited and the higher the temperature, the shorter the time. Of the four upper limits, TL1 is the longest. TL2 is shorter than TL1. TL3 is shorter than TL2. TL4 is shorter than TL3.

[0035] 4 is a flowchart illustrating the processing in the first embodiment. The ECU 10 sets an upper limit TL of the fuel cut time (step S10) and performs fuel cut (step S11). The ECU 10 estimates the OBD time T (step S12). The ECU 10 determines whether the self-diagnosis is incomplete (step S13). If the determination is affirmative (Yes), the ECU 10 determines whether the estimated self-diagnosis time T is equal to or less than the upper limit TL (step S18). If the determination is affirmative, the ECU 10 permits motor assist (step S22). Motor assist is performed during fuel cut.

[0036] If the determination in step S13 or S18 is negative (No), the ECU 10 prohibits motor assist (step S24). Motor assist is not performed during fuel cut. After step S22 or S24, the process in FIG. 4 ends.

[0037] According to the first embodiment, the ECU 10 diagnoses components (such as the air-fuel ratio sensor 48) during fuel cut. The ECU 10 estimates the time T required for self-diagnosis and sets an upper limit TL for the fuel cut. If the estimated OBD time T is longer than the upper limit TL, the ECU 10 limits motor assist. Limiting motor assist means reducing the number of times motor assist is performed, and motor assist may be prohibited (step S24). Unnecessary motor assist is prohibited in cases where fuel cut is interrupted before OBD is completed. If the estimated OBD time T is equal to or less than the upper limit TL, there is a high possibility that OBD will be completed during the fuel cut. The ECU 10 allows motor assist (step S22).

[0038] Unnecessary motor assist is prohibited, and motor assist is performed during fuel cut when it is estimated that OBD will be completed. By limiting opportunities for motor assist, it is possible to suppress increases in power consumption. Fuel efficiency is improved because there is no need to drive the MG to charge the battery 12.

[0039] 3, the ECU 10 determines the upper limit TL based on, for example, the amount of PM accumulation and the temperature of the filter 45. By setting the F / C time T to be equal to or less than the upper limit TL, damage to the filter 45 can be suppressed.

[0040] Second Embodiment The description of the same configuration as in the first embodiment will be omitted. The configurations in Figures 1 and 2 are common to the second embodiment.

[0041] The ECU 10 functions as a first measurement unit that measures the number of times the diagnosis is not completed (the number of times the OBD fails). The ECU 10 functions as a second measurement unit that measures the time that elapses during fuel cut.

[0042] 5 is a flowchart illustrating the processing in the second embodiment. The ECU 10 performs steps S10, S11, S12, and S13. The ECU 10 counts the number of OBD failures F and determines whether the number F is equal to or greater than a predetermined number Fth (step S14). If the determination is negative, the ECU 10 determines whether a request for motor assist is present (step S16). If the determination in step S16 is positive, the ECU 10 permits motor assist (step S22). If the determination in step S16 is negative, the ECU 10 prohibits motor assist (step S24).

[0043] If the determination in step S14 is affirmative, the ECU 10 determines whether the OBD estimated time T is equal to or less than the upper limit TL (step S18). If the determination is negative, the ECU 10 prohibits motor assist (step S24).

[0044] If the determination in step S18 is affirmative, the ECU 10 measures the time Tr that actually elapses during fuel cut, and determines whether the time Tr is equal to or greater than a predetermined time Tth (step S20). If the determination is affirmative, the ECU 10 permits motor assist (step S22). If the determination is negative, the ECU 10 prohibits motor assist (step S24). After step S22 or S24, the processing in FIG. 5 ends.

[0045] FIG. 6 is a diagram illustrating a time chart. From the top, the following items are displayed in order: fuel cut flag, self-diagnosis counter, self-diagnosis completion flag, self-diagnosis failure history flag, temperature of filter 45, amount of PM accumulation, fuel cut prohibition flag, fuel cut counter, and motor assist flag. In the example of FIG. 6, five fuel cuts are performed. The multiple fuel cuts are designated F / C1, F / C2, F / C3, F / C4, and F / C5 in order from earliest to latest. The fuel cut counter corresponds to the time Tr that elapses during fuel cut.

[0046] A self-diagnosis is performed during fuel cut. The self-diagnosis counter corresponds to the time of the self-diagnosis. When the self-diagnosis counter reaches Cth, the self-diagnosis is completed. When the self-diagnosis is completed, the self-diagnosis completion flag is turned on. If the self-diagnosis is interrupted, the completion flag remains off. When the number of self-diagnosis failures F reaches a predetermined number Fth or more, the failure history flag is turned on (step S14 in Figure 5). In the example of Figure 6, Fth is 2 times.

[0047] The prohibition flag is a prohibition flag for fuel cut with motor assist. When the prohibition flag is off, fuel cut with motor assist is permitted. When the prohibition flag is on, fuel cut with motor assist is prohibited, and motor assist is not performed either. When the motor assist flag is off, motor assist is prohibited. When the motor assist flag is on, motor assist is permitted.

[0048] During fuel cut 1 from time t1 to t2 and during fuel cut 2 from time t3 to t4, the motor assist flag is on, and motor assist is performed. Self-diagnosis is performed during fuel cut 1 and fuel cut 2. The self-diagnosis counter is shorter than Cth. The self-diagnosis is not completed. Because the self-diagnosis has failed twice, the failure history flag is turned on (step S14 in FIG. 5).

[0049] While fuel cut 3 is being executed, a self-diagnosis is performed but is not completed (the completion flag is off). When the motor assist flag is turned on as shown by the dashed line between times t5 and t6 while fuel cut 3 is being executed, the motor assist flag is executed. However, because the self-diagnosis is not completed, the motor assist is wasted.

[0050] According to the second embodiment, when fuel cut 3 is performed, the temperature of the filter 45 is higher than the temperature indicated by the dashed line. The amount of PM accumulation is greater than the amount indicated by the dashed line. The ECU 10 sets an upper limit TL of the F / C time in accordance with the temperature and the amount of PM accumulation (step S10). If the estimated time T is longer than the upper limit TL, the ECU 10 turns on the prohibition flag and prohibits fuel cut with motor assist (steps S18 and S24 in FIG. 5). As shown in FIG. 6, the motor assist flag is turned off, and motor assist is not performed.

[0051] While fuel cut 4 is being executed, self-diagnosis is performed but is not completed (completion flag is off). Between times t7 and t8 while fuel cut 4 is being executed, the motor assist flag is turned on as shown by the dashed line, and the motor assist flag is executed. However, since the self-diagnosis is not completed, the motor assist is wasted. According to the second embodiment, motor assist is prohibited while the fuel cut counter (time Tr) is less than Tth (steps S20 and S24 in FIG. 5). Fuel cut 4 ends before the fuel cut counter reaches Tth. Motor assist is not performed during fuel cut 4.

[0052] During fuel cut 5, the fuel cut counter reaches Tth. After that, from time t9 to t10, the motor assist flag is turned on. Motor assist is permitted (step S22 in FIG. 5). At time t10, the self-diagnosis counter reaches Cth or more. Self-diagnosis is completed.

[0053] According to the second embodiment, self-diagnosis and motor assist are performed in fuel cut 1 and fuel cut 2, but the self-diagnosis fails. It is expected that self-diagnosis of a component (e.g., air-fuel ratio sensor 48) takes a long time. If the number of times the self-diagnosis fails reaches, for example, two, the ECU 10 turns on the failure history flag (positive determination in step S14 of FIG. 5). If the estimated OBD time T is longer than the upper limit TL, the ECU 10 prohibits motor assist (steps S18 and S24 of FIG. 5, fuel cut 3 of FIG. 6). Reducing the number of times motor assist is performed makes it possible to suppress an increase in power consumption. Since there is no need to drive the MG to charge the battery 12, fuel efficiency is improved.

[0054] If the failure history flag is on and the fuel cut time Tr is less than Tth, motor assist is prohibited (steps S20 and S24 in FIG. 5, fuel cut 4 in FIG. 6). If the self-diagnosis fails, motor assist is not performed. This makes it possible to suppress increases in power consumption.

[0055] Even if the failure history flag is on, if the fuel cut time Tr is equal to or longer than Tth, motor assist is permitted (steps S20 and S22 in FIG. 5, fuel cut 5 in FIG. 6). The self-diagnosis is completed and motor assist is performed. The opportunity for motor assist is limited to when the self-diagnosis is successful. Unnecessary motor assist is suppressed, and an increase in power consumption can be suppressed.

[0056] The threshold value Fth for the number of self-diagnosis failures may be, for example, 1, 2, or 3 or more. The threshold value Tth for the fuel cut counter may be, for example, 2 seconds, 3 seconds, 4 seconds, 5 seconds, etc.

[0057] Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the present invention as set forth in the claims. [Explanation of symbols]

[0058] 10 ECU, 12 battery, 14 converter, 16 inverter, 18, 20 MG, 22 power split mechanism, 24 reduction gear, 26 drive wheels, 30 engine, 32 engine body, 34 piston, 35 connecting rod, 36 crankshaft, 38 spark plug, 39 fuel injection valve, 40 intake path, 41 exhaust path, 42 air cleaner, 43 air flow meter, 44 throttle valve, 45 filter, 46 intake valve, 47 exhaust valve, 48 air-fuel ratio sensor, 50 EGR path, 52 EGR valve, 53, 54 pressure sensor, 100 hybrid vehicle

Claims

1. A control device for a hybrid vehicle equipped with a motor and an internal combustion engine as power sources, The control device a diagnosis unit that diagnoses components of the hybrid vehicle while the internal combustion engine is being cut off from fuel; an estimation unit that estimates a time required for the diagnosis by the diagnosis unit; an upper limit setting unit that sets an upper limit of the time for which the fuel cut is to be performed; a motor control unit that controls the motor, When the time estimated by the estimation unit is equal to or less than the upper limit, the motor control unit permits power assistance by the motor during the fuel cut; A control device for a hybrid vehicle, wherein the motor control unit limits power assist by the motor during the fuel cut when the time estimated by the estimation unit is longer than the upper limit.

2. a filter is provided in an exhaust path of the internal combustion engine; The control device for a hybrid vehicle according to claim 1 , wherein the upper limit setting unit determines the upper limit based on the amount of particulate matter deposited on the filter and the temperature of the filter.

3. a first measuring unit that measures the number of times the diagnosis by the diagnosis unit has not been completed; 3. The control device for a hybrid vehicle according to claim 1, wherein if the number of times that the diagnosis by the diagnosis unit has not been completed is equal to or greater than a predetermined number of times and the time estimated by the estimation unit is longer than the upper limit, the motor control unit limits the power assist by the motor during the fuel cut.

4. a second measuring unit that measures the time that elapses during the fuel cut; when the number of times the diagnosis by the diagnosis unit has not been completed is equal to or greater than the predetermined number of times and the time that has elapsed during the diagnosis by the diagnosis unit is less than a predetermined time, the motor control unit limits the power assist by the motor during the fuel cut; 4. The control device for a hybrid vehicle according to claim 3, wherein the motor control unit allows the motor to assist power during the fuel cut if the number of times the diagnosis by the diagnosis unit has not been completed is equal to or greater than the predetermined number of times and the time elapsed during the diagnosis by the diagnosis unit is equal to or greater than the predetermined time.

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